JP2004082235A - Wall surface working method and device, and floor surface working device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wall surface working method and a wall surface working device miniaturized in comparison with a conventional one, and performing work to a wall surface by a wall surface working robot sucked to the wall surface by a sufficiently large force. <P>SOLUTION: This device has a working part for moving a guide rail 3 with a sucking disc generating a suction force along the wall surface 8, and allowing the sucking disc to be sucked to the wall surface 8 to perform specific work to the wall surface 8, the wall surface working robot 4 movable along the guide rail 3 is moved along the guide rail 3 to allow the work part to perform the specific work to the wall surface 8. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention provides a wall surface working method for performing a predetermined operation on a wall surface in the air or underwater, a wall surface working device directly used for performing the method, and a predetermined operation on the floor surface in the air or underwater. More particularly, the present invention relates to a wall surface working method, a wall surface working device, and a floor surface working device used for work in a pool for storing nuclear fuel.
[0002]
Problems to be solved by the prior art and the invention
As one of the conventional floor working apparatuses, there is a water tank cleaning apparatus disclosed in Japanese Patent Application Laid-Open No. 7-275820. In the water tank cleaning device disclosed in this publication, a sludge suction port is provided in a traveling vehicle that travels on the floor surface of the water tank by the power of a motor, and the sludge deposited on the floor surface of the water tank is drained by the sludge suction port. The sludge water is conveyed to the outside of the water storage tank by a conveying hose and discarded.
[0003]
However, in the water tank cleaning device disclosed in Japanese Patent Application Laid-Open No. 7-275820, the traveling vehicle cannot travel on the steep wall surface of the water tank and can be used for work on the wall surface. Did not.
[0004]
In addition, one of the conventional working devices for working on the wall surface or floor surface of a water storage tank or a pool underwater includes a back pressure generated by a pump or a fan that sucks water near a running surface (wall surface or floor surface). There is a self-propelled type with a built-in device. The working device is configured to travel while generating a force for pressing the device itself against the traveling surface by discharging water near the traveling surface in a direction away from the traveling surface by the back pressure generating device, This allows the vehicle to travel without leaving the wall.
[0005]
However, such a conventional working device has a problem that the device itself is large because it has a built-in back pressure generating device such as a pump or a fan. In a pool for storing nuclear fuel, a rack for storing nuclear fuel is stored in the pool at a distance from the wall or floor of the pool, and the pool is kept on the wall or floor of the pool without draining water from such a pool. When performing work on the pool, the work device needs to travel in the space between the wall surface or the floor surface and the rack. However, only a small back pressure generator having a small output can be mounted. As described above, when the output of the back pressure generating device cannot be sufficiently secured, the working device cannot be pressed against the traveling surface with a sufficiently large force, and when the working device travels on the wall surface, In some cases, she was separated from the wall.
[0006]
The pool for storing nuclear fuel has a structure in which a stainless steel panel lining is attached to the inner wall of a concrete frame, and adjacent panels are joined by welding to prevent water leakage from the joints of the panels. Then, a sticking panel made of stainless steel, which is coated on one side with an adhesive material containing an epoxy resin-based material as a main component, is attached to the joint. The work of sticking such a sticking panel to the wall or floor of the pool is done by transferring water from the pool to the rack outside the pool, draining water from the pool, and manually entering the empty pool. It has been desired to develop a working device for sticking the sticking panel without a worker entering the pool while the rack is housed in the pool and filled with water.
[0007]
Further, the conventional working device with a built-in back pressure generating device can run on the wall surface as described above, but has a problem that the running speed is slow. In the sticking operation of the sticking panel as described above, it is necessary to stick the sticking panel to the wall surface before the adhesive material is cured, and thus it is demanded that the work can be completed as quickly as possible. . Also from this viewpoint, the conventional working device with a built-in back pressure generating device is not suitable for this sticking operation.
[0008]
The present invention has been made in view of such circumstances, and has a wall surface working robot that is small in size as compared with a conventional working device with a built-in back pressure generating device, and that adheres to the wall surface with a sufficiently large force. It is an object of the present invention to provide a wall surface working method capable of performing work on a wall, and a wall surface working device directly used for carrying out the method.
[0009]
Another object of the present invention is to provide a wall work method and a wall work apparatus capable of moving the robot for wall work on a wall surface sufficiently quickly as compared with a conventional work apparatus having a built-in back pressure generator. To provide.
