Wall surface work apparatus and method

Abstract

To provide a wall surface work device capable of performing a work to a wall surface easily and suitably.SOLUTION: A wall surface work device 1 comprises a travelling body 2 capable of travelling to a wall surface W, a lifting support device 3 including a support pole 3a installed at both sides of the travelling body 2 and a lifting body 3b lifting along the support pole 3a, a support operation cord 4 extending from a position of the lifting body 3b and operating the position of the travelling body 2 while supporting the travelling body 2 from both sides and a working apparatus 7 loaded in the travelling body 2 and performing works to the wall surface W.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an apparatus and a method for performing operations such as inspection and painting on a wall surface.

Background Art

[0002] Conventionally, when performing any operation (such as painting, assembling a machine, inspection, etc.) on the wall surface of a building, other structures, natural objects, etc., a scaffold that allows a person to move back and forth along the wall surface is assembled, and a person climbs onto the scaffold to perform the operation. However, it takes a considerable amount of labor and cost to assemble a scaffold that has sufficient strength for a person to work safely, and the operation itself by a person also takes labor and cost.

[0003] Therefore, it has been proposed to replace such operations with a small flying device, and it is being put into practical use (for example, see Patent Documents 1 and 2 below).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] These flying devices, commonly referred to as drones, are small, highly stable, maneuverable, and easy to operate, making them useful in a variety of fields. However, there are inherent limitations to the weight they can carry. For example, while they can handle simple inspection tasks such as acquiring images of a target surface without much difficulty, they are not suitable for tasks requiring the transport of relatively heavy objects. For this reason, the technology has not yet been introduced to simplify tasks such as painting walls or assembling machinery onto walls.

[0006] In view of these circumstances, the present invention aims to provide a wall surface work device that can perform wall surface work simply and effectively. [Means for solving the problem]

[0007] The present invention provides a mobile body configured to be able to move along a wall surface, A work device mounted on the aforementioned mobile body for performing work on a wall surface, A propeller provided on the aforementioned traveling body generates a pressing force against the wall surface, The aforementioned traveling body is provided with an adsorption part that adheres to the wall surface, A lifting support device comprising support columns installed on the left and right sides of the traveling body and a lifting body that moves up and down along the support columns, A support operating cable extends from the position of the lifting body, supports the traveling body from the left and right, and controls the position of the traveling body. Equipped with, The position of the aforementioned traveling body is controlled by moving it vertically along the wall surface by raising and lowering the lifting body relative to the left and right support columns, moving it vertically and horizontally along the wall surface by extending the support operation cable, and further holding it against the wall surface by suction by the suction part and pressing the propeller against the wall surface. This relates to a wall-mounted work apparatus characterized by the following features.

[0010] In the wall-mounted work device of the present invention, the propeller can be a variable-pitch propeller.

[0011] In the wall-mounted work device of the present invention, an auxiliary rope can be connected to the traveling body to apply tension to the traveling body from a direction different from that of the support operating rope.

[0012] The wall-mounted work device of the present invention may also be equipped with a weight suspended from the traveling body.

[0015] The wall working device of the present invention can be configured to be able to grasp the position of the traveling body on the wall surface based on the height of the elevating body and the payout length of the support operation cable.

[0016] In the wall working device of the present invention, the support operation cable can be configured to be paid out from a cable payout device of the support operation cable loaded on the elevating body.

[0017] In the wall working device of the invention ,before The above-mentioned elevating body can be loaded with adsorption-related equipment used for the operation of the adsorption part, and the adsorption part and the adsorption-related equipment can be connected by a communication cable.

[0018] In the wall working device of the present invention, the elevating body can be loaded with work-related equipment used in relation to the work by the work equipment, and the work equipment and the work-related equipment can be connected by a communication cable.

[0019] Also, the present invention uses a traveling body configured to be able to travel on a wall surface, a work equipment mounted on the traveling body for performing work on the wall surface, A propeller provided on the aforementioned traveling body generates a pressing force against the wall surface, The aforementioned traveling body is provided with an adsorption part that adheres to the wall surface, A lifting support device comprising support columns installed on the left and right sides of the traveling body and a lifting body that moves up and down along the support columns, Support operating rope extended from the position of the lifting body and and supports the traveling body and operates the position of the traveling body by at least support operation cables paid out from the left and right of the traveling body. It relates to a wall working method characterized by this.

Effect of the Invention

[0020] According to the wall working device and method of the present invention, it is possible to achieve an excellent effect of easily and suitably performing work on the wall surface.

Brief Description of the Drawings

[0021] [Figure 1]This is a schematic diagram showing an example of the overall configuration of a wall-mounted work device according to the present invention (first embodiment). [Figure 2] This is a front view showing an example of the configuration of a traveling body that constitutes a wall-mounted work device. [Figure 3] Figure 2 is a side view of the vehicle. [Figure 4] This is a conceptual diagram illustrating the calculation of the position of the traveling body that constitutes the wall-mounted work device. [Figure 5] This is a schematic diagram showing another example (second embodiment) of the overall configuration of a wall-mounted work device according to the present invention. [Figure 6] This is a schematic diagram showing yet another example (third embodiment) of the overall configuration of a wall-mounted work device according to the present invention. [Figure 7] This is a schematic diagram showing yet another example (fourth embodiment) of the overall configuration of a wall-mounted work device according to the present invention. [Figure 8] This is a schematic diagram showing yet another example (fifth embodiment) of the overall configuration of a wall-mounted work device according to the present invention. [Modes for carrying out the invention]

[0022] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0023] Figures 1 to 3 show an example of a wall-mounted work device according to the present invention (first embodiment). The wall-mounted work device 1 of this first embodiment comprises a traveling body 2 and a pair of lifting support devices 3. The traveling body 2 is moved along the wall surface W of the work object, and the traveling body 2 is supported by support operation cables 4 extending from the left and right lifting support devices 3, thereby controlling the position of the traveling body 2.

