JPS61182756A - Adsorption self-propelled working device - Google Patents

Abstract

PURPOSE:To improve mobility and functional property, by changing a direction of each wheel by a direction changing driving gear thereafter driving each wheel to be rotated by a running driving gear so as to enable a truck to run in a lateral and a diagonal direction without performing a change of direction like turning. CONSTITUTION:When a blast is performed for a part F to be blasted scattering diagonally in the front, first prior to running a direction changing driving gear changes a direction of each wheel (7A) (7B), (8A) (8B). Under this condition, each running driving gear (14A) (14B), (15A) (15B), driving the wheel (7A) (7B), (8A) (8B) to be rotated, stops a truck in a condition that it runs in a diagonal direction as shown by a virtual line (b) in the drawing. Next the wheel (7A) (7B), (8A) (8B) is driven to change its direction reverse to the before described. Accordingly, a work device, which can drive the truck 2 to run in a diagonal direction without performing a change of direction like turning, improves mobility and functional property.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention provides a suction self-propelled work device that performs grinding or painting work on a wall surface, such as the outer surface of a ship, while adsorbing the wall surface and self-propelling. It is related to.

2. Description of the Related Art Conventionally, a suction self-propelled abrasive material projection device (Zoo) as shown in FIGS. The abrasive material (10
5) Perform the desired Vf insertion by projecting "fr", and then transfer the used abrasive material and removed material to the suction hose (106).
We are trying to collect it through . And a self-propelled trolley (1
02) is driven by a drive device (108A) on one side that is linked to two wheels (107A) on the negative side, and two wheels (108A) on the other side.
107B) and the other side drive device (108B) linked to the other drive device (108B) are simultaneously driven forward or backward at a constant speed to move forward or backward, and with one of the drive devices stopped or decelerated, the remaining It can be swiveled to the right or to the left by activating the drive normally. Incidentally, when cleaning the entire surface of the wall surface (103), the cleaning is performed by repeating straight forward movement and backward movement, and by a combination of lateral movement of the cleaning range at the beginning and end. However, in reality, from the viewpoint of repair costs, it is almost impossible to carry out full-scale work, and the work equipment is run between scattered repair points to carry out efficient and economical repairs. For example, when the work equipment is moved diagonally upward to the area to be repaired (109) after finishing the work in a straight line as shown by the solid line in Fig. 7, one side drive bag is used as described above. (108A)
at the same time as stopping or decelerating the other side drive device (108B
) is normally driven.

Problems to be Solved by the Invention According to the conventional method as described above, when changing the working position by moving the working device diagonally, the movement takes time and the moving operation is difficult. That is,
When running diagonally as shown in the imaginary line in Figure 7,
Suction hose (106) and abrasive material pressure hose (11)
0) etc. will be bent near the mounting part, and as a result, an unbalanced load will be applied to the working equipment, and the negative pressure in the negative pressure chamber (104) caused by the suction device (101) will be broken, preventing it from falling. I will invite you.

Furthermore, when cleaning the repaired area (109) while running diagonally, the recovery pipe (111) to which the suction hose (106) is connected is located diagonally above the lowest position (112). Therefore, it is not possible to smoothly collect used Vf sweep materials, etc., and in order to solve this problem, the re/f attitude must be corrected so that the collection pipe (111) is at the lowest position at the repaired location (109). There must be. As a result, mobility and functionality are impaired.

Means for Solving the Problem In order to solve the above problems, the suction self-propelled working device according to the present invention is provided with a suction device and a work tool on a cart having a plurality of wheels, and the direction of the plurality of wheels can be changed freely. At the same time, a driving device for changing the direction of these wheels is provided on the truck, and a traveling driving device that is interlocked with each wheel is separately provided on the back.

According to the configuration of the present invention, the orientation of each wheel is changed by the orientation change drive device, and then each wheel is driven and rotated by the traveling drive device, so that the truck can be moved laterally or without changing the orientation such as turning. It can run diagonally.

EXAMPLE An example of the present invention will be described below with reference to FIGS. 1 to 4.

(1) is a suction type grinding device that is an example of a suction self-propelled work device, and includes a self-propelled cart (2), a suction device (3) attached to this self-propelled platform *<2), and this suction device. It consists of a projection nozzle/L/(4), which is an example of a working tool attached to (3), and a recovery pipe (5).

The frame of the self-propelled trolley (2) consists of a main body frame (6) in the shape of a rectangular bar, and a pair of front and rear wheels (7A) (7B), (8A) (8B) are provided on both sides of the body frame (6), respectively.