[0010]
Still another object of the present invention is to provide a wall working device or a floor working device that can be used for attaching the sticking panel to a wall surface or a floor surface of a pool for storing nuclear fuel. .
[0011]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, a wall surface working method according to the present invention includes a step of moving a guide rail having a suction portion capable of generating a suction force along a wall surface to suction the suction portion to the wall surface. 1 step, and a second step of moving a wall working robot, which has a working portion capable of performing a predetermined work on a wall surface and can move along the guide rail, along the guide rail. And a third step of causing the work section to perform a predetermined work on the wall surface.
[0012]
Further, the wall surface working device according to the present invention has a guide rail having an attraction portion capable of generating an attraction force, and a working portion capable of performing a predetermined operation on the wall surface, and along the guide rail. It is characterized by comprising a movable wall work robot, and a moving unit that moves the wall work robot along the guide rail.
[0013]
In the present invention, the suction unit causes the guide rail to be suctioned to the wall surface with a suction force enough to perform the predetermined work on the wall surface, and the wall work robot moves along the guide rail, It is not necessary to incorporate a back pressure generating device such as a large pump or fan into the wall work robot, and the wall work robot is made smaller than the conventional work device, and is adsorbed on the wall with a sufficiently large force. be able to.
[0014]
Further, since the wall working robot is configured to move along the guide rail, it is possible to move the wall working robot at a higher speed than a conventional working device.
[0015]
In the present invention, the configuration may be such that the wall working robot works on the underwater wall surface, or the wall surface working robot may work on the underwater wall surface.
[0016]
Further, in the above invention, the wall surface is configured by joining a plurality of panel-shaped members to each other, and the working unit is configured to detachably hold a sticking panel coated with an adhesive material on one surface. Wherein the first step is to move the guide rail to a position near the joint, and to make the suction part adhere to the panel member, and the second step is to move the wall working robot to the guide The third step is to move the working section toward the joining section along the rail so as to move to a position facing the joining section, and to move the working section toward the joining section, It is preferable that the sticking panel is separated from the working unit after the sticking surface is brought into close contact with the joining portion.
[0017]
Thereby, the operation | work which sticks a sticking panel to the said junction part of a wall surface in water or air can be performed by the robot for wall surface work.
[0018]
Further, in the above invention, the guide rail has two channel members provided substantially parallel to each other, and the wall surface working robot has a roller rotatably engaged with the channel member. can do. This allows the wall working robot to be moved along the guide rails with a simple configuration.
[0019]
Further, in the above invention, it is possible that the wall working robot further has a position adjusting mechanism for adjusting a position between the two channel members. Thereby, the wall work robot can be positioned with high accuracy.
[0020]
Further, in the above invention, the suction unit can be configured as a suction cup that can move while generating a suction force. Thus, the guide rail can be moved while being attracted to the wall surface.
[0021]
Further, in the above invention, it is desirable to use the work in a pool for storing nuclear fuel. Thus, the rack can be accommodated in the pool for storing nuclear fuel, and the sticking panel can be stuck to the wall surface of the pool without the worker entering the pool while being filled with water.
[0022]
Further, the floor working apparatus according to the present invention is an endless track for traveling on the floor surface, a holding portion for detachably holding an adhesive panel coated with an adhesive material on one surface, and the holding portion on the floor surface. A working unit having a moving unit that moves in a direction of approaching or moving away from the working unit.
[0023]
In the floor working device according to the above invention, the work of attaching the sticking panel to the underwater or air floor can be performed.
[0024]
Further, in the above invention, it is desirable to use the work in a pool for storing nuclear fuel. Thereby, the rack can be accommodated in the pool for storing nuclear fuel, and the sticking panel can be stuck to the floor of the pool without the worker entering the pool while being filled with water.
[0025]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a wall working device and a floor working device according to an embodiment of the present invention will be specifically described with reference to the drawings.
[0026]
FIG. 1 is a perspective view showing an overall configuration of a wall surface working device according to an embodiment of the present invention. As shown in FIG. 1, a wall surface working device 1 according to the present embodiment mainly includes a traveling platform 2, guide rails 3, and a wall surface working robot 4. In the pool 5 for storing nuclear fuel, a plurality of stainless steel panel members 6 are attached without gaps to the concrete wall surface as a lining, and the panel members 6 are joined to each other by welding.
[0027]
The pool 5 is filled with water, and a rack 7 for storing nuclear fuel in the water is submerged at a distance from the wall surface 8 of the pool 5. On both sides of the pool 5, rails 9 for guiding the movement of a crane (not shown) for raising and lowering the rack 7 are provided substantially parallel to the edge of the pool 5. The platform 2 is engaged.