[0024] In this specification, "wall surface" refers to the exterior or partition walls of buildings, fences that demarcate outdoor areas, interior walls of machinery and equipment such as furnaces in power plants, cliff faces in natural structures, and various other surfaces that are oriented along a vertical plane. "Surface oriented along a vertical plane" does not refer only to planes that are strictly perpendicular to the direction of gravity, but may also refer to curved surfaces or surfaces that are inclined to some extent. Any planar structure that a human being can perceive as a wall surface or a similar surface may fall under the definition of "wall surface" in this specification.

[0025] The mobile body 2 has a main body 2a constructed by combining rod-shaped structural members in a rectangular shape, and is equipped with wheels 2b at each of its four corners, which serve as the mobile parts. As shown in Figure 3, the wheels 2b are in contact with the wall surface W, allowing the mobile body to travel along the wall surface W. Each wheel 2b is configured as a ball caster attached, for example, to the back side of the mobile body 2 (here, the side of the mobile body 2 facing the wall surface W is referred to as the "back side," and the opposite side as the "front side"). The rotation of the wheels 2b allows the mobile body 2 to travel freely along the wall surface in any direction. In this specification, "travel" does not refer only to travel by wheels, but to the general movement along a wall surface. That is, in implementing the present invention, the mechanism for travel to make the mobile body travel along a wall surface is not limited to the wheels shown here. Furthermore, as for the specific configuration of the main body 2a and the mobile parts (wheels) 2b, various forms other than those described here can be adopted, as long as the work can be performed without hindrance, as will be explained later.

[0026] Furthermore, a propeller 2c is provided on the front side of the mobile body 2 to generate a pressing force that pushes the entire mobile body 2 toward the wall surface W. The propeller 2c rotates to blow air from the mobile body 2 toward the front side, and the reaction force pushes the entire mobile body 2 toward the back side, thereby holding the mobile body 2 against the wall surface W.

[0027] Here, from the viewpoint of improving the responsiveness of the operation of the vehicle 2, it is particularly preferable to adopt a so-called variable-pitch propeller as the propeller 2c. A variable-pitch propeller is a propeller configured to allow the pitch to be freely changed, and it is possible to change the magnitude and direction of thrust while keeping the direction of rotation and rotational speed constant. In other words, if the propeller 2c is a variable-pitch propeller, the propeller 2c can change the magnitude of the pressing force against the wall surface W in various ways, it can also make the pressing force zero while rotating in the same direction, and it can even generate a negative pressing force (a force moving away from the wall surface W).

[0028] In this first embodiment, the attachment points for the two support operating cables 4 on the traveling body 2 are the upper right and upper left of the main body 2a. For example, it is also possible to suspend and support the traveling body 2 by connecting the two support operating cables 4 to a single point on the upper part of the main body 2a, but in that case, as the traveling body 2 moves along the wall surface W, there is a possibility that the traveling body 2 will sway from side to side toward the wall surface W below the support points by the support operating cables 4. Therefore, as shown in Figure 1, by connecting the support operating cables 4 to two different points and suspending the traveling body 2 with tension from these two points, the movement of the traveling body 2 is constrained at two points, thereby suppressing the occurrence of swaying in the side to side.

[0029] Furthermore, in this first embodiment, the mobile body 2 is provided with an adsorption part 5 for adhering to the wall surface W. As the adsorption part 5, the same device as those sold under names such as "vacuum gripper," "vacuum adsorption gripper," "vacuum adsorption pad," or "suction lifter," or a device utilizing a principle common to these, can be used. That is, the adsorption part 5 is configured as an air-type adsorption device that generates negative pressure by sucking air between it and the wall surface W, thereby holding the entire mobile body 2 to which the adsorption part 5 is attached to the wall surface W. Alternatively, if the wall surface W to be worked on is assumed to be a structure made of a magnetic material such as iron (for example, the furnace wall of a thermal power plant), the adsorption part 5 may be configured as an electromagnetic adsorption device. That is, the adsorption part 5 is equipped with an electromagnet, and by energizing the electromagnet, it is attracted to the wall surface W, which is a magnetic material, by electromagnetic force. In addition, various mechanisms and principles can be used for the adsorption part 5, as long as they can be appropriately attracted to the wall surface W, such as a type that is attracted to the wall surface W by electrostatic force.

[0030] Furthermore, if the suction unit 5 is an air-type suction device, a pump and tubes for drawing in air will be required separately. If the suction unit 5 is an electromagnetic or electrostatic suction device, depending on the required suction force, a power supply and power cable for supplying power from an external source will be required separately. In the wall-mounted work device 1 of this first embodiment, equipment such as the pump and power supply used for operating the suction unit 5 can be loaded onto the cage 3b as suction-related equipment 5a. In addition, the suction unit 5 mounted on the traveling body 2 and the suction-related equipment 5a loaded onto the cage 3b can be connected by a connecting cable 6 consisting of a tube or power cable. The connecting cable 6 is a cable, hose, tube, or bundle thereof that connects the equipment mounted on the traveling body 2 and the equipment loaded onto the cage 3b.

