Wall-climbing device

Abstract

To provide a wall-mounted mobile device with further improved sealing and driving performance. [Solution] The system comprises a vacuum chamber having an opening facing a wall, a drive unit for moving the vacuum chamber along the wall, and an annular sealing member arranged to extend outward from the edge of the opening. The sealing member has a bag-shaped sealing body that can contact the wall, and a sealing frame that supports the sealing body relative to the vacuum chamber. The sealing frame is mounted so as to be relatively movable relative to the vacuum chamber in a direction perpendicular to the wall, and a plurality of holes are formed in the area of ​​the sealing body that does not contact the wall, with spacing between them.

Description

Technical Field

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[0001] The present disclosure relates to a wall - traveling device.

Background Art

[0002] In a coal - fired power plant, a furnace is used to burn coal to generate combustion gas. Various foreign substances adhere to the wall surface (furnace wall) of such a furnace over time. To remove this foreign matter, conventionally, a scaffold was assembled along the furnace wall, and then blasting material was manually sprayed onto the furnace wall from this scaffold. On the other hand, in recent years, there has also been a proposal to perform blasting treatment by a robot that can travel along the furnace wall.

[0003] For example, Patent Document 1 below discloses a configuration in which a flexible ring - shaped seal member forms a reduced - pressure space between the wall surface and adsorbs the device to the wall surface by negative pressure. This device mainly includes a seal member, an adsorption device body that forms a reduced - pressure space, and a drive unit having a plurality of wheels attached to the adsorption device body.

Prior Art Documents

[0007] To solve the above problems, the wall-traveling device according to the present disclosure comprises a vacuum chamber having an opening facing a wall surface, a drive unit for moving the vacuum chamber along the wall surface, and an annular sealing member arranged to extend outward from the edge of the opening, wherein the sealing member comprises a bag-shaped sealing body that can abut the wall surface and a sealing frame that supports the sealing body with respect to the vacuum chamber, the sealing frame is mounted so as to be relatively movable with respect to the vacuum chamber in a direction perpendicular to the wall surface, and a plurality of holes are formed in the area of ​​the sealing body that does not abut the wall surface, with spacing between them. [Effects of the Invention]

[0008] According to this disclosure, it is possible to provide a wall-mounted mobile device with further improved sealing performance and mobile performance. [Brief explanation of the drawing]

[0009] [Figure 1] This is a side cross-sectional view showing the configuration of a wall-mounted traveling device according to the first embodiment of this disclosure. [Figure 2] This is a top view showing the configuration of a wall-mounted traveling device according to the first embodiment of this disclosure. [Figure 3] This is a schematic diagram showing the configuration of a wall-mounted traveling device according to the first embodiment of this disclosure. [Figure 4] This is an enlarged cross-sectional view showing the configuration of the sealing portion according to the second embodiment of this disclosure. [Figure 5] This is an enlarged view showing the configuration of the sealing body according to the second embodiment of this disclosure. [Figure 6] This figure shows the arrangement of holes in the seal body according to the second embodiment of this disclosure. [Figure 7]This is an enlarged view showing a first modified example of the hole portion of the seal body according to the second embodiment of this disclosure. [Figure 8] This is an enlarged view showing a second modified example of the seal body according to the second embodiment of this disclosure. [Figure 9] This is an enlarged view showing the configuration of the notches in the seal body according to the second embodiment of this disclosure. [Figure 10] This figure shows a first modified example of the seal body common to each embodiment of the present disclosure. [Figure 11] This figure shows a second modified example of the seal body common to each embodiment of the present disclosure. [Figure 12] This is a cross-sectional view showing the structure of the furnace wall. [Modes for carrying out the invention]

[0010] <First Embodiment> (Construction of the furnace wall) Hereinafter, a wall-traveling device 1 according to the first embodiment of this disclosure will be described with reference to Figures 1 to 3 and Figure 12. The wall-traveling device 1 is a device for performing various operations, including blasting, by moving along the furnace wall 100 of a furnace that extends in the vertical direction. As shown in Figure 12, the furnace wall 100 has a plurality of irregularities that extend in the vertical direction. More specifically, the furnace wall 100 is composed of a plurality of wall tubes 101 having cylindrical surfaces arranged at intervals in the width direction of the furnace, and flat connecting parts 102 that connect these wall tubes 101 to each other.