[0028]
The traveling platform 2 is provided with an operation panel (not shown) used for operating the guide rail 3 and the robot 4 for wall work, and a winch 10. On the upper surface of the traveling platform 2, two support arms 11 extend obliquely upward so as to face the pool 5. The upper end of the support arm 11 extends beyond the edge of the pool 5 to above the space between the wall 8 of the pool 5 and the rack 7. Further, the lower ends of these support arms 11 are pivotally mounted on the upper surface of the traveling platform 2, and the upper ends of the support arms 11 are turned in a direction to approach or separate from the pool 5, so that the angle can be adjusted. Between the upper ends of these support arms 11, a horizontally long bar-shaped member 12 is passed. A pulley 13 is provided at an intermediate portion of the rod-shaped member 12, and a wire 14 extending from the winch 10 is engaged with the pulley 13.
[0029]
The upper end of the guide rail 3 extending downward is attached to the upper end of the support arm 11. The guide rail 3 has two channel members 15 arranged in parallel so that the opening portions face each other, and the upper end of each channel member 15 is fixed to the upper end of each support arm 11.
[0030]
Bridges 16 are provided at a plurality of locations in the longitudinal direction of the channel member 15 so as to pass between the two channel members 15. These bridges 16 have a shape like a bar-like member bent into a channel shape, and are fixed to both channel members 15 so that the inside of the pool 5, that is, the rack 7 side is the mountain side. By attaching such a bridge 16 to the channel member 15, the distance between the two channel members 15 is configured to be constant.
[0031]
Suction cups 17 (see FIG. 2) are provided at positions above the lower ends of both channel members 15 by a predetermined distance, and at positions further above this position by a predetermined distance. These suction cups 17 are attracted to the wall surface 8 of the pool 5, whereby the guide rail 3 is fixed to the wall surface 8 of the pool 5. The suction cup 17 has a substantially conical shape with an open bottom, and is arranged such that the opening side faces the wall surface 8. As shown in FIGS. 2 to 4 described later in detail, an output shaft of a motor 17a is connected to the suction cup 17, and when the motor 17a operates, the suction cup 17 rotates in the circumferential direction of the opening. It is configured as follows.
[0032]
Further, when the suction cup 17 comes into close contact with the wall surface 8, a closed space surrounded by the suction cup 17 and the wall surface 8 is formed. The suction cup 17 is connected to a depressurizing device such as a pump (not shown) that depressurizes the closed space by discharging water in the closed space to the outside of the space, and the depressurizing device depressurizes the closed space. Thereby, the suction cup 17 is adsorbed on the wall surface 8. In addition, this decompression device may be provided near the suction cup 17 or may be provided on the ground and connected to the suction cup 17 by a hose.
[0033]
As described above, by simultaneously reducing the pressure in the closed space and driving the motor 17 a to rotate the suction cup 17, the suction cup 17 moves along the wall surface 8 while generating a suction force on the wall surface 8. Becomes possible. In addition, the rotation direction of the motor 17a connected to each suction cup 17 is controlled independently, and the rotation speed of the suction cup 17 is made different from each other, whereby the moving direction of the guide rail 3 can be controlled.
[0034]
The motor 17a and the decompression device are electrically connected to the traveling platform 2 by a cable, and are driven in accordance with the electric signals transmitted from the traveling platform 2, respectively.
[0035]
The configuration is not limited to the above configuration as long as the guide rail 3 is moved while adsorbing the guide rail 3 on the wall surface 8. For example, a known technique disclosed in Japanese Patent No. 3175052 instead of the suction cup 17 is used. May be used.
[0036]
The wall working robot 4 is attached to the tip of the wire 14 hanging from the pulley 13. FIG. 2 is a plan view showing the configuration of the wall working robot 4, FIG. 3 is a front sectional view thereof, and FIG. 4 is a side view thereof. As shown in FIGS. 2 to 4, the wall working robot 4 mainly includes a housing 18, rollers 19, and a working unit 20.
[0037]
The width of the housing 18 is slightly shorter than the distance between the two channel members 15, and the thickness thereof is slightly shorter than the height of the bridge 16. Thereby, the housing 18 can pass through the bridge 16. Two shafts 21 are provided so as to penetrate the casing 18 in the width direction, and rollers 19 which are rotatably engaged with the channel member 15 are attached to both ends of the shafts 21. I have. The shafts 21 are supported by bearings 22 respectively attached to the inner surface of the housing 18. The bearing 22 supports not only the shaft 21 but also the shaft 21 so that the shaft 21 can slide in the axial direction. Therefore, the roller 19 and the housing 18 can relatively move in the axial direction of the shaft 21 within a predetermined range.