[0031] Thus, in this first embodiment, the traveling body 2 is held against the wall surface W by both the pressing force of the propeller 2c and the suction force of the suction part 5. Furthermore, when implementing the wall-mounted work device of the present invention, depending on conditions such as the weight of the equipment mounted on the traveling body, only the propeller or the suction part may be provided on the traveling body.

[0032] Furthermore, the mobile unit 2 is equipped with work equipment 7 for performing work on the wall surface W. The specific configuration of the work equipment 7 varies depending on the nature of the work. For example, when painting the wall surface W, the work equipment 7 consists of nozzles for spraying paint, when inspecting the wall surface W, the work equipment 7 consists of cameras and other measuring instruments for acquiring images of the wall surface W, and when assembling parts or devices onto the wall surface W, the work equipment 7 consists of tools. Depending on the configuration of the work equipment 7 and the nature of the work, the work equipment 7 is connected to the work equipment 7 as a connecting cable 6, which includes a power cable for supplying power, a communication cable for exchanging data acquired by the work equipment 7 and operation signals input to the work equipment 7, and a supply tube for supplying paint.

[0033] The lifting support device 3 comprises support columns 3a installed along the wall surface W on the left and right sides of the traveling body 2, and a cage 3b that moves up and down along the support columns 3a. A hoisting machine or the like (not shown) is installed at an appropriate position on the support columns 3a, and the operation of the hoisting machine or the like allows the cage 3b to move up and down along the support columns 3a. Although the cage 3b is used as an example of the lifting body here, the configuration of the lifting body is not limited to this. For example, the lifting body may be configured as a platform that moves up and down along the support columns 3a. Furthermore, the mechanism for raising and lowering the lifting body is not limited to a hoisting machine; for example, a self-lifting lifting device may be used.

[0034] Furthermore, the lifting support device 3 can be any device similar to those sold as scaffolding work equipment. For example, the applicant sells devices such as "Power Mast" (product name) and "Power Lift" (product name) which move scaffolding for wall work up and down along support columns, and "Power Climber" (product name) which moves a lifting basket up and down along support columns on scaffolding for wall work. These devices can be used as is, or with some modifications, as the lifting support device in the wall work equipment of the present invention.

[0035] The cage 3b is equipped with a hoisting machine 8, which serves as a device for paying out the support operating rope 4, which is used to operate the vehicle 2 via the support operating rope 4. The support operating rope 4 is a wire rope that supports the vehicle 2, and the hoisting machine 8 is a device that pays out and retracts the support operating rope 4. The ends of a pair of support operating ropes 4, which are paid out from the left and right positions of the cage 3b, are connected to the vehicle 2, thereby supporting the vehicle 2 from both sides and controlling its position. The cage 3b also houses a motor (not shown) that powers the hoisting machine 8. The hoisting machine 8 and the motor (not shown) do not necessarily have to be installed in the cage 3b, but as will be described later, it is convenient to install the hoisting machine 8 in the cage 3b in order to operate the vehicle 2 by the support operating rope 4 while raising and lowering the cage 3b up and down.

[0036] Furthermore, cage 3b is loaded with equipment (work-related equipment 7a) used in connection with the work performed by the work equipment 7 mounted on the mobile unit 2. For example, the power supply for the work equipment 7, the communication cable if the work equipment 7 is operated by wire, and the paint tank if the work equipment 7 is a nozzle for painting are all considered work-related equipment 7a. The work-related equipment 7a loaded in cage 3b and the work equipment 7 are connected by a connecting cable 6.

[0037] Furthermore, the wall-mounted work device 1 is equipped with a height sensor 13 for measuring the height of the basket 3b attached to the lifting support device 3. The height sensor 13 is, for example, a laser-type distance sensor. In this first embodiment, the height sensor 13 is installed at ground level at the positions where the left and right lifting support devices 3 are installed in Figure 1. It emits light vertically towards the basket 3b located above and detects the reflected light from the basket 3b to determine the height of the basket 3b. Note that the height sensor 13 may be attached to the basket 3b side instead of at ground level.

[0038] Furthermore, at least one of the cages 3b (in this first embodiment, the cage 3b on the left) is provided with a distance sensor 9 for detecting the distance between it and the other cage 3b. The distance sensor 9 is, for example, a laser-type distance sensor, which emits light horizontally from one cage 3b towards the other cage 3b and detects the reflected light from the other cage 3b, thereby determining the distance between the cages 3b, 3b attached to the left and right lifting support devices 3. Note that, as long as the height sensor 13 and distance sensor 9 can be appropriately determined, other types of instruments (for example, ultrasonic-type distance sensors) may be used.

[0039] Each of the above-mentioned components constituting the wall-mounted work device 1 is controlled by the control unit 10. The control unit 10 is a control device that monitors and controls the operation of each component constituting the wall-mounted work device 1. It inputs control signals to the motor (not shown) of the hoisting machine that raises and lowers the cage 3b of the lifting support device 3, the motor (not shown) of the hoisting machine 8 that unwinds and winds the support operating rope 4, and to the propeller 2c, suction unit 5, work equipment 7, suction-related equipment 5a, and work-related equipment 7a mounted on the traveling body 2, thereby controlling their on / off status and operation. In addition, the control unit 10 receives measured values ​​from the distance sensor 9 and height sensor 13 as data signals.