[0011] The wall-mounted device 1 is capable of moving primarily in the vertical direction while adhering to the surface of the furnace wall 100. In the following description, the direction in which the wall tube 101 extends will simply be referred to as the "vertical direction." The direction perpendicular to this vertical direction along the furnace wall 100 will simply be referred to as the "width direction." Furthermore, the direction perpendicular to both the vertical direction and the width direction will simply be referred to as the "normal direction."

[0012] (Configuration of the wall-climbing device) As shown in FIG. 1 or FIG. 2, the wall surface traveling device 1 includes a vacuum chamber 10, a driving unit 20, a sealing member 30, a frame 40, and a blasting mechanism 50.

[0013] (Configuration of the vacuum chamber 10) The vacuum chamber 10 has a disk shape centered on an axis O extending in the normal direction. The vacuum chamber 10 has a main chamber 11 and an auxiliary chamber 12 provided on one side in the normal direction of the main chamber 11. The side of the main chamber 11 facing the furnace wall 100 is an opening portion 13. A space is formed inside the main chamber 11. The main chamber 11 has a cylindrical side wall centered on the axis O.

[0014] The auxiliary chamber 12 protrudes from the main chamber 11 toward one side in the normal direction. A space is also formed inside the auxiliary chamber 12, and this space communicates with the space inside the main chamber 11. As shown in FIG. 2, the auxiliary chamber 12 has a pair of chamber side walls 14 facing in the width direction. One through hole 15 is formed in each of these chamber side walls 14. The hollow rod 51 of the blasting mechanism 50 described later is inserted through these through holes 15.

[0015] The spaces inside the main chamber 11 and the auxiliary chamber 12 are evacuated by a vacuum pump provided outside. In this evacuated space, airtightness with the outside is maintained by the sealing member 30 described later.

[0016] (Configuration of the driving unit) As shown in FIG. 2, the driving unit 20 has four wheels 21 that can rotate on the furnace wall 100 and a power source (not shown) that rotationally drives these wheels 21. Two wheels 21 are provided on each of both sides in the width direction of the vacuum chamber 10.

[0017] (Configuration of the frame) The vacuum chamber 10 and drive unit 20 described above are fixed to the frame 40. As shown in Figure 2, the frame 40 has a rectangular shape when viewed from the normal direction. The frame 40 has a pair of first members 41 that extend in the vertical direction (i.e., the direction in which the wall-mounted traveling device 1 mainly moves), and a pair of second members 42 that connect these first members 41 to each other at both ends in the vertical direction. The second members 42 each extend in the width direction. As an example, the first members 41 and the second members 42 are formed from bent steel plates having an L-shaped cross-section. Multiple weight-reducing holes 43 are formed in the first members 41 and the second members 42 to reduce weight.

[0018] The vacuum chamber 10 is fixed to the frame 40 so as not to move relative to it by chamber fixing members 44. For example, tension bolts are preferably used as the chamber fixing members 44. The drive unit 20 is divided into units for every two wheels 21, and each unit is fixed to both sides of the frame 40 in the width direction by bolts and nuts (not shown).

[0019] (Configuration of sealing member) The sealing member 30 is positioned to extend outward from the edge of the opening 13 of the vacuum chamber 10. As shown in Figure 1, the sealing member 30 has a sealing body 31 and a sealing frame 32. The sealing body 31 is bag-shaped and can contact the furnace wall 100. Preferably, the sealing body 31 is made of a fibrous material whose surface is coated with a resin such as an elastomer that has high flexibility. As shown in Figure 2, the sealing body 31 has an annular shape centered on axis O when viewed from the normal direction.

[0020] As shown in Figure 1, the inner and outer edges of the annular seal body 31 are fixed to the seal frame 32. The seal frame 32 is also annular in shape, centered on axis O, similar to the seal body 31. The seal frame 32 comprises a seal frame body 33, a cylindrical portion 34, and a support rod 35.

