JP2002067934A - Self-propelling traveling bogie - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make a self-propelling traveling bogie smoothly travel and to improve labor effectiveness. SOLUTION: This self-propelling traveling bogie 7 laterally self-propelling along an upper end of an outer plate 4 is equipped with a traveling roller 16 located at both sides of right and left of the bogie 7 and slidably rolling along the upper end of the outer plate 4, a back side roller 12 located at both sides of right and left of the bogie 7 and slidably rolling along a back side of the outer plate 4, a front side roller 23 located at both sides of right and left of the bogie 7 and slidably rolling along a front surface of the outer plate 7, a driving device 13 for the traveling roller 16, and an electric chain block 8 located at the center of lateral direction of the bogie 7 for suspending an operation unit 70 by chains 33a and 33b hung from both ends of right and left of the bogie 7 through chain sprockets 60b, 60c, 60d, and 60e 3rovided on both sides of right and left of the bogie 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled traveling vehicle which travels along the upper end of a vertical skin such as a ship side skin or a large structure, and more particularly, a work unit such as a painting unit is suspended at a lower part. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled traveling vehicle for efficiently coating a surface to be coated of a vertical outer plate such as a ship side outer plate or a large structure, or efficiently cleaning a surface to be cleaned.

[0002]

2. Description of the Related Art When painting a ship-side outer plate of a hull constructed by a dock, a painting unit having a structure in which a spray nozzle is assembled to a reciprocator (long actuator) as a left-right reciprocating mechanism is used in a crane truck. Suspended from a high-altitude work vehicle via a hoisting device and placed close to the surface to be coated on the ship's outer panel, raised or lowered by the hoisting device, left and right stroke movement of the spray nozzle, and spraying When the nozzle is turned on and off by automatic control and the coating of the predetermined area is completed, the aerial work vehicle is arranged in the next coating area, and the same procedure is repeated thereafter. However, since the coating length in the left-right direction by the above-described coating unit is determined by the stroke length of the reciprocator, when painting a large area, the aerial work vehicle must be moved every time painting of a predetermined area is completed. Therefore, a driver of the aerial work vehicle is always required. In addition, after moving the aerial work platform, positioning when the coating unit is placed in the next coating area is performed by eye measurement, which not only takes time, but also causes variations in the overlapping margin of the coating part. Easy, furthermore, it is not possible to paint on the surface to be painted that is curved in the vertical direction,
In addition, since the coating can be performed only when descending, there is a problem that the winding time of the coating unit is lost.

Therefore, the applicant of the present application has made it possible to easily position the coating unit with respect to the coating area, and to apply the coating unit even if the surface to be coated has a gentle bend. We applied for a patent by inventing an automatic coating apparatus capable of performing coating both during ascent and descent (Japanese Patent Application No. Hei 11-6869, filed on January 13, 1999).

FIGS. 7 to 11 show Japanese Patent Application No. 11-6869.
It is a figure of the automatic coating device of 3. 7 is a partially cut-away sectional view showing an embodiment of the automatic coating apparatus, FIG. 8 is a view taken along the line AA in FIG. 7, and FIG. 9 is a view taken along the line BB in FIG. And FIG. 10 is an enlarged view in the direction of arrows CC in FIG. 11 is an enlarged view of a portion D in FIG. 8, (a) is a rear view, and (b)
(A) is a view as seen from the arrow EE, and (c) is a view as seen from the arrow FF in (a). 7 to 11, the automatic coating apparatus includes two upper support legs 1a and two lower support legs 1 on the left and right sides.
b is installed at the lower position of the coating unit main body frame 1 attached to the rectangular frame portion 1c so as to protrude forward from the four corners of the rectangular frame portion 1c. The spray nozzle 3 is assembled so that it can reciprocate in the direction
At the front ends of a and 1b, an elevating guide 5 for adsorbing on the surface 4a to be coated of the outer outer plate 4 and enabling easy movement in the vertical and horizontal directions can be moved toward and away from the surface 4a to be coated. The painting unit 6 is constructed by attaching it so that it can move forward and backward,
The coating unit 6 is suspended and supported via a chain block 8 so as to be able to move up and down so as to be able to run along the upper edge of the ship side outer panel 4.

[0005] The traveling carriage 7 has a top plate 9 arranged horizontally,
At the front end of the upper surface plate 9, a front plate 10 is provided at a right angle downward, and at the front end portions on both left and right sides on the upper surface plate 9, as shown in FIG. A cam follower for attaching the setting bracket 11 in which the claw portion 11a is engaged from above, and allowing the tip end of the tip claw portion 11a to rollably contact the inner surface of the upper end portion of the ship side outer plate 4. 12 is attached.

