JP2003129435A - Self-travelling jet cleaning device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-travelling jet cleaning device which can position and hold a nozzle to jet an injection medium at a cleaning object part. SOLUTION: The self-travelling jet cleaning device is constituted by being provided with a self-travelling vehicle 11, a jet cleaning means 12 which is mounted to the vehicle 11 and provided with the nozzle 13 to jet the injection medium to the cleaning object part, and a nozzle positioning/holding means 14 which positions and holds the nozzle of the jet cleaning means toward the cleaning object part. By this, cleaning can be executed by positioning/holding the nozzle 13 at the cleaning object part with the nozzle positioning/holding means 14 and jetting the injection medium to the cleaning object part while travelling.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled jet cleaning device, and in the case of self-propelled cleaning of a tunnel wall surface, a guardrail, a lane, etc., a jet of a nozzle for jetting an injection medium such as sodium hydrogencarbonate particles Pressure (jet reaction force)
While being supported, it is possible to easily position and hold the cleaning target portion.

[0002]

2. Description of the Related Art Conventionally, the walls of tunnels, guard rails, lanes, etc. have been regularly cleaned, and in addition to being carried out manually by an operator, a brush cleaning device 1 as shown in FIG. The tunnel cleaning vehicle 2 has been developed. For example, the position of the arm 4 is set so that the four rotating brushes 3 are along the wall surface of the tunnel, and the rotating brushes 3 are brought into contact with each other while traveling to perform cleaning. ing.

[0003]

However, in such a tunnel cleaning vehicle, brushes are brought into contact with each other for cleaning, and therefore, if there are auxiliary equipment such as lighting equipment and road signs installed inside the tunnel, the arm 4 There is a problem that it will be damaged by colliding with or being caught in the brush,
In order to avoid this, it is necessary to stop the vehicle and move the arm 4 to change the position of the rotating brush or change the traveling position, which lowers the work efficiency and causes a portion not to be cleaned. There's a problem.

Therefore, as a non-contact type cleaning device, there has been proposed a fixed type blasting device for injecting an injection medium from a nozzle to clean it (see Japanese Patent Publication No. 5-507242), which is mounted on a vehicle and used in a tunnel. It is considered to perform cleaning such as.

However, a positioning and holding mechanism capable of withstanding the injection pressure of a nozzle for injecting an injection medium is required, and even if an auxiliary equipment such as a tunnel is provided, a device capable of highly efficient cleaning without damage is developed. Is desired.

The present invention has been made in view of the problems and demands of the above-mentioned prior art, and is a self-propelled jet cleaning device capable of positioning and holding a nozzle for jetting a jet medium to a cleaning target portion, and an auxiliary equipment. It is intended to provide a self-propelled jet cleaning device that can prevent damage such as.

[0007]

In order to solve the above problems, a self-propelled jet cleaning apparatus according to claim 1 of the present invention is mounted on a self-propelled vehicle and on this vehicle or a vehicle towed by this vehicle. And a nozzle positioning and holding means for positioning and holding the nozzle of the jet cleaning means toward the cleaning target portion. Is.

According to this self-propelled jet cleaning device, the jet cleaning means is provided with a self-propelled vehicle and a nozzle that is mounted on this vehicle or a vehicle towed by this vehicle and that ejects the jet medium onto the cleaning target portion. And a nozzle positioning and holding means for positioning and holding the nozzle of the jet cleaning means toward the cleaning target portion. The nozzle positioning and holding means positions and holds the nozzle on the cleaning target portion, It becomes possible to perform cleaning by jetting the cleaning target portion while traveling.

According to a second aspect of the present invention, in addition to the structure of the first aspect, the self-propelled jet cleaning device has the nozzle positioning and holding means installed on a swivel base and on the swivel base. It is characterized by comprising a plurality of rotating arms.

According to this self-propelled jet cleaning device, the nozzle positioning and holding means is composed of a swivel base and a plurality of rotary arms installed on the swivel base, thus simplifying the mechanism. While positioning the nozzle in place,
It can also withstand the injection pressure.