[0021] The seal frame body 33 is an annular plate shape centered on axis O. The seal frame body 33 extends in one direction in the normal direction as it moves from the inner circumference to the outer circumference. A cylindrical portion 34 is integrally provided at the inner edge of the seal frame body 33. The cylindrical portion 34 is cylindrical in shape centered on axis O.

[0022] The outer circumferential surface of the cylindrical portion 34 is slidable against the inner circumferential surface of the side wall of the vacuum chamber 10. In other words, the outer diameter of the cylindrical portion 34 is set to be slightly smaller than the inner diameter of the vacuum chamber 10. An O-ring 36 is fitted to the outer circumferential surface of the cylindrical portion 34 to maintain airtightness between it and the inner circumferential surface of the vacuum chamber 10.

[0023] The inner edge of the seal body 31 is fixed to the inner circumferential surface of the cylindrical portion 34. The outer edge of the seal body 31 is fixed to the outer edge of the seal frame body 33. With these inner and outer edges fixed to the seal frame 32, the dimensions of the seal body 31 are set so that it can bend in the normal direction. In other words, a certain space is formed between the seal body 31 and the seal frame 32.

[0024] Air is supplied to this space by a pressurizing device (not shown). The pressure of this air causes the seal body 31 to expand in the direction normal to the furnace wall 100. As the seal body 31 expands and follows the irregularities of the furnace wall 100, the airtightness (negative pressure state) of the space inside the vacuum chamber 10 is maintained. Due to this negative pressure, the wall-traveling device 1 is adsorbed to the furnace wall 100.

[0025] Multiple support rods 35 are provided on the surface of the seal frame body 33 facing away from the furnace wall 100. The support rods 35 are rod-shaped and protrude from the seal frame body 33 in the direction normal to the vacuum chamber 10. The support rods 35 are connected to support guides 16 attached to the side wall of the vacuum chamber 10. The support guides 16 protrude outward from the side wall of the vacuum chamber 10. Holes extending in the direction normal to the vacuum chamber 10 are formed in the support guides 16. The support rods 35 are inserted through these holes. The support rods 35 can move back and forth inside the holes in the support guides 16. As a result, the seal frame 32 is mounted so that it can move relative to the vacuum chamber 10 in the direction normal to the vacuum chamber 10.

[0026] A biasing member 37 is attached between the tip of the support rod 35 and the support guide portion 16. The biasing member 37 biases the seal frame 32 in the direction normal to the vacuum chamber 10. Either a compression spring or a tension spring is used as the biasing member 37.

[0027] When determining the type of spring to be used as the biasing member 37, the frictional resistance between the outer surface of the seal body 31 and the furnace wall 100 is the main indicator. Specifically, if the frictional force between the two is excessive, the seal portion will be dragged on the surface of the furnace wall 100, which will reduce the running performance of the wall-running device 1. In this case, a tension spring is preferably used as the biasing member 37 in order to reduce the frictional force of the seal portion. That is, the elastic force of the tension spring biases the seal frame 32 in a direction away from the furnace wall 100.

[0028] On the other hand, if the contact between the seal body 31 and the furnace wall 100 is insufficient, the sealing performance that the seal body 31 should provide will decrease. In this case, a compression spring is preferably used as the biasing member 37 in order to increase the frictional force of the sealing portion. In other words, the elastic force of the compression spring biases the seal frame 32 toward the furnace wall 100. Thus, the biasing member 37 can be appropriately selected and replaced based on the surface condition of the furnace wall 100 and the required sealing performance.

[0029] In addition to compression springs and tension springs, pneumatic cylinders can also be used as the biasing member 37. In this case, for example, a pressure sensor is installed in the space of the vacuum chamber 10, and the control device acquires the required sealing performance (i.e., the required frictional force) according to the pressure in the space detected by the pressure sensor. The control device moves the pneumatic cylinder back and forth based on the indicator of the sealing performance. This makes it possible to autonomously displace the sealing member 30 based on the surface condition of the furnace wall 100 and the required sealing performance.

[0030] (Blast mechanism configuration) The blasting mechanism 50 is a device for spraying blasting material onto the furnace wall 100 as the wall-traveling device 1 moves. As shown in Figure 2, the blasting mechanism 50 includes a hollow rod 51, a support member 52, an air cylinder 53, and a seal ring 54.