[0038]
Each shaft 21 has an intermediate portion that is thinner than the other portions (omitted in FIG. 2), and a cylindrical member 23 is fitted and fixed to this thin portion. On the outer peripheral surface of the cylindrical member 23, a plurality of grooves along the outer periphery are provided in the axial length direction. Such a groove of the cylindrical member 23 meshes with the gear 24 whose rotation axis direction is orthogonal to the axial length direction of the shaft 21. The gear 24 is connected to a rotating shaft of a motor (not shown) fixed and supported inside the housing 18, and is rotated by the motor. Thus, the position adjusting mechanism of the housing 18 is configured. The motor is electrically connected to the traveling platform 2 by a cable, and is driven in accordance with an electric signal transmitted from the traveling platform 2.
[0039]
Therefore, when this motor operates, the gear 24 rotates, and the relative position between the cylindrical member 23 and the gear 24 changes in the axial direction of the shaft 21 according to the rotation direction and the rotation amount. At this time, since the rollers 19 are engaged with the channel members 15, the cylindrical members 23 connected to the rollers 19 via the shafts 21 are substantially positioned relative to the channel members 15 in the axial direction. It does not change. Therefore, when the gear 24 rotates, the housing 18 moves in the axial direction of the shaft 21.
[0040]
The cylinder 25 penetrates in the thickness direction at four positions separated from the center of the housing 18 in the longitudinal direction (that is, the longitudinal direction of the channel member 15) and the width direction (that is, the longitudinal direction of the shaft 21). Each is attached. In each cylinder 25, a cylinder tube is fixedly supported by the housing 18, and a piston rod is arranged so as to protrude from the cylinder tube toward the wall surface 8. A suction cup 26 is attached to the tip of the piston rod of the cylinder 25. The working unit 20 is constituted by the cylinder 25 and the suction cup 26.
[0041]
On each suction cup 26, a sticking panel 27 made of stainless steel having an adhesive material containing an epoxy resin-based material as a main component applied to one surface thereof is adsorbed. When the cylinder 25 is in a contracted state, the sticking panel 27 sucked by the suction cup 26 is located at a position separated from the wall surface 8. By extending the cylinder 25 from this state, the sticking panel 27 is pressed against the wall surface 8.
[0042]
Further, each suction cup 26 is connected to the same one (not shown) as the above-described decompression device, and the inside of the closed space surrounded by the suction cup 26 and the sticking panel 27 by the decompression device is connected. The pressure is reduced and the sticking panel 27 is sucked to the suction cup 26. In addition, when an instruction to release the decompression is given, the decompression device sends water into the decompressed closed space, and detaches the sticking panel 27 from the suction cup 26.
[0043]
Such a cylinder 25 and a pressure reducing device are electrically connected to the traveling platform 2 by a cable, and are each driven according to an electric signal transmitted from the traveling platform 2.
[0044]
In addition, underwater CCD cameras 28 are provided at four positions near both ends in the longitudinal direction and both ends in the width direction of the housing 18, respectively. These CCD cameras 28 are arranged so that the imaging optical axis is substantially perpendicular to the wall surface 8, and each captures an image of the wall surface 8.
[0045]
In addition, a CCD camera 29 for photographing the lower side, that is, the floor side of the pool 5, is provided on the front surface of the housing 18, that is, on one surface having a larger distance from the wall surface 8. These CCD cameras 28 and 29 are connected to the traveling platform 2 by cables, transmit an image signal to the traveling platform 2, and display captured images on a monitor (not shown) provided on the traveling platform 2. It has become.
[0046]
Next, an operation of the wall surface working device 1 according to the present embodiment will be described. The operator operates the operation panel provided on the traveling platform 2 to drive the winch 10 and raises the wall work robot 4 to the ground. In this state, the worker attaches the sticking panel 27 to the wall working robot 4. When the attaching panel 27 is attached to the vertically extending welding line 30 (see FIG. 1), the pair of suction cups 26 that are spaced apart from the center of the housing 18 in the longitudinal direction are attached to the pair of suckers 26. The pressure reducing device connected to these suction cups 26 is driven in a state in which the rectangular adhesion panels 27 long in the direction are in close contact with each other, and the suction panels 27 are sucked to the suction cups 26. At this time, each cylinder 25 is in a contracted state.