[0040] Furthermore, an operation unit 11 is connected to the control unit 10, and the operator of the wall-mounted work device 1 inputs operation signals to the control unit 10 through the operation of this operation unit 11, and the control unit 10 controls each device in accordance with these operation signals. In addition, a display unit 12, such as a liquid crystal display, may be connected to the control unit 10 as needed to display the operating status of each device (height and lifting speed of the cage 3b, position of the traveling body 2, operating status of the suction unit 5 and work equipment 7, payout status of the support operation rope 4 from the hoisting machine 8, etc.). Note that the operation unit 11 can be a commercially available product such as a controller for a game console, or a touch panel display such as a smartphone or tablet can be used. When the operation unit 11 is configured as a touch panel display, the operation unit 11 can also perform the function of the display unit 12.

[0041] Next, the operation of the first embodiment described above will be explained.

[0042] To use the wall-mounted work device 1, first, support columns 3a are installed on the left and right sides of the wall W to be worked on. A hoisting machine 8 is mounted on each of the cages 3b attached to the support columns 3a, and a traveling body 2 is attached to a pair of support operating cables 4 that are extended from the hoisting machine 8. The traveling body 2 is equipped with the necessary work equipment 7, while the cages 3b are equipped with work-related equipment 7a and suction-related equipment 5a, and connecting cables 6 connect the suction unit 5 and the suction-related equipment 5a, and the work equipment 7 and the work-related equipment 7a.

[0043] In this state, the hoisting machine (not shown) of the lifting support device 3 is operated to raise the left and right cages 3b along the support columns 3a. The traveling body 2 is suspended by the support operating ropes 4 extended from the left and right hoisting machines 8 and rises together with the cages 3b.

[0044] Once the vehicle 2 is lifted to an appropriate height, the support operating ropes 4 are extended and retracted from the hoisting machines 8 mounted on the left and right cages 3b, thereby controlling the position of the vehicle 2. The height and position of the vehicle 2 in the vertical, horizontal, and vertical directions relative to the cages 3b are determined by the amount of support operating ropes 4 extended from the left and right hoisting machines 8. In other words, the smaller the amount of support operating ropes 4 extended, the closer the vehicle 2 is supported to the cages 3b, and the larger the amount of support operating ropes 4 extended, the lower the vehicle 2 is suspended relative to the cages 3b. Furthermore, in a state where the hoisting machine 8 is supported by the tension of the left and right support operating ropes 4, if the amount of support operating rope 4 extended from the left hoisting machine 8 is greater than the amount extended from the right hoisting machine 8, the traveling body 2 will be positioned slightly to the right between the left and right support columns 3a, 3a. If the amount of extension from the left hoisting machine 8 is less than the amount extended from the right hoisting machine 8, the traveling body 2 will be positioned slightly to the left between the left and right support columns 3a, 3a.

[0045] When performing such operations, the position of the moving body 2 on the wall surface W can be easily determined by, for example, the following calculation.

[0046] Let d be the distance between the hoisting machines 8 located on the cages 3b of the left and right lifting support devices 3 (see Figure 4). Let l1 and l2 be the distances from the left and right hoisting machines 8 to the traveling body 2, respectively. If the heights of the left and right hoisting machines 8 are h1 and h2, respectively, then the following equality holds for the coordinates (x,y) of the traveling body 2 on the wall W between the left and right lifting support devices 3. x 2 +(h1-y) 2 =l1 2 ...(1) (dx) 2 +(h2-y) 2 =l2 2 ...(2)

[0047] The distances l1 and l2 can be determined through the length of the support rope 4 extended from each hoisting machine 8, and the length of the support rope 4 extended can be determined by an encoder (not shown) provided on each hoisting machine 8. The heights h1 and h2 can be determined by the measurements taken by the height sensor 13 (see Figure 1). Therefore, by solving the above equations (1) and (2) as a system of equations, the coordinates (x,y) of the vehicle 2 can be determined. Note that in Figure 4, the vehicle 2 and hoisting machines 8 are shown as points for simplicity, but the actual vehicle 2 and hoisting machines 8 have size, so these may be taken into account in actual operation.

[0048] Furthermore, the distance d between the hoisting machines 8 is constant if each support column 3a of the lifting support device 3 is always considered a vertical rigid body. However, in reality, when the traveling body 2 is suspended, the left and right support columns 3a flex due to the tension of the support operating rope 4, which can cause the distance d to fluctuate. When it is necessary to take this fluctuation in distance d into consideration, such as when it is necessary to know the precise position of the traveling body 2, the exact distance d between the cages 3b can be measured using a distance sensor 9 (see Figure 1) attached to the cage 3b, and this can be taken into account when calculating the coordinates of the traveling body 2. In addition, the position of the cages 3b relative to the wall surface W or the mounting surface of the support columns 3a can also be measured and taken into account. When measuring the position of the cages 3b relative to the wall surface W or the mounting surface of the support columns 3a, the functions of the distance sensor 9 and height sensor 13 can be used, or sensors not shown can be provided separately.

[0049] In the calculation procedure above, the origin of the coordinates of the vehicle 2 was set to the base of the support column 3a on the left side of the diagram, but the origin is not limited to this and can be set as appropriate.