[0031] The hollow rod 51 is inserted through a through hole 15 formed in the chamber side wall 14 described above. The hollow rod 51 has, for example, a circular cross-sectional shape. A seal ring 54 is provided between the inner circumferential surface of the through hole 15 and the outer circumferential surface of the hollow rod 51. The seal ring 54 is provided to maintain airtightness between the hollow rod 51 and the through hole 15.

[0032] A blasting material supplied from the outside through a hose flows inside the hollow rod 51. A nozzle 55 is attached to the center of the hollow rod 51 in the direction of its extension. The blasting material ejected from this nozzle 55 is sprayed onto the furnace wall 100 through the opening 13 of the vacuum chamber 10.

[0033] A support member 52 is attached to the hollow rod 51. The support member 52 is C-shaped when viewed from the normal direction, and both ends are connected to both ends of the hollow rod 51. The support member 52 is supported by an air cylinder 53 so that it can move back and forth in the width direction (i.e., in the direction connecting the pair of through holes 15). The air cylinder 53 is fixed to the top surface of the vacuum chamber 10. It is also possible to adopt a configuration in which the air cylinder 53 is fixed to the frame 40 described above.

[0034] The vacuum chamber 10, drive unit 20, sealing member 30, frame 40, and blast mechanism 50, configured as described above, are detachably connected to each other by fastening members such as bolts and nuts. More specifically, as shown in Figure 3, the vacuum chamber 10, one drive unit 20 on each side in the width direction, the sealing member 30, the frame 40, and the blast mechanism 50 can be disassembled into six components. For example, when transporting the device to and from a work site, it is desirable to disassemble the wall-mounted travel device 1 into the above components when passing through a relatively small manhole.

[0035] (Effects and Benefits) Next, an example of the operation of the wall-climbing device 1 will be described. In order to operate the wall-climbing device 1, first the space inside the vacuum chamber 10 is evacuated to create a negative pressure state. As a result, air surrounding the furnace wall 100, which is surrounded by the sealing member 30, is drawn in through the opening 13. Then, based on the pressure difference between atmospheric pressure and the pressure inside this space, a force is generated that pushes the wall-climbing device 1 toward the furnace wall 100. As a result, the wall-climbing device 1 becomes attached to the furnace wall 100.

[0036] In this state, the drive unit 20 is driven, causing the wall-climbing device 1 to move along the furnace wall 100. While moving the wall-climbing device 1, the blasting mechanism 50 is driven. The air cylinder 53 of the blasting mechanism 50 causes the nozzle 55 of the hollow rod 51 to reciprocate in the width direction. During this time, blasting material is sprayed from the nozzle 55 toward the furnace wall 100. The sprayed blasting material removes rust and dirt from the surface of the furnace wall 100.

[0037] Now, let's consider the case where the sealing member 30 is attached to the vacuum chamber 10 in a way that prevents relative movement. In this case, the suction force of the sealing member 30 against the furnace wall 100 cannot be adjusted. As a result, there is a risk that the frictional force between the sealing member 30 and the furnace wall 100 will become excessive, impairing the running performance of the device. Conversely, there is also a risk that the sealing member 30 and the furnace wall 100 will not make close contact, resulting in insufficient sealing performance.

[0038] Therefore, in this embodiment, as described above, the sealing member 30 is mounted so as to be movable relative to the vacuum chamber 10 in the direction normal to the vacuum chamber 10. With the above configuration, the sealing frame 32 moves relative to the vacuum chamber 10 in the direction normal to the vacuum chamber 10. This makes it possible to optimize the frictional force between the sealing member 30 and the furnace wall 100, or the sealing performance, even if, for example, the frictional force between the sealing body 31 and the furnace wall 100 is excessive, or conversely, if the adhesion force between the sealing body 31 and the furnace wall 100 is insufficient and sufficient sealing performance cannot be obtained.