[0047]
Next, the operator operates the operation panel, drives the winch 10, and advances the wall working robot 4 underwater. At this time, the worker can move the wall work robot 4 to a required position by checking the image captured by the CCD camera 29 on the monitor.
[0048]
In addition, an operator operates an operation panel provided on the traveling platform 2 to instruct a moving direction of the guide rail 3. In the present embodiment, a configuration will be described in which it is possible to specify only the direction along the rail 9 (that is, any one of the directions along the rail 9). The traveling platform 2 outputs an electric signal corresponding to the instruction to each motor 17a, and controls the rotation speed of each motor 17a. An electric signal is output from the traveling platform 2 to the pressure reducing device, and the driving of the pressure reducing device is controlled. As a result, the suction cup 17 is attracted to the wall surface 8 and rotates at the required rotation speed at the same time, and the guide rail 3 moves in the designated direction. As the guide rail 3 moves, the traveling platform 2 connected to the guide rail 3 via the support arm 11 also moves along the rail 9.
[0049]
At this time, the worker checks the captured image of the CCD camera 28 displayed on the monitor of the traveling platform 2 until the center position in the width direction of the wall working robot 4 substantially matches the welding line 30 to be worked. Then, the guide rail 3 is moved.
[0050]
When the center position in the width direction of the wall working robot 4 is slightly displaced from the welding line 30 to be worked, the operator operates the operation panel to move the wall working robot 4 and its movement. Indicate the direction. In response to such an operation input, an electric signal is output from the traveling platform 2 to the wall work robot 4, and the above-described motor is driven, so that the housing 18 moves in the designated direction. Thus, the position of the wall working robot 4 is finely adjusted.
[0051]
If necessary, the winch 10 is further driven to raise and lower the wall work robot 4, so that the vertical position of the wall work robot 4 can be adjusted.
[0052]
When the placement of the wall working robot 4 at the required position is completed, the operator operates the operation panel to instruct the sticking panel 27 to press the wall 8. In response to this operation input, an electric signal is output from the traveling platform 2 to the cylinder 25, the cylinder 25 is driven to extend from the contracted state, and the sticking panel 27 is pressed against the wall surface 8.
[0053]
Thereafter, the operator instructs the detachment of the sticking panel 27 from the suction cup 26 by operating the operation panel. At this time, an electric signal is output from the traveling platform 2 to the pressure reducing device (or the output of the electric signal is stopped), the pressure in the closed space of the pressure reducing device is released, and the sticking panel 27 is separated from the suction cup 26.
[0054]
Next, the operator instructs the suction cup 26 to retreat by operating the operation panel. In response to this operation input, an electric signal is output from the traveling platform 2 to the cylinder 25 (or the output of the electric signal is stopped), the cylinder 25 is shortened from the extended state, and the suction cup 26 is retracted. Thereby, the suction cup 26 separates from the sticking panel 27.
[0055]
Thereafter, the operator operates the operation panel to drive the winch 10 and raise the wall working robot 4 to the ground. If necessary, the sticking panel 27 may be set again and the sticking operation may be performed. Further, when performing the attaching operation of the attaching panel 27 to the same welding line 30, only the wall working robot 4 is moved up and down without moving the guide rail 3 to reach a required position. Since the wall work robot 4 can be moved, work can be performed quickly.
[0056]
On the other hand, when performing the attaching operation of the attaching panel 27 to the welding line 30 extending in the lateral direction, a pair of suction cups 26 spaced apart from the center of the housing 18 in the width direction is long in the width direction. The rectangular attachment panel 27 is sucked. When the operator operates the operation panel, the operation instruction as described above is performed, and the wall surface working device 1 is operated so as to attach the attachment panel 27 to a required position. Also, in this case, the worker checks the image captured by the CCD camera 28 displayed on the monitor of the traveling platform 2, and determines that the center position in the longitudinal direction of the wall working robot 4 and the welding line 30 to be worked are located. The guide rail 3 may be moved to position the robot 4 for wall work until they substantially coincide with each other.
[0057]
With the above configuration, according to the wall surface working device 1 according to the present embodiment, since the wall surface working robot 4 does not have an actuator or the like for self-propelling, the wall surface working robot 4 can be reduced in size. .