[0050] When operating the vehicle 2, there may be some height difference between the left and right hoisting machines 8 and the vehicle 2. However, if the difference is too large, the horizontal component of the tension in the support operating ropes 4 that support the vehicle 2 from the left and right will decrease, which may make it difficult to control the left and right position of the vehicle 2 using the support operating ropes 4. Also, since there is a limit to the length of the connecting rope 6, it is not desirable for the height difference between the left and right hoisting machines 8 and the vehicle 2 to be too large. On the other hand, if the height difference between the hoisting machines 8 and the vehicle 2 is too small, the tension in the support operating ropes 4 required to support the weight of the vehicle 2 will increase, which may cause the support column 3a to bend significantly. Therefore, when operating the vehicle 2, care should be taken to ensure that the height difference between the cage 3b and the vehicle 2 is within an appropriate range.

[0051] The mobile unit 2 maintains itself on the wall surface W through the operation of the propeller 2c and the suction part 5, and as described above, its position in the up, down, left, and right directions relative to the wall surface W is controlled by the support operation cable 4, allowing it to travel along the wall surface W. Then, the work equipment 7 performs various tasks on the wall surface W, such as inspection and painting.

[0052] A series of operations, such as adjusting the height of the cage 3b, adjusting the position of the vehicle 2 using the support operation cable 4, and performing various tasks with the work equipment 7, can be executed by inputting operation signals from the control unit 11. In addition, the operating status of the various equipment is displayed on the display unit 12 during the operation, allowing for a detailed understanding of the operating status not only by visually observing the vehicle 2 and the lifting support device 3, but also by the visual information displayed on the display unit 12. It should be noted that the control unit 11 may handle only some of the above operations. For example, the raising and lowering of the cage 3b may be performed via a separate controller provided on the lifting support device 3.

[0053] When operating the wall-mounted work device 1, if it is desired to move the mobile body 2 significantly along the wall, the pressing force from the propeller 2c and the suction force from the suction part 5 may hinder movement. In such cases, by turning off (or reducing the output of) the propeller 2c and suction part 5, and operating the height of the basket 3b and the length of the support operating rope 4 while the pressing force and suction force are turned off (reduced), the mobile body 2 can be moved more smoothly and quickly. If the propeller 2c is configured as a variable-pitch propeller, the pressing force can be reduced or made zero while maintaining rotation without turning off the propeller 2c, thus enabling even more responsive operation of the propeller 2c and the mobile body 2.

[0054] Furthermore, the wall surface W may contain obstacles that hinder the movement of the vehicle 2, such as protrusions like pillars. In such cases, if the propeller 2c is a variable-pitch propeller, it can generate a negative pressing force to move the vehicle 2 away from the wall surface W, allowing it to avoid the obstacle without having to go around it and move quickly.

[0055] When performing various tasks on a wall surface W using such a wall work device 1, there is no need to erect scaffolding that allows people to move along the wall surface W. Only the support columns 3a of the lifting support device 3 need to be installed on the wall surface W, so the time and effort required to set up scaffolding can be significantly reduced compared to when the work is performed manually. Furthermore, when performing actual work such as inspection or painting on the wall surface W, there is no need for people to move up, down, left, or right using lifting platforms or scaffolding, which reduces the amount of work and shortens the construction period. In addition, since the actual work on the wall surface W is performed by the mobile body 2 and not by people, the required support strength for supporting the mobile body 2 on the wall surface W is lower compared to when people are performing the actual work.Therefore, in addition to saving the time and effort required to set up scaffolding as described above, the cost of installing the support columns 3a themselves can also be further reduced.

[0056] Furthermore, in the wall-mounted work device 1 as in this first embodiment, work by the traveling body 2 is difficult near the support column 3a. Therefore, for the wall surface W near the support column 3a, for example, a person may ride in the basket 3b to perform the work, or the installation position of the support column 3a may be changed to perform the work.

[0057] Furthermore, the wall-mounted work device 1 of this first embodiment can also perform tasks that require supporting a certain amount of weight against the wall surface W. For example, in the technology using flying devices described in the above-mentioned Patent Documents 1 and 2, the weight of usable work equipment depends on the transport capacity of the flying device, so in reality, only simple tasks such as acquiring images of the wall surface W can be performed, and it is not suitable for tasks using heavy equipment. In the case of the wall-mounted work device 1 of this first embodiment, the majority of the weight of the mobile body 2, the suction unit 5 mounted on the mobile body 2, and the work equipment 7 is supported not by the flight capability of the mobile body 2 or the holding force against the wall surface W, but by the tension of the support operation cable 4 attached to the mobile body 2, so that it can support a larger weight. Moreover, if the suction-related equipment 5a used for the operation of the suction unit 5 and the work-related equipment 7a used for work by the work equipment 7 are appropriately loaded into the basket 3b and connected by a connecting cable 6, the weight required for the operation of the suction unit 5 and work by the work equipment 7 can be shared between the mobile body 2 and the basket 3b, reducing the load on the mobile body 2 while operating the suction unit 5 and the work equipment 7. In this way, a wide range of tasks involving equipment of a certain weight can be performed without difficulty.

[0058] Figure 5 shows another form (second embodiment) of the wall-mounted work device according to the present invention. The basic configuration of the wall-mounted work device 1 of this second embodiment is the same as that of the first embodiment shown in Figure 1, but in this second embodiment, in addition to the support operation rope 4 that supports and operates the traveling body 2, two auxiliary ropes 14 are connected to the traveling body 2. The auxiliary ropes 14 are unfurled from unfurling devices 15 installed at the lower right and lower left positions of the wall-mounted work device 1 (separate from the hoisting machine 8 that unfurls the support operation rope 4), and their ends are connected to the lower right and lower left, respectively, of the main body 2a of the traveling body 2. In Figure 5, the position of the unfurling devices 15 that unfurl the auxiliary ropes 14 is shown as being near the base of the left and right support columns 3a, but it may be installed at other appropriate positions.