[0039] Furthermore, with the above configuration, the biasing force of the biasing member 37 biases the seal frame 32 in a direction toward the furnace wall 100 or away from the furnace wall 100. Specifically, if the frictional force between the two is excessive, the seal member 30 will be dragged on the surface of the furnace wall 100, which will reduce the running performance of the wall-running device 1. In this case, a tension spring is preferably used as the biasing member 37 in order to reduce the frictional force of the seal member 30. That is, the elastic force of the tension spring biases the seal frame 32 in a direction away from the furnace wall 100. This makes it possible to optimize the frictional force of the seal member 30.

[0040] On the other hand, if the contact between the seal body 31 and the furnace wall 100 is insufficient, the sealing performance that the seal body 31 should exhibit will decrease. In this case, a compression spring is preferably used as the biasing member 37 in order to increase the frictional force of the sealing member 30. That is, the elastic force of the compression spring biases the seal frame 32 toward the furnace wall 100. This optimizes the frictional force of the sealing member 30. As a result, it is possible to optimize the balance between the running performance of the wall-mounted device 1 and the sealing performance of the sealing member 30 while maintaining both.

[0041] In addition, according to the above configuration, the blasting mechanism 50 is composed of a hollow rod 51. A seal ring 54 is provided between the hollow rod 51 and the inner surface of the through hole 15 in the chamber side wall 14. This minimizes the area that needs to be sealed to maintain airtightness of the blasting material. Furthermore, the direction of the forward and backward movement of the hollow rod 51 (width direction) and the direction in which surface pressure is generated on the seal ring 54 (radial direction) are different. This suppresses premature wear of the seal ring 54 and more effectively prevents leakage of the blasting material.

[0042] (modified version) The first embodiment of this disclosure has been described above. Various changes and modifications can be made to the above configuration without departing from the gist of this disclosure.

[0043] For example, in the first embodiment described above, an example was described in which the drive unit 20 has wheels 21. However, the configuration of the drive unit 20 is not limited to wheels 21, and it is also possible to use crawlers that roll on the surface of the furnace wall 100.

[0044] <Second Embodiment> Next, a second embodiment of the present disclosure will be described with reference to Figures 4 to 6. Components similar to those in the first embodiment are denoted by the same reference numerals, and detailed descriptions are omitted. In this embodiment, the configuration of the sealing member 130 differs from that of the first embodiment, while the remaining components are the same. Furthermore, in this embodiment, air is not supplied to the inside of the sealing member 130 by a pressurizing device.

[0045] As shown in Figure 4, the sealing member 130 comprises the sealing frame 32 described above, an elastic deformable body 60 attached to the sealing frame 32, and a sealing body 131.

[0046] The elastic deformable body 60 is attached to the surface of the seal frame body 33 facing the furnace wall 100. The elastic deformable body 60 is, for example, a brush formed by numerous tufts of bristles. The brush as the elastic deformable body 60 can elastically deform so that the tufts of bristles separate to follow the irregularities on the surface of the furnace wall 100. The seal body 131 is pressed against the furnace wall 100 from the inside by the elastic deformable body 60. By being pressed against the elastic deformable body 60, the seal body 131 also deforms and becomes conforming to the irregularities on the surface of the furnace wall 100.

[0047] In addition to the brush mentioned above, porous materials such as urethane foam can also be used as the elastic deformable body 60.

[0048] As shown in Figure 5, the seal body 131 is annular in shape as a whole and is divided into an inner circumferential region and an outer circumferential region. The inner circumferential region is the contact region 71, which comes into contact with the furnace wall 100 when the wall-traveling device 1 moves along the furnace wall 100. On the other hand, the outer circumferential region of the contact region 71 is the non-contact region 72, which does not come into contact with the furnace wall 100.

[0049] In the contact area 71, sealing performance by the seal body 131 is required, while in the non-contact area 72, sealing performance is not required, and the conformability of the furnace wall 100 is prioritized. Therefore, multiple holes 73 are formed in the non-contact area 72. As shown in Figure 6, these holes 73 are arranged regularly at equal intervals from each other.

[0050] More specifically, the holes 73 form a row containing multiple holes 73 arranged at intervals in the first direction D1. Multiple such rows are arranged at intervals in the second direction D2, which is perpendicular to the first direction D1. The positions of the holes 73 in the first direction D1 differ between pairs of adjacent rows in the second direction D2. As a result, the multiple holes 73 are arranged to form a hexagonal shape. Consequently, the non-contact region 72 of the seal body 131 is more easily stretched than the contact region 71.