Brackets (9A) (9B), (10A) (IO
B) is the rotation axis (IIA) (IIB), (12A) (1
2B) on the main body frame (6) side, and can freely change direction around the axis σJ. Each bracket (9A
) (9B), (IOA) (IOB), travel drive devices (14A) (14B), (15A
) (15B) are provided separately. The body frame (
6) is provided with a direction change drive device ItaQ for changing the direction of the wheels (7A) (7B), (8A) (8B). In other words, the direction change drive device <1f19 is
Each rotation axis (IIA) (IIB), (12A) (12B
) mounted on the upper end of the passive wheel body (17A) (17B), (
18A) (18B), a pair of left and right motors attached to the main body frame (6), and these motors (11(E)
The deceleration take-out shaft G moves to ! 1) Driving wheel body attached to g2 (c) and wheel body (17A) (1) divided into left and right side
7B)@, (18A) (18B) It consists of an endless rotating body 5 (261) wound between A transmission wheel body (271) is provided on both reduction gear take-out shafts G!) (Foundation), and an endless rotating body -
It is also possible to synchronize it by winding it.

The suction device (3) is integrated into a cap-shaped cup frame attached to the main body frame (6) side via a level adjustment mechanism, and is integrated with the outer periphery of the tip of the cup frame (7), and a ring plate aυ extending to , and an annular suction cup with a V-shaped cross section attached to this ring plate C3υ
/i, a truncated conical ring body (2) disposed on the inner surface side of the cup frame (7) and forming an annular suction path end between it and the inner surface of the cup frame (1); A ring member (to) for fixing the body (1) to the cup frame (a) and closing the upper end of the annular suction path, and a cup for forming a suction port (to) that passes opposite to the annular suction path. The recovery pipe (5) is provided at a proper location on the frame (7), and a plate is provided to communicate with the annular suction path (to) at a position displaced by 180 degrees with respect to the location where the recovery pipe (5) is provided. The collection, etc. (
A flexible suction hose ■ is connected to 5). As a result, a negative pressure chamber (g) is formed inside the prgL attachment device (3), and a gasket (2) is attached to the exposed portion to the negative pressure chamber (6). The suction cup seat /L/(2) includes a protrusion (32a) fixed to the outer peripheral edge of the ring plate c11J, and a protrusion (32a) that extends further outward from the tip of the protrusion (32a) and curves inward. A curved portion (32b) is attached to the curved portion (32b), a contact portion (32c) formed thickly and solidly at the tip of the curved portion (32b), and an end portion extending inward from the contact portion (32c) and connected to the ring plate 61. ) is fixed to the inclined part (32d
) is formed from.

The projection nozzle/V (4) is swingably attached to the base end of the suction device (3). That is, an outer ring member is attached to the base end of the cup frame 〇 via a ring plate 01), and a swing drive device 0◆ is disposed on this ring member □□□ via a base plate. ) is the object to be polished, (4
6a) shows the surface to be polished.

In addition, in FIG. 2, the collection pipe (5) is positioned in the direction of the swinging force of the nozzle (4) for ease of understanding.
This is the arrangement shown in FIG.

Next, the VF insertion work in the above embodiment will be explained.

The suction power of the blower device installed on the ground side is transferred to the cup frame through the Saxicon hose (to) and recovery pipe (5).
It acts on the inner negative royal court (7) to generate adsorption force in the adsorption device (3), and at that time, the amount of external air taken into the cup frame (7) is adjusted by operating the breaker (to). At the same time, by driving and rotating the wheels (7A), (7B), (8A), and (8B), the surface to be polished (4
6a) The suction type polishing device (1) moves smoothly on the suction type with the optimum suction force. During this adsorption self-propulsion, the compressed air from the compressed air supply device transports the abrasive material supplied along the way within the abrasive material hose θη, reaches the projection nozzle (4), and /(4)
It is projected onto the area surrounded by the cup frame (7) of the empty MlfR sweeping surface (46a) and used for the intended cleaning.

The removed materials and used abrasive material generated by such cleaning are collected from the collection pipe (5) to the Saxicon hose (to) by the above-mentioned suction force, and returned to the separation device on the ground side.