A drive shaft 14 driven by a motor 13 is disposed on the upper surface plate 9 at the center in the left-right direction and is rotatably supported by being disposed in the front-rear direction.
The main driving rollers 16 are arranged so that the driven shafts 15 are arranged in parallel with the drive shafts 14 so as to be rotatable, and are mounted on the upper end edge of the ship side outer plate 4 at the end of each driven shaft 15.
And an endless chain 19 is wound around a sprocket 17 provided on the drive shaft 14 and a sprocket 18 provided on the driven shaft 15, and the driving force of the motor 13 is transmitted from the drive shaft 14 to the sprocket 17. , Chain 1
9, through a sprocket 18 and a driven shaft 15 to the traveling main roller 16.

Further, a drive shaft 21 driven by a motor 20 is provided at a central portion in the left-right direction on a rear portion of the front plate 10.
Are arranged vertically and rotatably supported. At both left and right end portions, driven shafts 22 are respectively arranged in parallel with the drive shaft 21 to be rotatably supported, and a front portion is provided at an intermediate portion of each driven shaft 22. Sprockets 24 provided on the drive shaft 21 and sprockets 25 provided on the driven shaft 22 are respectively provided with traveling auxiliary rollers 23 for penetrating the face plate 10 and making contact with the outer surface of the ship side outer plate 4. And an endless chain 26 is wound between the drive shaft 21 and the driving force of the motor 20 is transmitted from the drive shaft 21 to the traveling auxiliary roller 23 via the sprocket 24, the chain 26, the sprocket 25, and the driven shaft 22. .

In order to detect the traveling amount of the traveling carriage 7, FIG.
1 (a), (b), and (c), the traveling detection roll (rubber tire) 27 is provided at a required position on the front plate 10.
Is assembled. The rubber tire 27 is rotatably attached to one end of a support plate 29 which is swingably mounted, and the support plate 29 is swung by a spring 31 interposed between the other end of the support plate 29 and the back surface of the front plate 10. It is urged and pressed against the outer surface of the ship side outer panel 4, and the travel distance of the traveling carriage 7 can be obtained based on the signal of the encoder 32 connected to one end of the shaft 30.

A hoisting device (chain block) 8
Is configured so that the left and right two chains 33 can be wound up and down synchronously by driving the motor 34, and the amount of winding up and down of the chain 33 is determined based on a signal from an encoder 35 attached to the drive shaft of the motor 34. The amount of suspension of the coating unit 6 is determined. In addition, 61 shown in FIG.
A chain box that stores the free end of the chain 33,
It is provided below the chain block 8 so as to protrude outward from the traveling carriage 7.

The elevating guide 5 includes a leg base 51 supported at the front end of each of the support legs 1a and 1b by a front end of an air cylinder 50 attached in the front-rear direction by a support bracket 49.
It comprises an electromagnet 52 attached to the center of the front surface of the footrest 51 and a guide roller (caster) 53 attached to a position around the electromagnet 52. When the footrest 51 is advanced by the extension operation of the cylinder 50, The caster 53 is in contact with the outer surface of the ship side outer plate 4 and the electromagnet 52 is attracted in a non-contact manner.

[0011]

SUMMARY OF THE INVENTION The aforementioned Japanese Patent Application No. Hei 11-68.
69, the drive unit (motor) of the electric chain block is provided at one end of the drive vehicle outside the main traveling roller, and houses the free end of the chain. Since the lower portion of the chain bucket is provided so as to protrude outward from the bogie, the center of gravity of the bogie is shifted to one side, particularly when the chain is wound up, and when the bogie travels at the upper end of the outer plate, the outer plate If the running surface at the upper end has irregularities such as a weld bead, the safety device provided on the bogie operates due to the irregularities, and the bogie stops. As a result, the vehicle cannot travel smoothly and the work efficiency is poor. Further, the reciprocator (traveling rail) of the work unit suspended below the bogie cannot be lengthened due to the difficulty in running smoothly.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art. The present invention has been made to make traveling of a traveling vehicle smooth and to lengthen a traveling rail of a work unit to be suspended below a carriage, thereby making it possible to carry out one time. It is an object of the present invention to provide a self-propelled traveling vehicle capable of improving the work efficiency by increasing the painting width of the vehicle.