[0059] In this second embodiment of the wall-mounted work device 1, the role of the auxiliary rope 14 is to stabilize the position of the running body 2 by applying tension to it from a direction different from that of the support operating rope 4, thereby suppressing the movement of the running body 2. As in the first embodiment (see Figure 1), when the running body 2 is supported only by the support operating ropes 4 extending from the left and right, the running body 2 will swing like a pendulum in the front-to-back direction relative to the wall surface W, which may interfere with the work. Therefore, as in this second embodiment, by connecting the auxiliary rope 14 to the running body 2 in addition to the support operating rope 4, and applying tension to the running body 2 from a direction different from that of the support operating rope 4 using the auxiliary rope 14, unnecessary movement of the running body 2 can be suppressed.

[0060] As the dispensing device 15 for dispensing the auxiliary rope 14, for example, a tensioning device such as the linear body dispensing device described in Patent Document 3 above can be used. Such a tensioning device is equipped with a reel for dispensing and winding the rope, and a motor that controls the tension on the rope in accordance with changes in the tension applied to the rope, and automatically dispensing and winding the rope while constantly applying tension to the rope. With such a mechanism, it is possible to allow the movement of a device such as a drone connected to the rope, while suppressing the movement of the device if it makes a sudden movement. In addition, as the dispensing device 15, any suitable device can be used as long as it is a device that can apply appropriate tension to the traveling body 2 moving on the wall surface via the auxiliary rope 14, and suppress the movement of the traveling body 2 while allowing it to move.

[0061] As the payout device 15, for example, a general hoisting machine may be used, and it is also possible to configure all units of the payout device 8 that pays out the support operating rope 4 and the payout device 15 that pays out the auxiliary rope 14 as hoisting machines. However, at least the payout device that pays out the support operating rope 4 (in this second embodiment, the payout devices 8 located in the upper right and upper left of Figure 5) must be a hoisting machine or similar device that supports the weight of the running body 2 with the support operating rope 4 and allows the position of the support operating rope 4 to be freely manipulated via the payout and winding of the support operating rope 4.

[0062] Furthermore, when the auxiliary rope 14 is attached to the traveling body 2 in this manner, it is possible to tilt the traveling body 2 to some extent by manipulating the length of the support operating rope 4 that is unwound. For example, if we consider the movement of slightly unwinding the support operating rope 4 from the hoisting machine 8 located on the left side of the figure, or slightly winding the support operating rope 4 into the hoisting machine located on the right side, or both, if the auxiliary rope 14 is not attached as in the first embodiment (see Figure 1), the traveling body 2 will move slightly to the right side of the figure (in which case, depending on the operation, it may also move slightly up and down). However, in the case of this second embodiment shown in Figure 5, since the movement of the lower part of the traveling body 2 is restricted by the auxiliary rope 14 unwound from the unwinding device 15, if the above operation is performed on the hoisting machine 8, the traveling body 2 will tilt clockwise toward the wall W without changing its position. Depending on the nature of the work performed using the traveling body 2, such an operation may be effective.

[0063] Figure 6 shows yet another embodiment (third embodiment) of the wall-mounted work device according to the present invention. In this third embodiment, the basic configuration is the same as in the second embodiment (see Figure 5), but the mounting positions of the support operating ropes 4 and auxiliary ropes 14 on the traveling body 2 are different. The pair of support operating ropes 4, which are unwound from the left and right hoisting machines 8, are attached to one location on the upper part of the main body 2a of the traveling body 2, and the pair of auxiliary ropes 14, which are unwound from the left and right unwinding devices 15, are attached to one location on the lower part of the main body 2a of the traveling body 2. Thus, the mounting positions of the support operating ropes 4 and auxiliary ropes 14 on the traveling body 2 are not limited to the examples shown in Figures 1 and 5, and can be attached to any appropriate location.

[0064] Figure 7 shows yet another embodiment (fourth embodiment) of the wall-mounted work device according to the present invention. In the second and third embodiments described above (see Figures 5 and 6), the running body 2 was supported by a total of four ropes, consisting of two support operating ropes 4 and two auxiliary ropes 14. However, in the case of the wall-mounted work device 1 of this fourth embodiment, the running body 2 is supported by a total of three ropes, consisting of two support operating ropes 4 and one auxiliary rope 14. The auxiliary rope 14 is unfurled from a feed-out device 15 located below, and its tip is connected to the lower part of the main body 2a of the running body 2. Thus, the number of auxiliary ropes 14 is not limited to two as in the second embodiment, but may be one as in this fourth embodiment, or three or more may be provided.

[0065] Furthermore, in this fourth embodiment, as shown by the solid line in Figure 7, the payout device 15 for paying out the auxiliary rope 14 is configured to be able to move left and right along the rail. In this way, by adjusting the payout position of the auxiliary rope 14 to match the position of the running body 2, it is possible to operate the system so that the direction of the tension applied to the running body 2 by the auxiliary rope 14 is always almost directly from below. For example, as shown by the dashed line in Figure 7, the auxiliary rope 14 could be paid out from a payout device 15 fixed at an appropriate position, but in that case, depending on the position of the running body 2, the tension applied to the running body 2 may be biased to either the left or right, which may make operation by the support operation rope 4 somewhat difficult. As shown in the example with the solid line here, if the payout position of the auxiliary rope 4 and the direction of the auxiliary rope 4 relative to the running body 2 can be adjusted to match the position of the running body 2, good operability can be obtained regarding the operation of the running body 2 via the support operation rope 4.