[0058]
In this embodiment, the sticking panel 27 is attached to the wall surface 8 by adsorbing the sticking panel 27 to the suction cup 26 attached to each of the two cylinders 25 and extending each cylinder 25. Although the configuration in which the sticking panel 27 is adsorbed is described above, the number of suction cups for sucking the sticking panel 27 may be one, or three or more. By sucking the suction cups to a plurality of suction cups, connecting each suction cup to one cylinder, and extending the cylinder, each suction cup is moved to the wall surface 8 side, and the sticking panel 27 is attached to the wall surface 8. There may be.
[0059]
Further, in the present embodiment, the configuration has been described in which the guide rail 3 is integrally fixed to the traveling platform 2 and the length of the guide rail 3 is constant, and the suction cup 17 is moved only in the lateral direction. However, the present invention is not limited to this. For example, the channel member 15 may be configured to be extendable and retractable, and the suction cup 17 may be configured to be movable in the vertical direction. On the other hand, the guide rail 3 can be moved up and down, and the guide rail 3 can be moved up and down by moving the suction cup 17 in the vertical direction. As described above, if the suction cup 17 is configured to move in the vertical direction, the suction cup 17 is slid on the welding line 30 extending vertically, so that the deposit adhering to the welding line 30 and the vicinity thereof is rubbed by the suction cup 17. Thus, it is possible to attach the attachment panel 27 in a more favorable state.
[0060]
Next, the configuration of the floor working device according to the embodiment of the present invention will be described. FIG. 5 is a perspective view showing the configuration of the floor working apparatus according to the embodiment of the present invention, FIG. 6 is a plan view thereof, FIG. 7 is a front partial sectional view thereof, and FIG. It is sectional drawing.
[0061]
As shown in FIGS. 5 to 8, the floor working apparatus 31 according to the present embodiment mainly includes a vehicle body 32 and an endless track 33. The vehicle body 32 has a flat, substantially rectangular box shape with an open lower surface, and a pair of endless tracks 33 are provided on both sides facing each other. The endless track 33 includes two rollers 34 that are disposed apart from each other in the longitudinal direction of the vehicle body 32, and an annular belt 35 that connects these rollers.
[0062]
The one roller 34 is connected to an output shaft of a motor (not shown) built in the vehicle body 32. The rollers 34 of both endless tracks 33 are connected to separate motors, respectively, and can be independently rotated. Therefore, it is possible to turn the traveling direction of the floor working device 31 by making the rotation speeds of the respective endless tracks 33 different, and to reverse the rotation directions of both the motors to obtain the floor working device. It is also possible to retract 31. These motors are electrically connected to a remote control panel (not shown) provided on the ground by a cable, and are driven according to an electric signal transmitted from the remote control panel. I have.
[0063]
Of the rollers 34 of the two endless tracks 33, those not connected to the motor are attached to both ends of a shaft 36 that passes through the vehicle body 32 in the width direction. The shaft 36 is attached to the vehicle body 32 with a structure similar to the above-described attachment structure of the shaft 21. A position adjusting mechanism having the same structure as the above-described position adjusting mechanism provided between the shaft 21 and the housing 18 of the wall surface working device 1 is provided between the shaft 36 and the vehicle body 32. Therefore, the position of the shaft 36 of the vehicle body 32 in the axial direction can be adjusted between the two endless tracks 33.
[0064]
A cleaning brush 37 made of synthetic resin is provided at one end in the longitudinal direction of the vehicle body 32 (hereinafter, this is referred to as front, and the opposite direction is referred to as rear). The cleaning brush 37 is formed in a horizontally long round bar shape, and is provided over substantially the entire width of the vehicle body 32. The cleaning brush 37 slides on the floor surface 38 when the floor surface working device 31 advances, and removes sediment deposited on the floor surface 38.
[0065]
CCD cameras 39 are provided at substantially the center in the width direction at both ends in the longitudinal direction of the upper surface of the vehicle body 32, respectively. The CCD camera 39 provided on the front side of the vehicle body 32 has its imaging surface facing forward, and the CCD camera 39 provided on the rear side of the vehicle body 32 has its imaging surface facing backward. Such a CCD camera 39 is connected to a remote control panel by a cable, transmits an image signal to the remote control panel, and displays a captured image on a monitor provided on the remote control panel.
[0066]
A round hole is formed at a position slightly forward of the center of the upper surface of the vehicle body 32, and the fan 40 is attached to the round hole. The fan 40 is rotated by a motor (not shown). When the fan 40 rotates, water below the vehicle body 32 is discharged to the upper side of the vehicle body 32, and a force for pressing the vehicle body 32 against the floor surface 38. Is caused to occur.