[0013]

In order to achieve the above-mentioned object, a self-propelled traveling vehicle according to the present invention is a self-propelled traveling vehicle which self-propelled in the left-right direction along the upper end of an outer plate, and Rollers for running that are provided on both left and right sides and roll by contacting the upper end of the outer plate, rear side rollers that are provided on both right and left sides of the bogie and roll by contacting the back surface of the outer plate, and both right and left sides of the bogie A surface-side roller that rolls by contacting the surface of the outer plate;
A drive device for the traveling rollers and an electric chain block that hangs the chain from both left and right sides of the truck through chain sprockets provided at the center of the truck in the left-right direction and provided on both left and right sides of the truck. It is what you have.

According to a preferred embodiment, a driving device may be provided on the front roller. Further, in the working unit, a reciprocator is disposed at a lower position of a coating unit body frame in which two left and right upper support legs and lower support legs are attached to the lower ends of the two chains so as to protrude forward. An electromagnet which is attached to the reciprocator so as to be able to reciprocate in the left-right direction, and which is attached to the front end of each of the support legs in a non-contact manner with respect to the surface to be coated on the outer plate; and It is preferable that the coating unit is a coating unit in which a lift guide having a guide roller which is rolled in contact with the surface to be coated when suction is applied is attached by a cylinder so as to be able to advance and retreat.

The work unit may be a cleaning unit instead of the painting unit.

Next, the operation of the present invention will be described. Since the electric chain block is provided at the center of the self-propelled traveling vehicle in the left-right direction, the center of gravity of the vehicle is located at the center of the vehicle, and the vehicle travels smoothly even if the traveling surface at the upper end of the ship side outer plate has irregularities. And work efficiency can be improved. Further, the traveling rail of the working unit can be lengthened.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a front view of a self-propelled traveling vehicle according to the present invention, in which a coating unit is suspended below. FIG. 2 is a view taken in the direction of arrows BB in FIG. FIGS. 3A and 3B are diagrams of the chain guide, wherein FIG. 3B is a side view, FIG. 3A is a view along arrow AA in FIG. 3B, and FIG. 3C is a view along arrow BB in FIG.
FIG. 4 is a view taken in the direction of arrows AA in FIG. In these drawings, the same parts as those described with reference to FIGS. 7 to 11 are denoted by the same reference numerals, and the description thereof will not be repeated. The self-propelled traveling vehicle 7 travels in the left-right direction along the upper end of the outer plate 4, and is provided on both left and right sides of the vehicle 7, and is a traveling roller (a traveling main roller) that rolls while contacting the upper end of the outer plate 4. Roller 16 and the outer plate 4 provided on the left and right sides of the carriage 7.
Roller (cam follower) 12 that rolls in contact with the back of the vehicle, and front-side roller (auxiliary roller for running) that is provided on both left and right sides of the bogie 7 and rolls in contact with the surface of the outer plate 4
23, a driving device 13 for the traveling roller 16, and chain sprockets 60c, 60d, and 60e provided at the left and right ends of the truck 7 provided at the center of the truck 7 in the left and right direction. It has an electric chain block 8 that suspends the working unit 70 by hanging down the working units 33a and 33b.

The main body of the carriage 7 includes an upper horizontal plate 69 disposed horizontally, a partition plate 10A provided at a right angle downward in the middle of the lower surface of the upper horizontal plate 69, and below the upper horizontal plate 69 and
And a middle horizontal plate 9A provided on the front surface of the partition plate 10A.

The carriage 7 is driven by the intermediate horizontal plate 9A of the carriage 7.
This is carried out by driving a pair of running rollers 16 which are provided on the left and right sides of the sheet and roll in contact with the upper end of the outer plate 4. The pair of rollers 16 is driven by a motor 13 provided at the center in the left-right direction on the intermediate horizontal plate 9A. The upper part of the carriage 7 is supported by a plurality of backside rollers 12 provided on both left and right sides of the carriage 7 and rolling against the backside of the outer plate 4, and the lower part of the carriage 7 is supported by the rear surface of the partition plate 10A. It is provided on the left and right sides and supported by a pair of front-side rollers 23 that roll while contacting the surface 4a of the outer plate 4. The drive of the roller 16 is such that the drive shaft 14 of the motor 13 is rotatably supported, and the left and right driven shafts 15 are respectively arranged in parallel with the drive shaft 14 so as to be rotatably supported.
5 is mounted on the upper end of the outer plate 4 at the end of the outer plate 4, and an endless chain 19 is wound around a sprocket 17 provided on the drive shaft 14 and a sprocket 18 provided on the driven shaft 15;
The driving force of the motor 13 is transmitted from the drive shaft 14 to the sprocket 1
7, the transmission is carried out to the roller 16 via the chain 19, the sprocket 18, and the driven shaft 15. Reference numeral 11 denotes a setting bracket for setting the carriage 7 on the upper end of the outer plate 4, and engages the front claw portion 11a with the upper end of the outer plate 4. The back side roller 12 is provided at the forefront of the tip claw portion 11a. These are almost the same as those described with reference to FIGS.