Furthermore, in the self-propelled jet cleaning device according to claim 3 of the present invention, in addition to the structure according to claim 1 or 2, the nozzle positioning and holding means is composed of a turntable of the backhoe and a rotating arm. It is characterized by that.

According to this self-propelled jet cleaning device, the nozzle positioning and holding means is constituted by the turntable of the backhoe and the rotating arm, and by applying an off-the-shelf device, while securing the necessary functions. It is possible to manufacture at low cost.

A self-propelled jet cleaning device according to a fourth aspect of the present invention is the same as the one according to any one of the first to third aspects, in addition to the obstacle detection on the rotating arm of the nozzle positioning holding means. It is characterized in that it is provided with a sensor, and is provided with control means for retracting the nozzle attached to the tip end portion of the rotating arm in response to a detection signal from the sensor.

According to this self-propelled jet cleaning device, an obstacle detection sensor is provided on the rotary arm of the nozzle positioning and holding means, and the obstacle is attached to the tip of the rotary arm by a detection signal from the sensor. Since the control means for retracting the nozzle is provided, the nozzle can be retracted by detecting the incidental equipment even if there is incidental equipment, and the auxiliary equipment can be cleaned while being prevented from being damaged.

Further, in the self-propelled jet cleaning device according to a fifth aspect of the present invention, in addition to the configuration according to any of the first to fourth aspects, the jet medium of the jet cleaning means is sodium hydrogencarbonate particles. And / or water, and means for switching these jetting media.

According to this self-propelled jet cleaning device, while the jet medium of the jet cleaning means is particles of sodium hydrogen carbonate and / or water, a switching means for these jet media is provided, and the cleaning target is Depending on the degree of dirt on the part, cleaning can be performed according to dirt by switching the spray medium to only sodium hydrogencarbonate particles, a mixture of sodium hydrogencarbonate particles and water, or water only As it is water only, the cost required for cleaning can be reduced.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail below with reference to the drawings. 1 and 2 are a schematic front view and a schematic plan view showing an embodiment of a self-propelled jet cleaning device of the present invention in which the positions of arms are different.

The self-propelled jet cleaning device 10 includes a truck 11 as a self-propelled vehicle and a blast type cleaning device 12 as a jet cleaning means mounted on the truck 11.
And a positioning and holding device 14 as nozzle positioning and holding means for positioning and holding the nozzle 13 of the blast type cleaning device 12 toward a cleaning target portion such as a wall surface of a tunnel, the main mounted device is configured, and the ejection medium is formed while running. Is sprayed from the nozzle 13 to clean the wall surface of the tunnel.

In this self-propelled jet cleaning device 10, for example, a 4t truck is used as the truck 11, and the cargo bed portion is reinforced as necessary, and a low speed traveling device or a center so that the vehicle can travel at a low speed with cleaning. A guide device or the like is provided that causes a guide rod to protrude so that a predetermined distance can be maintained with respect to the cleaning target portion by traveling along a line or the like.

A blast type cleaning device 12, for example, is mounted on the truck 11 as an injection cleaning device, and sodium hydrogencarbonate particles are used as an injection medium.
The compressed air supplied from the engine compressor 12b is put into the injection medium tank 12a and the apparatus main body 12
From the nozzle 13 of c, for example, the maximum injection pressure is 6.5 kg /
It is sprayed with a pressure of cm ² , and the collision energy can remove paint films, dirt, rust, etc., and it can be used for cleaning various materials from aluminum to concrete without damaging the base material. is there.

The injection medium is not limited to the case of using sodium hydrogencarbonate particles, but potassium hydrogencarbonate,
Particles such as ammonium bicarbonate, sodium chloride and other water soluble salts can also be used.

Further, a mixture of sodium hydrogencarbonate particles and water may be used as the ejection medium, or only water may be used as the ejection medium.

