JP2816603B2 - Slipper prevention device for can body cleaning robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for preventing a can body cleaning robot from slipping off.

[0002]

2. Description of the Related Art Heretofore, the present inventors have developed a robot for cleaning the surface of a can body such as a mold for tunnel lining. The structure and operation of an example of the can body cleaning robot will be described with reference to FIGS. In the figure, reference numeral 1 denotes a main body frame, on the lower side of which four running wheels 2 are arranged. The traveling wheel 2 is rotationally driven in both forward and reverse directions by a suitable driving means 2a such as a hydraulic motor or an electric motor, and travels on the surface of the can body. The traveling wheel 2 is rotated by 90 ° around the vertical axis 2b and can be steered in an orthogonal direction, and can move the main body frame 1 in the circumferential direction and the axial direction of the can body. Reference numeral 3 denotes a magnet, which is attracted to a can body made of a magnetic material with an appropriate clearance, and presses the traveling wheel 2 against the surface of the can body. Reference numeral 4 denotes a rotating brush, which is rotationally driven in both forward and reverse directions by a hydraulic motor or the like, and brushes and cleans the surface of the can body. Reference numeral 5 denotes an application nozzle which sprays and applies a release agent or the like to the surface of the cleaned can body. Reference numeral 6 denotes a limit switch, and 7 denotes a falling-off prevention sensor, which stops the main body frame 1 when it reaches the end of the can body. Control of the rotation speed of the traveling wheel 2, forward and reverse rotation directions and steering, etc., on / off switching control of the suction of the magnet 3, control of the rotation speed of the rotating brush 4, forward and reverse rotation directions, etc., by the application nozzle 5 The control of the spray amount, the injection direction, and the like, and the control such as the stop control based on the detection information from the limit switch 6 and the dropout prevention sensor 7 are managed by a controller (not shown) including a computer or the like.

Therefore, first, the can body cleaning robot A is set so that the rotation axis of the rotating brush 4 is parallel to the axis of the can body.
Is set on the surface of the can body, and the traveling wheel 2 is pressed against the surface of the can body by the attraction force of the magnet 3. Next, the traveling wheel 2 is rotationally driven in the circumferential direction of the surface of the can body, and the can body cleaning robot A is moved. In this state, the rotating brush 4 is rotated to remove deposits such as mortar on the surface of the can body, and a release agent or the like is spray-coated from the coating nozzle 5.

However, the can body cleaning robot A
FIG. 7 shows that the friction coefficient of the surface of the can body is particularly small.
As shown in (2), when the vehicle travels particularly near the vertical side surface of the surface of the can body F or attempts to change the direction at this position, there is a risk of slipping and falling as indicated by an arrow.

[0005]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to eliminate the possibility that the can body cleaning robot A will slide down, and to provide a safe and secure method. An object of the present invention is to provide a device for preventing a can body cleaning robot from falling down, which can surely clean the surface of the can body.

[0006]

According to the present invention, there is provided a can body cleaning device for a can body cleaning robot which cleans a surface of a closed can body while self-propelled while the curved peripheral surface of the can body is adhered to the surface of the closed can body. In the robot, a balancer is disposed at a position on the surface of the can body that is symmetrical with respect to the center of the cross section of the can body, and the weight of the balancer is made substantially equal to the weight of the can body cleaning robot. The body cleaning robot and the balancer are connected by a connecting rod so that they can move integrally.

[0007] The can body cleaning robot and the balancer
It is also characterized by being connected by a connecting rod via a slider.

[0008] The balancer may be a can body cleaning robot.

The present invention also relates to a can body cleaning robot which cleans a surface of a can body which is partially cut off while adsorbed on the surface of the broken can body while adhering to the surface of the can body. The body cleaning robots are sequentially connected by connecting rods, and the intervals between the can body cleaning robots are set to be equal and approximately 1 / N of the entire circumference of the curved surface.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, F is a can body, for example, a structure or a structure having a closed curved peripheral surface whose surface is to be cleaned, such as a mold for secondary tunnel lining.

On the outer surface of the can body F, the above-mentioned can body cleaning robot A, balancer B and two sliders C are arranged, which are sequentially connected by connecting rods D, respectively. Surrounds the surface of F.

The balancer B basically has substantially the same weight as the can body cleaning robot A, and has a guide wheel b and its steering function. The guide wheel b of the balancer B has substantially the same action as the traveling wheel 2 of the can body cleaning robot A, and moves following the moving direction of the can body cleaning robot A. The balancer B and the can body cleaning robot A are disposed at symmetric surface positions with respect to the center of the cross section of the can body F.

The slider C is located at an intermediate position between the can body cleaning robot A and the balancer B, and has an idle wheel c. The idler wheel c also operates following the operation of the traveling wheel 2 of the can body cleaning robot A. The two sliders C also have approximately the same weight as each other and are preferably lighter.

Since the apparatus of this embodiment is constructed as described above, even if the can body cleaning robot A is located on the vertical side surface of the can body F as shown in FIG. Since the weight balance in the direction is maintained and the slider C and the connecting rod D are connected,
There is no danger of slipping off the surface of the can F.