The pair of front-side rollers 23 includes a partition plate 10A.
A drive shaft 21 driven by a motor 20 is vertically arranged at a central portion in the left-right direction to be rotatably supported,
The drive shaft 21 is disposed on both the left and right sides in parallel with the drive shaft 21 so as to be rotatable.
a. Front roller 2
3 is driven by wrapping an endless chain 26 between a sprocket 24 provided on the drive shaft 21 and a sprocket 25 provided on the driven shaft 22, and the driving force of the motor 20 is transmitted from the drive shaft 21 to the sprocket 24 and the chain. 26, a sprocket 25 and a driven shaft 22. These are the same as those described with reference to FIGS. Further, the motor 13 and the motor 20 are electrically interlocked and synchronized with each other.

When the truck 7 can be driven only by the capacity of the motor 13, the front roller 23 is
It does not need to be driven by 0 and can be a driven roller.

The electric chain block 8 is a box-shaped chain suspended on both sides of the partition plate 10A at the center in the left-right direction of the carriage 7 by suspending members 71 provided on the lower surface of an upper horizontal plate 69 at both ends. It is provided on a guide 60. The electric chain block 8 has two chains 33
a and 33b are provided. As shown in FIG. 3, one of the chains 33a is provided at the right end of the sprocket 8a provided on the drive shaft of the motor 34 and the sprocket 60a provided at the center of the chain guide 60 and the right end of the chain guide 60. The other chain 33b is suspended via a provided chain sprocket 60c, and the other chain 33b is a sprocket 8b provided on the drive shaft of the motor 34, a sprocket 60b provided at the center of the chain guide 60, and a chain provided at the right end of the chain guide 60. It hangs down via a sprocket 60d and a chain sprocket 60e provided at the left end of the chain guide 60. The working unit 70 is suspended from the tips of the chains 33a and 33b. 61 is a chain guide 60
When the work unit 70 is lifted by the electric chain block 8 using a chain bucket provided in the lower portion at the center of the chain, the free ends of the chains 33a and 33b are stored in a stacked manner.

The work unit 70 shows the painting unit 6 as an example. The coating unit 6 includes a left and right upper support leg 1a and a lower support leg 1b, and a rectangular frame portion 1c.
A reciprocator 2 extending in the left-right direction is installed at a lower position of the coating unit main body frame 1 which is mounted so as to protrude forward from the four corners. Reference numeral 1d denotes four legs attached to the lower surface of the coating unit main body frame 1, and supports the coating unit 6 when the coating unit 6 is dropped on the ground.
The spray nozzle 3 is attached to the reciprocator 2 so as to be able to reciprocate in the left-right direction, and the support legs 1a, 1b
At the front end of the air cylinder 50, an elevating guide 5 for adsorbing to the surface 4a to be coated of the outer outer plate 4 and enabling easy movement in the up, down, left and right directions is moved close to and away from the surface 4a to be coated. It is attached so that it can move forward and backward. 51
Is a footrest supported at the tip of an air cylinder 50, which has an electromagnet 52 mounted at the center in the front and a caster 53 mounted around it.

The work unit 70 includes the coating unit 6
Alternatively, a cleaning unit may be used. FIG. 6 is an enlarged side view showing an example of the polisher of the polisher unit. Reference numeral 62 denotes a polishing machine, 63 denotes a motor of the polishing machine 62, and 64 denotes a motor 63.
This is an impeller that is driven by the projector and projects the projection material 67 toward the outer surface of the ship side outer plate 4. Reference numeral 65 denotes a separator, which is separated by the projected projection material 67 and separates the dust 67 flowing in the arrow 68 direction from the projection material 67. 66 is a dust discharge pipe for discharging the dust separated by the separator 65. The cleaning machine 62 performs reciprocating motion on the reciprocator 2 in the left-right direction similarly to the spray nozzle 3 of the coating unit 6 to perform the cleaning operation.

FIG. 5 is a perspective view showing an example of the reciprocator 2. The reciprocator 2 includes a traveling rail 2A and an upper linear guide rail 2 provided on an upper surface of the traveling rail 2A.
a, a side linear guide rail 2b provided at the lower end of the side surface of the traveling rail 2A, and a rack gear 2c provided at the upper end of the side surface of the traveling rail 2A. Reference numeral 38 denotes a slide table to which the spray nozzle 3 of the coating unit 6 is attached, and a plurality of rollers 38a for sandwiching the upper linear guide rail 2a, a plurality of rollers 38b for sandwiching the side linear guide rail 2b, and a rack meshing with the rack gear 2c. It has a pinion 40 a and is driven by a motor 40.