[0051] (Effects and Benefits) According to the above configuration, the elastic deformable body 60 provided on the sealing member 130 elastically deforms and presses the sealing body 131 against the furnace wall 100. When a brush is used as the elastic deformable body 60, the brush elastically deforms so that the bristles separate to follow the irregularities on the surface of the furnace wall 100. The sealing body 131 is pressed against the furnace wall 100 from the inside by the elastic deformable body 60. By being pressed against the elastic deformable body 60, the sealing body 131 also deforms and becomes conforming to the irregularities on the surface of the furnace wall 100. This further improves the conformability of the sealing body 131 to the furnace wall 100. As a result, the sealing performance of the sealing member 130 is improved, and the suction force to the furnace wall 100 can be optimized. This makes it possible to further improve the running performance of the wall-mounted device 1.

[0052] According to the above configuration, multiple holes 73 are formed in the non-contact region 72 of the sealing member 130. Furthermore, these holes 73 are arranged in a hexagonal shape as described above. This makes it easier for the sealing body 131 to stretch in the non-contact region 72. Therefore, when the sealing body 131 is pressed against the furnace wall 100 by the elastic deformable body 60, the non-contact region 72 stretches preferentially. As a result, the contact region 71 on the inner circumference side deforms without bearing excessive tensile or compressive forces due to following the irregularities of the furnace wall 100. This allows the contact region 71 to adhere more strongly to the surface of the furnace wall 100, further improving the sealing performance of the sealing member 130. Therefore, the running performance of the wall-traveling device 1 can be further enhanced.

[0053] (modified version) The second embodiment of this disclosure has been described above. It is possible to make various changes and modifications to the above configuration without departing from the gist of this disclosure.

[0054] For example, in the second embodiment described above, an example was described in which a plurality of holes 73 are arranged at equal intervals to form a regular hexagonal shape. However, as shown in Figure 7, it is possible to set the spacing between the holes 73 in the first direction D1 to be larger than the spacing between the holes 73 in the second direction D2. In this case, the elasticity in the second direction D2 can be made greater than the elasticity in the first direction D1. In other words, the sealing member 130 can be made anisotropic in the direction of expansion and contraction. It is conceivable to change the arrangement of the holes 73 in this way depending on the part of the sealing member 130. Conversely, it is also possible to set the spacing between the holes 73 in the first direction D1 to be smaller than the spacing between the holes 73 in the second direction D2. In this case, the elasticity in the first direction D1 can be made greater than the elasticity in the second direction D2.

[0055] Furthermore, instead of the holes 73, it is also possible to form notches 173 in the seal body 231 as shown in Figures 8 and 9. As shown in Figure 9, each notch 173 is V-shaped. As a result, a triangular flap portion 174 is formed on the inside of the notch 173. This flap portion 174 is convex in the direction toward the opening 13 of the vacuum chamber 10 (i.e., toward the inner circumference).

[0056] This configuration allows the flap portion 174 to separate from other parts and more easily contact the surface of the furnace wall 100. As a result, the overall contact area of ​​the seal body 231 with the furnace wall 100 can be increased. Consequently, the sealing performance of the seal body 231 is improved, and the running performance of the wall-mounted device 1 can be further enhanced.

[0057] Furthermore, as a modification common to each of the above embodiments, the configuration shown in Figure 10 or Figure 11 can be adopted. In the example in Figure 10, the seal body 331 has a rectangular annular shape. In the example in Figure 11, the seal body 431 has an elliptical annular shape. When it has an annular shape as in each of the above embodiments, it is advantageous in that a constant sealing performance can be maintained regardless of the direction of travel of the wall-traveling device 1. On the other hand, depending on the surface condition of the furnace wall 100 and the design and specifications, the configurations shown in Figures 10 and 11 can be adopted.

[0058] Furthermore, the elastic deformable body 60 described in the second embodiment can also be applied in combination with the wall-mounted travel device 1 according to the first embodiment. In other words, the pressing force by the elastic deformable body 60 can be further improved when the inside of the seal body 31 is pressurized.