Before performing the suction as described above, the suction cup sheet /I/
2), the curved portion (32b) is in a curved deformed state as shown by the solid line in FIG. Further, the same shape is maintained even when brought into contact with the surface to be polished (46a) to generate an adsorption action. And when there are irregularities on the surface while driving, 9 bends will be absorbed by 9 parts. In other words, if the surface is concave, the curved portion (32b) will not be deformed into an elongated state as shown by the imaginary line (c), and if it is convex, the curved portion (32b) will not be deformed into an extended state as shown by the imaginary line (c). ) deforms into a further bent state. In this way, unevenness will be absorbed by the deformation of the curved portion (32b)9, so the suction cup will not curl inward and the negative pressure will not be broken. .

During the above-mentioned grinding work, since the suction force acts on the entire circumference of the negative pressure chamber due to the open lower end of the annular suction path, it is difficult to determine which direction the projection nozzle 1v (4) is directed. (details will be described later), or even if the collection pipe (5) is located above the lowest position, the suction removal of used 111f restraints, etc. will be carried out smoothly and reliably. It will be done. In addition, the existence of the ring body (B) causes the annular suction entangled end, that is, the open lower end, to be in a constricted state, so even if the suction force at the suction port (to) is not increased, the open lower end has sufficient suction force. You can expect suction power.

Projection of the abrasive material via the projection nozzle zlz (4) includes:
This is performed while the projection nozzle (4) is oscillated by a oscillating drive device (b).

The above-mentioned cleaning operation can be performed not only by VF cleaning over the entire surface, but also only at scattered locations to be polished. At this time, traveling between the locations to be polished is performed in a non-cleaning state, for example, by stopping the supply of the Vf vacuum cleaner.

After cleaning the area to be polished as shown in Figure 4, when cleaning the area to be polished CB+ scattered in front, it is necessary to It can be run in a sweeping state, and projection can be started when it reaches the position shown by the imaginary line (a).

As shown in Fig. 4, when cleaning the areas to be polished that are scattered diagonally in front of the vehicle, each wheel (7A) ( 7B
), (8A) and (8B). In other words, the rotation of the motor qI (e) is transmitted to the rotating shafts (IIA) (IIB), (12A) (12B) via an endless rotating body (to), etc. (IO
B) through wheels (7A) (7B).

(8A) Change the direction of (8B). In this state, each travel drive device (14A) (14B), (15A) (15B)
By wheels (7AX7B).

By driving and rotating (8A) and (8B), they are stopped in a diagonally running state as shown by the imaginary line (b) in FIG. Next, wheels (7A) (7B), (8A) (
8B) in the opposite direction to that described above. By moving it forward, the desired cleaning of the location to be polished 1) can be performed.

The adsorption type grinding device (1) runs on wheels (7AX7B)
, (8A) (8B), and the travel drive device (14A) (14B), (15A) (15B)
This is done in all directions by forward and reverse driving. For example, when cleaning is performed while running directly sideways, the wheels (7A) (7B), (8A) (8B) are changed in direction by 90 degrees from the state shown in FIG. After that, the desired Vf cleaning can be performed by running the vehicle and projecting the abrasive material from a predetermined location.

In the above embodiment, a suction type &f sweeping device 1) is shown as the suction self-propelled working device, and a projection nozzle /v (1) is shown as the working tool.
4), but this may also be an adsorption-type painting device using a paint gun or the like as a working tool, and in this case, the painting range is determined according to the self-propelled range of a self-propelled trolley (2), etc. After changing the direction of each wheel using the changing drive device, each wheel is driven and rotated by the traveling drive device.
The trolley can be run laterally or diagonally without turning or changing direction, and as a result, there is no unbalanced load acting on the trolley, and smooth running without falling is always expected. can. This makes it possible to provide an adsorption-type working device with excellent mobility and functionality.

[Brief explanation of drawings]

1 to 4 show one embodiment of the present invention, FIG. 1 is a plan view, FIG. 2 is a sectional view of the main part, FIG. 5 is a schematic side view showing a conventional example, and FIG. 6 is an explanatory diagram of the same operation. (1)...Suction type cleaning device (suction self-propelled work device),
(2)...Self-propelled trolley, (3)...Adsorption device, (4)
...Projection nozzle iv<working tool), (5)...Recovery pipe, (7A) (7B), (8A) (8B)...Wheel,
(IIA) (IIB) , (12A) (12B)...
Rotating shaft, (14A) (14B).

Claims (1)

[Claims] 1. A suction device and a working tool are provided on a cart having a plurality of wheels, and the plurality of wheels are attached so as to be freely changeable in direction,
A suction self-propelled working device characterized in that a drive device for changing the direction of these wheels is provided on the truck, and a travel drive device that is linked to each wheel is provided separately.