In the blast type cleaning device 12, water is sprayed from the nozzle 13 to form a water curtain in order to prevent scattering due to the spraying of the spray medium, protection of the cleaning target portion and cooling. 12d is mounted so that it can be pressurized by a pump (not shown) and sprayed from around the nozzle 13. In addition, a switching valve (not shown) sprays only water without spraying a spray medium to enable cleaning. It is designed to reduce the cost required for cleaning when there is little dirt.

The nozzle 13 of the blast type cleaning device 12
For example, one having a substantially triangular shape and an injection port having a slit shape is used, and one having a wider range of ejection than a circular shape is used.

As the positioning and holding device 14 for holding and holding the jetting pressure of the nozzle 13 in the case of jetting and jetting the jetting medium as described above, the swivel base 15 of the backhoe is used here. The arm 16 is diverted.

A swivel base 15 from which the traveling device of the backhoe is removed is mounted and fixed on the rear portion of the truck 11, and a swivel arm constructed by connecting a plurality of arms 16a to the swivel base 15 via a rotary shaft. 16 is attached, the swivel base 15 is swung around a vertical axis by a gear device and a hydraulic motor (not shown), and can be stopped at any swivel position by an operation from the driver's seat 15a. A hydraulic cylinder is connected between 16a to supply and discharge the hydraulic oil, which is supplied from the hydraulic pump to the rod, to the driver's seat 15a.
By operating from, the expansion and contraction drive, each arm 16a,
By changing the rotation angle between 16a, the tip of the rotation arm 16 can be moved to an arbitrary position, and the positioning state can be held and fixed at that position.

Further, as shown in FIG. 3 or 4, the nozzle positioning / holding device 14 has a detection / control device 20 for performing an avoidance operation for detecting and retracting an obstacle during cleaning such as an auxiliary equipment of a tunnel. Is provided.

The detection / control device 20 includes an obstacle detection sensor 2 composed of a limit switch and a proximity switch.
1 is provided at the tip of the rotating arm 16 (not shown), and its detection signal is sent to the controller 22.

When a limit switch is used as the obstacle detection sensor 21, the contact arm is extended so that the limit switch can be turned on / off by touching the obstacle, and the contact arm touches the obstacle. This is detected by the limit switch, and the swivel base 15 and the rotating arm 16 are detected.
It will be possible to avoid it.

When a proximity switch is used as the obstacle detecting sensor 21, the obstacle can be detected in a non-contact manner. For example, an ultrasonic sensor or an infrared sensor can be used to directly detect the obstacle. The swivel base 15 and the rotating arm 16 can be avoided.

The controller 22 outputs an operation command to the driver 23 of the swivel base 15 and the rotary arm 16 to avoid the obstacle, and outputs a return operation command after a predetermined time elapses to output the original position before the avoidance. It can be returned to.

As the driver 23, an electromagnetic valve 23a and an electromagnetic valve driver 23b are provided in a hydraulic circuit for supplying and discharging hydraulic oil to the hydraulic motor of the swivel base 15 or the hydraulic cylinder of the rotating arm 16, and the electromagnetic valve driver 23b is provided with the electromagnetic valve 23a. By sending an operation command to drive the solenoid valve 23a to change the hydraulic pressure, the swivel base 15 or the actuator 24 of the rotating arm 16 is moved to perform an operation to avoid an obstacle, or the rotating arm 16 and the nozzle 13 are An obstacle avoidance link mechanism (not shown) 25 is provided between the two, and an electric actuator (servo motor, cylinder, etc.) 23c and an actuator driver 23 for driving the obstacle avoidance link mechanism 25.
d is provided, and an actuator operation command is output from the controller 22 to the electric actuator 23c via the actuator driver 23d to move the obstacle avoidance link mechanism 25 to perform an operation of avoiding the obstacle.

Therefore, the swivel base 1 is attached to the controller 22.
By setting an avoidance operation such as performing an avoidance operation of retracting the nozzle 13 by turning 5 or performing an avoidance operation of retracting the nozzle 13 by expanding and contracting the rotating arm 16, When the object sensor 21 detects that there is an obstacle, the nozzle 13 can be automatically retracted, the collision can be prevented, and the nozzle 13 can be restored after a predetermined time.