[0067]
A cylinder 41 is attached to a substantially central portion of the lower surface of the upper plate of the vehicle body 32. In the cylinder 41, a cylinder tube is fixedly supported at substantially the center of the lower surface of the upper plate so that the piston rod projects downward. A suction cup 42 is attached to the tip of the piston rod of the cylinder 41. The sticker panel 27 is sucked to the suction cup 42 in the same manner as the suction cup 26 described above. When the cylinder 41 is in a contracted state, the sticking panel 27 sucked by the suction cup 42 is located at a position separated from the floor surface 38. By extending the cylinder 41 from this state, the sticking panel 27 is pressed against the floor surface 38.
[0068]
The suction cup 42 is connected to the same pressure reducing device (not shown) attached to the suction cup 26. By driving this decompression device, it is possible to cause the sticking panel 27 to be adsorbed to and removed from the suction cup 42. Such a cylinder 41 and a pressure reducing device are connected to a remote control panel by a cable, and are driven respectively in accordance with an electric signal transmitted from the remote control panel.
[0069]
A cylindrical cable nozzle 43 protrudes from a position slightly behind the center of the upper surface of the vehicle body 32. From the cable nozzle 43, various cables and hoses as described above can be connected to the ground-side remote control panel or the like. Has been extended.
[0070]
Next, the operation of the floor working device 31 according to the present embodiment will be described. First, the floor working device 31 is pulled up to the ground, and the worker manually brings the sticking panel 27 into close contact with the suction cup 42, and drives the pressure reducing device connected to the suction cup 42 to stick the suction panel 42 to the suction cup 42. The attachment panel 27 is sucked. At this time, the cylinder 41 is in a contracted state.
[0071]
Next, the worker sinks the floor working device 31 into the water using a crane or the like to reach the floor 38.
[0072]
Then, the operator operates the remote control panel to instruct the traveling direction of the floor working device 31. In response to such an operation input, an electric signal is output from the remote control panel to the floor working device 31, and the motor connected to the endless track 33 is driven to move the floor working device 31 in the specified direction. Will be done.
[0073]
At this time, the worker confirms the captured image of the CCD camera 39 displayed on the monitor on the ground, and keeps the floor working device 31 until the center position in the width direction substantially coincides with the welding line 30 to be worked. The surface work device 31 is moved.
[0074]
When the center position in the width direction of the floor working device 31 is slightly deviated from the welding line 30 to be worked, the operator operates the remote control panel to perform fine adjustment of the position of the vehicle body 32. Instruct the direction of movement. In response to such an operation input, an electric signal is output from the remote control panel to the floor working device 31, and the motor connected to the above-described position adjusting mechanism is driven, so that the vehicle body 32 moves in the designated direction. It will be. Thereby, fine adjustment of the position of the vehicle body 32 is performed.
[0075]
When the placement of the floor working device 31 at the required position is completed, the operator operates the remote control panel to instruct the sticking panel 27 to press the floor 38. In response to this operation input, an electric signal is output from the remote control panel to the cylinder 41, and the cylinder 41 is driven to extend from the contracted state, so that the sticking panel 27 is pressed against the floor surface.
[0076]
Thereafter, the operator instructs the detachment of the sticking panel 27 from the suction cup 42 by operating the remote control panel. At this time, an electric signal is output from the remote control panel to the pressure reducing device (or the output of the electric signal is stopped), the pressure in the closed space of the pressure reducing device is released, and the sticking panel 27 is detached from the suction cup 42.
[0077]
Next, the operator instructs the suction cup 42 to retreat by operating the remote control panel. In response to this operation input, an electric signal is output from the remote control panel to the cylinder 41 (or the output of the electric signal is stopped), the cylinder 41 contracts from the extended state, and the suction cup 42 moves backward. Thereby, the suction cup 42 separates from the sticking panel 27.
[0078]
Thereafter, the operator operates the crane or the like to lift the floor working device 31 to the ground. If necessary, the sticking panel 27 may be set again and the sticking operation may be performed.
[0079]
【The invention's effect】
In the case of using the wall surface working method and the wall surface working device according to the present invention, the suction unit sucks the guide rail to the wall surface with a suction force enough to perform a predetermined work on the wall surface, and the wall surface is moved along the guide rail. Since the work robot moves, there is no need to incorporate a large-scale pump or fan or other back pressure generator into the wall work robot, making the wall work robot smaller and smaller than conventional work devices. It can be adsorbed on the wall with great force.