[0059] <Note> The wall-climbing device 1 described in each embodiment can be understood, for example, as follows.

[0060] (1) The wall-traveling device 1 according to the first embodiment comprises a vacuum chamber 10 having an opening 13 facing the furnace wall 100, a drive unit 20 for moving the vacuum chamber 10 along the furnace wall 100, and an annular sealing member 30 arranged to extend outward from the edge of the opening 13, wherein the sealing member 30 has a bag-shaped sealing body 31 that can abut the furnace wall 100 and a sealing frame 32 that supports the sealing body 31 with respect to the vacuum chamber 10, and the sealing frame 32 is attached to the vacuum chamber 10 so as to be relatively movable in a direction perpendicular to the furnace wall 100.

[0061] According to the above configuration, the frictional force between the sealing member 30 and the furnace wall 100 can be optimized by the relative movement of the sealing frame 32 with respect to the vacuum chamber 10.

[0062] (2) The wall-traveling device 1 according to the second embodiment is the wall-traveling device 1 of (1), further comprising a biasing member 37 provided between the seal frame 32 and the vacuum chamber 10, which biases the seal frame 32 in a direction perpendicular to the furnace wall 100.

[0063] According to the above configuration, the biasing force of the biasing member 37 can further optimize the frictional force between the sealing member 30 and the furnace wall 100.

[0064] (3) The wall-traveling device 1 according to the third embodiment is the wall-traveling device 1 of (2), wherein the biasing member 37 biases the seal frame 32 in a direction toward the furnace wall 100.

[0065] With the above configuration, if the sealing performance of the sealing member 30 is insufficient, this can be compensated for by the biasing force of the biasing member 37.

[0066] (4) The wall-traveling device 1 according to the fourth embodiment is the wall-traveling device 1 of (2), wherein the biasing member 37 biases the seal frame 32 in a direction away from the furnace wall 100.

[0067] With the above configuration, if the frictional force between the sealing member 30 and the furnace wall 100 is excessive, it can be reduced by the biasing force of the biasing member 37.

[0068] (5) The wall-traveling device 1 according to the fifth embodiment is a wall-traveling device 1 according to any one embodiment of (1) to (4), further comprising an elastic deformable body 60 provided on the seal frame 32, which abuts the seal body 31 from the inside and is elastically deformable to follow the irregularities of the furnace wall 100.

[0069] According to the above configuration, the elastic deformation body 60 presses the seal body 31 against the furnace wall 100 while undergoing elastic deformation, thereby further improving the conformability of the seal body 31.

[0070] (6) The wall-traveling device 1 according to the sixth embodiment is a wall-traveling device 1 according to any one of the embodiments (1) to (5), wherein a plurality of holes 73 are formed in the area of ​​the seal body 31 that does not come into contact with the furnace wall 100, and are spaced apart from each other.

[0071] According to the above configuration, the formation of multiple holes 73 allows the seal body 31 to be made elastic. This further improves the ability of the seal body 31 to conform to the furnace wall 100.

[0072] (7) The wall-mounted traveling device 1 according to the seventh embodiment is the wall-mounted traveling device 1 according to (6), wherein the plurality of holes 73 have a plurality of holes 73 arranged at intervals in a first direction D1, and a plurality of rows arranged in a second direction D2 perpendicular to the first direction D1, and the position of the holes 73 in the first direction D1 is different between pairs of rows adjacent to each other in the second direction D2.

[0073] According to the above configuration, the arrangement of the holes 73 allows for directional stretching of the seal body 31.

[0074] (8) The wall-traveling device 1 according to the eighth embodiment is the wall-traveling device 1 of (6), wherein the hole 73 is a notch 173 that forms a flap portion 174 that is convex in the direction toward the opening 13 when viewed from a direction perpendicular to the furnace wall 100.

[0075] With the above configuration, the flap portion 174 adheres closely to the furnace wall 100, thereby increasing the contact area of ​​the entire seal body 31 with the furnace wall 100.