The operator can operate the driver's seat 15a provided on the swivel base 15 to prevent the nozzle 13 from colliding with an obstacle.

The self-propelled jet cleaning device 1 thus constructed
The operation of 0 will be described with reference to FIG. 5 by taking the case of cleaning the wall surface of the tunnel as an example.

First, the swivel base 15 is swung so that the swivel arm 16 is positioned in the direction perpendicular to the traveling direction of the truck 11, and the position of the nozzle 13 is directed toward the cleaning target portion.
Set it in a state where a predetermined interval is maintained.

When the nozzle 13 is set, since the rotating arm 16 is composed of a plurality of arms 16a, for example, even when a guard rail is provided, it is rotated so as to get over the guard rail even on the tunnel wall inside thereof. The nozzle 13 can be directed with the arm 16 bent, so that it can be set in a wide range as illustrated in FIG.

After the nozzle 13 is positioned and held in this way, the jet medium is jetted from the nozzle 13 and water is jetted to form a water curtain around the nozzle 13, and the truck 11 is run to perform cleaning.

During this cleaning, if there is an obstacle, the obstacle sensor 21 detects it, and the swivel base 1 is detected by the detection result.
5 is rotated, the rotary arm 16 is expanded or contracted, the nozzle 13 is moved by the obstacle avoidance link mechanism 25, or an avoidance operation combining these is performed, and damage to incidental equipment or the like due to a collision. It is designed to prevent

Then, after a preset time from the start of the avoiding operation, the returning operation is performed, and the cleaning is restarted while the traveling by the truck 11 is continued.

When the cleaning at the nozzle position thus set is completed, the position of the nozzle 13 is changed again and the cleaning is repeated to complete the cleaning of the wall surface of the tunnel.

According to the self-propelled jet cleaning device 10 as described above, it is possible to withstand the jet pressure by the positioning and holding device 14 of the highly rigid nozzle 13 by the swivel base 15 and the rotating arm 16, and a predetermined cleaning target The backhoe can be installed in the unit and the required functions can be satisfied at low cost.

Further, since the positioning and holding device 14 is constituted by the swivel base 15 and the rotating arm 16, the positioning accuracy is high in addition to the rigidity, and it is suitable for cleaning a thin and long portion such as a guide rail or a lane. There is.

Further, as compared with the case of using the conventional contact type rotating brush, since the cleaning can be performed by the non-contact type which ejects the ejection medium, if the auxiliary equipment is small, it does not become an obstacle and can be cleaned as it is. No collision damage will occur.

In the above embodiment, a truck is used as the vehicle, and the truck is mounted on the truck so as to be self-propelled.
It may be a trailer type that divides the drive unit and the in-vehicle unit,
It is also possible to increase the cleaning area by using the drive unit itself as a truck and further pulling the trailer.

Further, a plurality of jet cleaning devices may be mounted on one truck, for example, 3 sets for an 11t vehicle may be mounted. By branching to the tip and attaching three arms, for example, the cleaning range can be expanded while simplifying the structure of the rotating arm itself.

[0047]

According to the self-propelled jet cleaning apparatus according to the first aspect of the present invention as specifically described above with reference to the embodiment, the self-propelled vehicle and the vehicle or the vehicle are provided. An ejection cleaning unit that is mounted on a towed vehicle and includes a nozzle that ejects an ejection medium to a cleaning target unit, and a nozzle positioning holding unit that positions and holds the nozzle of the ejection cleaning unit toward the cleaning target unit. With this configuration, the nozzle can be positioned and held on the cleaning target portion by the nozzle positioning and holding means, and the ejection medium can be ejected to the cleaning target portion to be cleaned while traveling.

According to the self-propelled jet cleaning device of the second aspect of the present invention, the nozzle positioning and holding means is composed of the swivel base and a plurality of rotating arms installed on the swivel base. With this configuration, the nozzle can be positioned at a predetermined position and withstand the injection pressure while simplifying the mechanism.