[0080]
Further, since the wall working robot is configured to move along the guide rail, it is possible to move the wall working robot at a higher speed than a conventional working device.
[0081]
Further, in the case of the wall working device and the floor working device according to the present invention, a rack is accommodated in a pool for storing nuclear fuel, and the water is filled, and the worker does not enter the pool without sticking. The present invention has an excellent effect such that the panel can be attached to the wall surface or the floor surface of the pool.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an overall configuration of a wall surface working device according to an embodiment of the present invention.
FIG. 2 is a plan view showing a configuration of a wall work robot provided in the wall work device according to the embodiment of the present invention.
FIG. 3 is a front sectional view showing a configuration of a wall work robot provided in the wall work device according to the embodiment of the present invention.
FIG. 4 is a side view showing a configuration of a wall work robot provided in the wall work device according to the embodiment of the present invention.
FIG. 5 is a perspective view showing a configuration of a floor working device according to the embodiment of the present invention.
FIG. 6 is a plan view showing the configuration of the floor working device according to the embodiment of the present invention.
FIG. 7 is a front partial sectional view showing the configuration of the floor working apparatus according to the embodiment of the present invention.
FIG. 8 is a partial side sectional view showing the configuration of the floor working device according to the embodiment of the present invention.
[Explanation of symbols]
1 Wall work equipment
2 Running platform
3 Guide rail
4 Wall work robot
5 pool
6 Panel members
7 racks
8 wall
9 rails
10 winches
11 Support arm
12 rod-shaped members
13 Pulley
14 wires
15 Channel member
16 Bridge
17 Sucker
17a motor
18 Housing
19 Laura
20 Working unit
21 shaft
22 bearing
23 cylindrical member
24 gears
25 cylinder
26 Sucker
27 Adhesive panel
28 CCD camera
29 CCD camera
30 welding line (joining point)
31 Floor work equipment
32 body
33 Endless track
34 rollers
35 belt
36 shaft
37 Cleaning brush
38 floor
39 CCD camera
40 fans
41 cylinder
42 Sucker
43 cable nozzle

Claims (11)

A first step of moving a guide rail having a suction unit capable of generating a suction force along a wall surface to suction the suction unit to the wall surface;
A second step of moving a robot for wall work, which has a work unit capable of performing a predetermined work on a wall surface and can move along the guide rail, along the guide rail,
A third step of causing the work unit to perform a predetermined work on the wall surface. The wall surface is configured by joining a plurality of panel-shaped members to each other,
The working unit is adapted to detachably hold an adhesive panel coated with an adhesive material on one surface,
In the first step, the guide rail is moved to a position near a joint of the panel upper member, and the suction unit is sucked to the panel member.
The second step is to move and arrange the wall working robot to a position facing the joint along the guide rail,
A third step of moving the working section toward the joint portion and bringing a sticking surface of a sticking panel held by the working section into close contact with the joint section; 5. The method according to claim 1, further comprising: a fifth step of separating the adhesive panel from the wall. A guide rail having a suction portion capable of generating a suction force,
A wall working robot having a working unit capable of performing a predetermined work on a wall surface and capable of moving along the guide rail,
A moving unit for moving the robot for wall work along the guide rail. The working unit has a holding unit that detachably holds an adhesive panel coated with an adhesive material on one surface, and a moving unit that moves the holding unit in a direction to approach or separate from a wall surface. The wall working device according to claim 3. The guide rail has two channel members provided substantially parallel to each other,
The wall surface working device according to claim 3, wherein the wall surface working robot includes a roller that rotatably engages with the channel member. The wall work apparatus according to claim 5, wherein the wall work robot further includes a position adjusting mechanism for adjusting a position between the two channel members. The wall surface working device according to any one of claims 3 to 6, wherein the suction unit is a suction cup that can move while generating a suction force. The wall working device according to any one of claims 3 to 7, wherein the device is used for work in a pool for storing nuclear fuel. An endless track for traveling on the floor,
A holding unit that detachably holds an adhesive panel coated with an adhesive material on one surface, and a working unit having a moving unit that moves the holding unit toward or away from the floor surface. Floor working equipment. The floor working apparatus according to claim 9, further comprising a cleaning brush that cleans a floor when the vehicle runs on the endless track. The floor working apparatus according to claim 9, wherein the floor working apparatus is used for an operation in a pool for storing nuclear fuel.

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