[0076] (9) The wall-mounted traveling device 1 according to the ninth embodiment is a wall-mounted traveling device 1 according to any one embodiment of (1) to (8), wherein the vacuum chamber 10 has a pair of chamber side walls 14 extending in the direction of movement of the drive unit 20, and further comprises a blast mechanism 50 having a hollow rod 51 inserted through through holes 15 formed in each of the pair of chamber side walls 14 and provided with a nozzle 55 for spraying blast material onto the furnace wall 100 through the opening 13, an air cylinder 53 for moving the hollow rod 51 back and forth along the direction connecting the pair of through holes 15, and a seal ring 54 provided between the outer circumferential surface of the hollow rod 51 and the inner circumferential surface of the through holes 15.

[0077] With the above configuration, since a seal ring 54 is provided between the hollow rod 51 and the inner circumferential surface of the through hole 15, the area requiring sealing can be kept small. [Explanation of symbols]

[0078] 1…Wall-climbing device 10…Vacuum Chamber 11…Main room 12…Antechamber 13…Opening 14… Chamber sidewall 15…Through hole 16...Support guide part 20…Drive unit 21...Wheel 30,130…Sealing material 31,131,231,331,431… Sticker body 32... Sticker frame 33… Sticker frame body 34…Cylindrical section 35…Support rod 36…O-ring 37… Biasing member 40...frames 41...First component 42...Second component 43...Weight-reducing holes 44... Chamber fixing member 50...Blast mechanism 51…Hollow rod 52…Support member 53... Air cylinder 54... Seal ring 55… Nozzle 60...Elastic deformation body 71…Contact area 72…Non-contact area 73...hole 100...furnace wall 101…Wall pipe 102...Connection part 173...cut 174...Flap section D1…first direction D2…Second direction O…Axis line

Claims

1. A vacuum chamber having an opening facing the wall, A drive unit for moving the vacuum chamber along the wall surface, An annular sealing member is arranged to extend outward from the edge of the opening, Equipped with, The sealing member comprises a bag-shaped sealing body that can contact the wall surface, A seal frame that supports the seal body relative to the vacuum chamber, It has, The seal frame is mounted so as to be movable relative to the vacuum chamber in a direction perpendicular to the wall surface, A wall-traveling device having a plurality of holes formed in the area of ​​the seal body that does not come into contact with the wall surface, with these holes being spaced apart from each other.

2. The plurality of holes have a plurality of holes arranged at intervals in a first direction, and a plurality of rows arranged in a second direction perpendicular to the first direction. The wall-mounted travel device according to claim 1, wherein the positions of the holes in the first direction are different between a pair of adjacent rows in the second direction.

3. The wall-mounted travel device according to claim 1, wherein the hole is a notch that forms a flap portion that protrudes toward the opening when viewed from a direction perpendicular to the wall surface.

4. A vacuum chamber having an opening facing the wall, A drive unit for moving the vacuum chamber along the wall surface, An annular sealing member is arranged to extend outward from the edge of the opening, Equipped with, The sealing member comprises a bag-shaped sealing body that can contact the wall surface, A seal frame that supports the seal body relative to the vacuum chamber, It has, The seal frame is mounted so as to be movable relative to the vacuum chamber in a direction perpendicular to the wall surface, The vacuum chamber has a pair of chamber side walls extending in the direction of movement of the drive unit, A hollow rod is inserted through through holes formed in each of the side walls of the pair of chambers, and is provided with a nozzle for spraying blasting material onto the wall surface through the opening, An air cylinder that moves the hollow rod back and forth along the direction connecting the pair of through holes, A seal ring is provided between the outer circumferential surface of the hollow rod and the inner circumferential surface of the through hole, A wall-climbing device further equipped with a blast mechanism having the following features.

5. The wall-mounted travel device according to any one of claims 1 to 4, further comprising a biasing member provided between the seal frame and the vacuum chamber, which biases the seal frame in a direction perpendicular to the wall surface.

6. The wall-mounted travel device according to claim 5, wherein the biasing member biases the seal frame in a direction approaching the wall surface.

7. The wall-mounted travel device according to claim 5, wherein the biasing member biases the seal frame in a direction that moves it away from the wall surface.

8. The wall surface traveling device according to any one of claims 1 to 7, further comprising an elastic deformable body provided on the seal frame, which abuts the seal body from the inside and is elastically deformable to follow the irregularities of the wall surface.

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