Next, the operation of the present embodiment will be described. Since the electric chain block 8 is provided at the center of the self-propelled traveling vehicle 7 in the left-right direction, the center of gravity of the vehicle 7 is located at the center of the vehicle 7, and even if the traveling surface at the upper end of the sideboard 4 has irregularities, 7
Can run smoothly and improve the working efficiency. Also, the traveling rail 2A of the working unit 70
Can be lengthened.

The present invention is not limited to the above-described embodiment. In the above-described embodiment, the description has been given of the painting and the cleaning of the hull outer plate. However, the vertical outer plate of a large structure may be used. For example, various changes can be made without departing from the gist of the present invention.

[0028]

As described above, in the self-propelled traveling vehicle according to the present invention, the electric chain block is provided at the center of the self-propelled traveling vehicle, and the two chains of the electric chain block are provided at the left and right ends of the vehicle. The work unit is suspended via the provided chain sprocket, and a chain bucket for storing the free end of the chain is provided below the electric chain block. Even if there are irregularities, the bogie can run smoothly, and excellent effects such as improvement of work efficiency can be achieved.

[Brief description of the drawings]

FIG. 1 is a front view of a self-propelled traveling vehicle according to the present invention, in which a coating unit is suspended below.

FIG. 2 is a view taken in the direction of arrows BB in FIG.

FIGS. 3A and 3B are diagrams of a chain guide, wherein FIG.
FIG. 3 is a view taken in the direction of the arrow A, FIG. 3 (B) is a side view, and FIG.

FIG. 4 is a view as viewed in the direction of arrows AA in FIG. 1;

FIG. 5 is a partially enlarged perspective view of the reciprocator.

FIG. 6 is a schematic side view of the cleaning machine.

FIG. 7 is a partially cut-away side view of the automatic coating apparatus described in Japanese Patent Application No. 11-6869.

FIG. 8 is a view taken in the direction of arrows AA in FIG. 7;

9 is a view taken in the direction of arrows BB in FIG. 8;

FIG. 10 is a view taken in the direction of the arrows CC in FIG. 9;

11 is an enlarged view of a portion D in FIG. 8, (a) is a rear view,
(B) is a view taken along the line E-E in (a), and (c) is a line FF in (a).
It is an arrow F view.

[Explanation of symbols]

 Reference Signs List 4 Ship side outer plate 6 Painting unit 7 Self-propelled traveling vehicle (traveling vehicle) 8 Electric chain block (hoisting device) 9 Horizontal plate 9A Intermediate horizontal plate 11 Set bracket 11a Tip claws 33, 33a, 33b Chain 60 Chain guide 61 chain bucket 62 polisher 69 upper horizontal plate 70 work unit

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Hideaki Kusunoki 2-1 Showa-cho, Kure-shi, Hiroshima Inside AIH Marine Co., Ltd. (72) Inventor Masanobu Takada 2-Showa-cho, Kure-shi, Hiroshima No. 1 Ishikawajima Harima Heavy Industries Co., Ltd. Kure No. 1 Plant

Claims (4)

[Claims] 1. A self-propelled traveling vehicle that travels in the left-right direction along an upper end of an outer plate, the traveling roller being provided on both left and right sides of the truck and abutting against an upper end of the outer plate, and a traveling roller. A back-side roller provided on each of the left and right sides of the trolley and rolling in contact with the back surface of the outer plate; a front-side roller provided on each of the left and right sides of the trolley and rolling in contact with the surface of the outer plate; A drive unit, and an electric chain block that hangs a chain from both left and right ends of the truck through chain sprockets provided at the left and right ends of the truck at the center in the left and right direction of the truck. A self-propelled traveling cart characterized by the following. 2. The self-propelled traveling vehicle according to claim 1, wherein a driving device is also provided on the front roller. 3. The reciprocator is provided at a lower position of a coating unit body frame in which two upper left and right upper support legs and lower support legs are attached to lower ends of two chains by projecting forward. And an electromagnet that is attached to the reciprocator so that it can reciprocate in the left-right direction, and that the front end of each of the support legs is attracted to the surface to be coated of the outer plate in a non-contact manner. 3. The self-propelled type as claimed in claim 1, wherein the lift unit includes a guide roller having a guide roller that is rolled in contact with the surface to be coated when attracted by the electromagnet. Traveling trolley. 4. The self-propelled traveling vehicle according to claim 1, wherein the working unit is a cleaning unit instead of the coating unit according to claim 3.