To provide a winch system for a wall surface suction self-propellent apparatus in which the winch system not only applies force in the upward direction to the wall surface suction self-propellent apparatus, but also does not prevent straight advancing ability of the wall surface suction self-propellent apparatus in the upward direction.SOLUTION: Two load sensors 34 and 44 for detecting tension of each wire rope of two wire ropes 32 and 42 and two angle sensors 37 and 47 for detecting an angle formed by each wire rope of the two wire ropes 32 and 42 and the gravitational line are provided. A computation is performed by a small-sized computer on the basis of data obtained by the two load sensors 34 and 44 and the two angle sensors 37 and 47, under the conditions that component of force of each tension of the two wire ropes 32 and 42 in the horizontal direction has the same value, and each tension of the two wire rope tractors is automatically controlled, thereby applying force in the upward direction to the wall surface suction self-propellent apparatus.SELECTED DRAWING: Figure 4
【課題】ウインチシステムが壁面吸着自走装置へ上昇方向への力を付与するだけではなく、壁面吸着自走装置の上昇方向への直進性を阻害しないこと。【解決手段】2本のワイヤロープ32,42の各々のワイヤロープの張力を検出するための2個の荷重センサー34,44と、2本のワイヤロープ32,42の各々のワイヤロープと重力線とがなす角度を検出するための2個の角度センサー37,47が具備されており、2個の荷重センサー34,44と2個の角度センサー37,47から得られたデータを基にしかつ2本のワイヤロープ32,42の各張力の水平方向の分力を同一の値とする条件下で小型のコンピュータにより演算を行い、2個のワイヤロープ牽引機の各々の張力が自動制御されることにより、壁面吸着自走装置へ上昇方向への力を付与する。【選択図】図4
WINCH SYSTEM FOR WALL SURFACE SUCTION SELF-PROPELLENT APPARATUS
壁面吸着自走装置のためのウインチシステム
2022-06-21
Patent
Electronic Resource
Japanese
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