The above embodiment is effective when the diameter of the can body is small and the cleaning area is small. In the above embodiment, the slider C may be omitted and the can body cleaning robot A and the balancer B may be directly connected by the connecting rod D. In this embodiment, a pair of can body cleaning robots A and balancers B
However, the present invention is not limited to this, and a plurality of pairs of can body cleaning robots and a balancer B may be arranged and connected sequentially with a connecting rod D.

FIG. 2 shows another embodiment in which a can body cleaning robot A is arranged in place of the balancer B. In this case, since the cleaning efficiency is improved, it is employed particularly for a large-diameter can. In this embodiment, since the left and right can body cleaning robots A have the same weight, they are balanced with each other, and there is no danger of sliding down. In the present embodiment, the combination of the pair of can body cleaning robots A and the can body cleaning robots A has been described. However, the present invention is not limited to this. May be arranged and sequentially connected by the connecting rod D to cope with the can body F having a larger diameter.

FIG. 3 shows still another embodiment in which the can body cleaning robot A cleans the inner surface of the can body F. The two can body cleaning robots A are symmetrical with respect to the center of the can body F. They are arranged at inner surface positions, and are respectively connected by connecting rods D via sliders C at intermediate positions between them. In this case, the left and right can body cleaning robots A share the right and left halves of the inner surface of the can body F, respectively. By replacing the one can body cleaning robot A with the above-mentioned balancer B, the entire inner peripheral surface of the can body F can be cleaned by one can body cleaning robot A. In this case, it is necessary to arrange the slider C also at a symmetric position like a virtual line. The connecting rod D of this embodiment can be formed in a straight line as shown.

FIG. 4 shows an embodiment in which a part (lower side) of a curved peripheral surface such as a horseshoe-shaped can body F 'is broken, and three can body cleaning robots A are connected to a connecting rod D. , The cleaning operation is performed while moving from the solid line state position to the virtual line state position. In the case of the present embodiment, the distance (distance) between the adjacent can body cleaning robots A, that is, the length of the connecting rod D, is set to be equal, and set to １ ／ of the entire circumference of the can body F ′. For example, each can cleaning robot A can perform cleaning on the entire peripheral surface of the can F 'as a whole while sharing a 1/3 stroke. The number of the can body cleaning robots A is not limited to three, but may be set to any number, such as two, four, or five, depending on the diameter of the can body F '. In this case, if the number of can body cleaning robots A is N, the interval is set to 1 / N.

[0019]

The can body cleaning robot and the balancer or the left and right can body cleaning robots having the same weight move on the surface of the can body while maintaining the balance, so that the cleaning operation is performed safely and securely without slipping. be able to.

The working efficiency can be improved by increasing the number of can body cleaning robots according to the size of the can body.

[Brief description of the drawings]

FIG. 1 is an explanatory view showing an embodiment of the device of the present invention.

FIG. 2 is an explanatory view showing another embodiment of the device of the present invention.

FIG. 3 is an explanatory view showing still another embodiment of the device of the present invention.

FIG. 4 is an explanatory view showing still another embodiment of the device of the present invention.

FIG. 5 is a sectional view showing an embodiment of a can body cleaning robot.

FIG. 6 is a sectional view taken along line GG of FIG. 5;

FIG. 7 is an explanatory diagram of a sliding state of the can body cleaning robot.

[Explanation of symbols]

 A Can body cleaning robot B Balancer b Guide wheel C Slider c Idling wheel D Connecting rod F Can body F 'Can 1 Body frame 2 Running wheel 2a Driving means 2b Vertical axis 3 Magnet 4 Rotary brush 5 Application nozzle 6 Limit switch 7 Drop off Prevention sensor

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Akira Yoda 1832-6, Rokuura-cho, Kanazawa-ku, Yokohama-shi, Kanagawa Prefecture (72) Inventor Kikuo Suzuki 1-12-1-17-201, Rokuura, Kanazawa-ku, Yokohama-shi, Kanagawa Prefecture (58) Survey Field (Int.Cl. ⁶ , DB name) E21D 11/10 B08B 9/04

Claims (4)

(57) [Claims] 1. A can body cleaning robot for cleaning a surface of a closed can body while adsorbing on the surface of the closed can body while adsorbing on the surface of the can body. A balancer is disposed at a symmetrical surface position of the can body, the weight of the balancer is substantially equal to the weight of the can body cleaning robot, and the can body cleaning robot and the balancer can be integrally moved by being connected by a connecting rod. An apparatus for preventing a can body cleaning robot from slipping down. 2. The apparatus for preventing a can body cleaning robot from slipping off according to claim 1, wherein the can body cleaning robot and the balancer are connected by a connecting rod via a slider. 3. The apparatus according to claim 1, wherein a can body cleaning robot is provided in place of the balancer. 4. A can body cleaning robot that cleans its surface while self-propelled while a part of the curved peripheral surface is adsorbed on the surface of the broken can body, wherein N number of can body cleaning robots are connected by connecting rods. An apparatus for preventing a can body cleaning robot from falling down, wherein the can body cleaning robots are sequentially connected to each other, and the intervals between the can body cleaning robots are set to be equal and substantially 1 / N of the entire circumference of the curved surface.