[0066] Furthermore, as shown in Figures 5 to 7, the running body 2 can be adequately supported and its position controlled by supporting it at two or more points with the support operation rope 4 and the auxiliary rope 14. Additionally, by applying tension in three or more different directions, the swaying of the running body 2 can be adequately suppressed.

[0067] Figure 8 shows yet another form (fifth embodiment) of the wall-mounted work device according to the present invention. In this fifth embodiment, instead of applying tension to the traveling body 2 by auxiliary ropes 14 and payout devices 15 as shown in the second to fourth embodiments (see Figures 5 to 7), a weight 16 is suspended below the traveling body 2, and the traveling body 2 is pulled downward by the weight of the weight 16, thereby suppressing unnecessary movement of the traveling body 2.

[0068] Furthermore, while the following methods are possible for attaching the weight 16 to the running body 2, the method of attaching the weight to the running body is not limited to these examples.

[0069] 1) A movable connecting mechanism such as a bearing is provided at an appropriate position on the running body 2 (for example, on the frame at the bottom of the main body 2a), a rod-shaped component is attached so as to extend downward from the connecting mechanism, and a weight 16 is connected to the tip of the rod-shaped component. The weight 16 moves along a circle with the connecting mechanism as the center and the length of the rod-shaped component as the radius.

[0070] 2) A rod-shaped component is fixed so as to extend downward from the main body 2a of the mobile body 2, and a weight 16 is connected to the tip of the rod-shaped component. The weight 16 is fixed in a fixed position relative to the mobile body 2.

[0071] 3) A rope is provided so as to extend downward from the main body 2a of the running body 2, and a weight 16 is suspended from the tip of the rope. The weight 16 moves so as to rotate on the circumference of the base of a cone with the base end of the rope as its apex.

[0072] Furthermore, the auxiliary rope 14 and the payout device 15 shown in the second to fourth embodiments (see Figures 5 to 7) may be used in combination with the weight 16. Alternatively, a mechanism such as a pulley may be appropriately provided in the middle of the support operating rope 4 or the auxiliary rope 14 to adjust the direction of the tension applied to the running body 2. For example, a tension device as a payout device may be installed diagonally below the running body 2, and a pulley or a similar appropriate part may be provided below the running body 2, and the auxiliary rope paid out from the tension device may be wound around the pulley (or similar part) before the tip of the auxiliary rope is attached to the lower part of the running body 2.

[0073] As described above, the wall work device 1 in each of the above embodiments comprises a traveling body 2 configured to be able to travel along a wall W, and a work device 7 mounted on the traveling body 2 for performing work on the wall W. The traveling body 2 is supported from the left and right and its position is controlled by support operation cords 4 that extend from the position of the lifting body 3b in a lifting support device 3 which is equipped with support columns 3a installed on the left and right sides of the traveling body 2 and a lifting body (cage) 3b that moves up and down along the support columns 3a.

[0074] Furthermore, each of the above embodiments of the wall work device 1 comprises a traveling body 2 configured to be able to travel along a wall W, and a work device 7 mounted on the traveling body 2 for performing work on the wall W. The traveling body 2 is supported and its position is controlled by support operation cables 4 that extend from at least the left and right sides of the traveling body 2.

[0075] Furthermore, in the wall work methods of each of the above embodiments, a mobile body 2 configured to be able to move along the wall W and a work device 7 mounted on the mobile body 2 that performs work on the wall W are used, and the mobile body 2 is supported and its position is controlled by support operation cords 4 that are extended from at least the left and right sides of the mobile body 2.

[0076] In this way, when working on wall W, there is no need to erect scaffolding that allows people to move along wall W, significantly reducing labor and time. Furthermore, the amount of work required when performing actual tasks such as inspection and painting on wall W can also be reduced.

[0077] Furthermore, in each embodiment of the wall-mounted work device 1, the traveling body 2 is equipped with a propeller 2c that generates a pressing force against the wall surface W. In this way, the traveling body 2 can be held against the wall surface W by the pressing force.

[0078] Furthermore, in each embodiment of the wall-mounted work device 1, the propeller 2c can be a variable-pitch propeller. This allows for quick adjustment of the pressing force by the propeller 2c, enabling responsive operation of the propeller 2c and the traveling body 2. Additionally, the propeller 2c can generate a negative pressing force to move the traveling body 2 away from the wall surface W, allowing for rapid movement.

[0079] Furthermore, in some embodiments of the wall-mounted work device 1, an auxiliary rope 14 is connected to the traveling body 2 so as to apply tension to the traveling body 2 from a direction different from that of the support operating rope 4. In this way, by applying tension from a direction different from that of the support operating rope 4 using the auxiliary rope 14, unnecessary movement of the traveling body 2 can be suppressed.

[0080] Furthermore, some embodiments of the wall-mounted work device 1 are equipped with a weight 16 suspended from the traveling body 2. In this way, the weight of the weight 16 can suppress unnecessary movement of the traveling body 2.

[0081] Furthermore, in each embodiment of the wall-mounted work device 1, the traveling body 2 is equipped with a suction part 5 that adheres to the wall surface W. In this way, the traveling body 2 can be held to the wall surface W by suction force.