Further, according to the self-propelled jet cleaning device of the third aspect of the present invention, the nozzle positioning and holding means is constituted by the turntable of the backhoe and the rotating arm, so that a ready-made device is applied. Therefore, it is possible to manufacture at low cost while securing necessary functions.

Further, according to the self-propelled jet cleaning device of the fourth aspect of the present invention, an obstacle detection sensor is provided on the rotating arm of the nozzle positioning and holding means, and the detection signal from this sensor is used for the rotation. Since the control means for retracting the nozzle attached to the tip of the moving arm is provided, the nozzle can be detected and retracted even if there is incidental equipment, etc., while preventing damage to the incidental equipment. Can be cleaned.

Furthermore, according to the self-propelled jet cleaning device of the fifth aspect of the present invention, while the jet medium of the jet cleaning means is particles of sodium hydrogen carbonate and / or water, switching means of these jet media is used. Therefore, depending on the degree of dirt on the part to be cleaned, the spray medium can be changed to either sodium hydrogencarbonate particles, a mixture of sodium hydrogencarbonate particles and water, or only water, depending on the contamination. If it is possible to clean, and if there is little dirt, it is possible to reduce the cost required for cleaning by using only water.

[Brief description of drawings]

FIG. 1 is a schematic front view of an embodiment of a self-propelled jet cleaning device of the present invention.

FIG. 2 is a schematic plan view showing positions of arms according to an embodiment of the self-propelled jet cleaning device of the present invention in different states.

FIG. 3 is a schematic configuration diagram of an obstacle avoidance control device according to an embodiment of the self-propelled jet cleaning device of the present invention.

FIG. 4 is a schematic configuration diagram of an obstacle avoidance control device according to another embodiment of the self-propelled jet cleaning device of the present invention.

FIG. 5 is a schematic explanatory view of a cleaning work range according to an embodiment of the self-propelled jet cleaning device of the present invention.

FIG. 6 is a schematic configuration diagram of a conventional brush-type cleaning vehicle.

[Explanation of symbols]

10 Self-propelled jet cleaning device 11 trucks (self-propelled vehicles) 12 Blast-type cleaning device (injection cleaning means) 13 nozzles 14 Positioning and holding device (nozzle positioning and holding means) 15 swivel 16 rotating arm 20 Control device 21 Obstacle detection sensor 22 Controller 23 Driver 24 actuators 25 Obstacle avoidance link mechanism

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Masayuki Hoshikawa             2-2-1 Otemachi, Chiyoda-ku, Tokyo Stone             Kawashima Harima Heavy Industries Co., Ltd. F-term (reference) 2D026 BA01 BA02                 3B116 AA31 AB54 BA06 BB88 BB90                       CD42 CD43

Claims (5)

[Claims] 1. A self-propelled vehicle, an injection cleaning means equipped with a nozzle for injecting an injection medium to a cleaning target part, which is mounted on the vehicle or a vehicle towed by the vehicle, and the nozzle of the injection cleaning means. A self-propelled jet cleaning device, comprising: a nozzle positioning and holding means for positioning and holding the nozzle toward the cleaning target portion. 2. The self-propelled jet cleaning device according to claim 1, wherein the nozzle positioning and holding means is composed of a swivel base and a plurality of rotary arms installed on the swivel base. 3. The self-propelled jet cleaning device according to claim 1, wherein the positioning and holding means is composed of a turntable of a backhoe and a rotating arm. 4. An obstacle detection sensor is provided on a rotary arm of the nozzle positioning and holding means, and control means for retracting the nozzle attached to the tip of the rotary arm in response to a detection signal from the sensor is provided. The self-propelled jet cleaning device according to any one of claims 1 to 3. 5. An injection medium of the injection cleaning means is sodium hydrogencarbonate particles and / or water, and a switching means for these injection media is provided.
4. The self-propelled jet cleaning device according to any one of 4 above.