[0082] Furthermore, each embodiment of the wall-mounted work device 1 further includes a lifting support device 3 equipped with support columns 3a installed on the left and right sides of the traveling body 2 and a lifting body 3b that moves up and down along the support columns 3a, and a support operating cable 4 that extends from the position of the lifting body 3b to support the traveling body 2 from the left and right sides and to operate the position of the traveling body 2. In this way, by supporting most of the weight of the traveling body 2 and the equipment mounted on the traveling body 2 with the tension of the support operating cable 4, it is possible to support large weights and perform a wide range of tasks without difficulty.

[0083] Furthermore, the wall-mounted work device 1 in each embodiment is configured to determine the position of the traveling body 2 on the wall surface W based on the height of the lifting body 3b and the length of the support operating cable 4. In this way, the position of the traveling body 2 can be easily determined when operating the traveling body 2.

[0084] Furthermore, in each embodiment of the wall-mounted work device 1, the support operating rope 4 is unfurled from a support operating rope 4 unfurling device (hoisting machine) 8 loaded on the lifting body 3b. In this way, the position of the traveling body 2 can be controlled by unfurling and rewinding the support operating rope 4 by the hoisting machine 8.

[0085] Furthermore, in each embodiment of the wall-mounted work device 1, the traveling body 2 is equipped with a suction part 5 that adheres to the wall surface W, and the lifting body 3b is loaded with suction-related equipment 5a used for operating the suction part 5, with a connecting cable 6 between the suction part 5 and the suction-related equipment 5a. In this way, the weight required for the operation of the suction part 5 is shared between the traveling body 2 and the lifting body 3b, thereby reducing the load on the traveling body 2.

[0086] Furthermore, in the wall-mounted work device 1 of each embodiment, work-related equipment 7a used in connection with work performed by the work equipment 7 is loaded onto the lifting body 3b, and the work equipment 7 and the work-related equipment 7a are connected by a connecting cable 6. In this way, the weight required for work performed by the work equipment 7 is shared between the traveling body 2 and the lifting body 3b, thereby reducing the load on the traveling body 2.

[0087] Therefore, according to the above embodiments, work on the wall surface can be performed simply and effectively.

[0088] Furthermore, the wall-mounted work apparatus and method of the present invention are not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the present invention. [Explanation of symbols]

[0089] 1. Wall-mounted work device 2. Running body 2c propeller 3. Lifting support device 3a Support column 3b Lifting device (cage) 5 Adsorption part 5a Adsorption-related equipment 6 Contact Search 7 Work equipment 7a Work-related equipment 8. Hoisting machine (feeding device) 14 Auxiliary rope 16 weight W Wall

Claims

1. A mobile body configured to be able to move along a wall surface, A work device mounted on the aforementioned mobile body for performing work on a wall surface, A propeller provided on the aforementioned traveling body generates a pressing force against the wall surface, The aforementioned traveling body is provided with an adsorption part that adheres to the wall surface, A lifting support device comprising support columns installed on the left and right sides of the traveling body and a lifting body that moves up and down along the support columns, The system includes a support operating cable that extends from the position of the lifting body, supports the traveling body from the left and right, and controls the position of the traveling body, The wall-working device is characterized in that the position of the traveling body is controlled by moving it vertically along the wall surface by raising and lowering the lifting body relative to the left and right support columns, moving it vertically and horizontally along the wall surface by extending the amount of the support operation cable, and further holding it against the wall surface by suction to the wall surface by suction by the suction part and pressing force against the wall surface by the propeller.

2. The propeller is a variable-pitch propeller. A wall-mounted work device according to claim 1, characterized by the following:

3. An auxiliary rope is connected to the aforementioned traveling body so as to apply tension to the traveling body from a direction different from that of the support operating rope. A wall surface work device according to claim 1 or 2, characterized by the above.

4. The vehicle is equipped with a weight suspended from the aforementioned vehicle. A wall surface work device according to any one of claims 1 to 3, characterized by the above.

5. The configuration allows for determining the position of the traveling body on the wall surface based on the height of the lifting body and the length of the support operating cable that is extended. A wall-mounted work device according to claim 1, characterized by the following:

6. The support operating cable is unwound from a support operating cable unwinding device loaded onto the lifting body. A wall surface work device according to claim 1 or 5, characterized by the above.

7. The lifting body is equipped with suction-related equipment used for the operation of the suction unit, and the suction unit and the suction-related equipment are connected by a connecting cable. A wall-mounted work device according to any one of claims 1, 5, or 6, characterized by the above.

8. The lifting body is loaded with work-related equipment used in connection with work performed by the aforementioned work equipment, and the work equipment and the work-related equipment are connected by connecting cables. A wall surface work device according to any one of claims 1, 5 to 7, characterized by the above.

9. A mobile body configured to be able to move along a wall surface, A work device mounted on the aforementioned mobile body for performing work on a wall surface A propeller provided on the aforementioned traveling body generates a pressing force against the wall surface, The aforementioned traveling body is provided with an adsorption part that adheres to the wall surface, A lifting support device comprising support columns installed on the left and right sides of the traveling body and a lifting body that moves up and down along the support columns, Using a support operating cable that is extended from the position of the lifting body, The vehicle is supported and its position is controlled by support operating cables that extend from at least the left and right sides of the vehicle. A wall-working method characterized by the following.

Images