JP2926687B2 - Wall work equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention performs operations such as periodic inspection, repair, cleaning, painting, and the like on high places where workers are not easily accessible, for example, on large structures. The present invention relates to a wall working device on which various working units used at times are mounted.

[Conventional technology]

Conventionally, regular inspections, repairs, cleaning, painting, etc. on large structures such as chimneys, large tanks, bridges, etc. are performed at high places, so remote operation and movable wall suction devices are required. .

This conventional example will be described with reference to FIGS.
(A) is a suction pad main body having a circular shape in plan view, (b) is a plurality of flexible seal members projecting radially outward from an outer peripheral portion of the suction pad main body (a), and (c) is a vacuum source. vacuum suction hose extending from (not shown), (f ₁₎ supporting Frame (f ₂₎ is attached to the suction pads body _{(a), (d 1)} ~
(D ₄ ) is a traveling wheel mounted on both ends of the supporting frame (f ₁ ) (f ₂ ), and (e ₁ ) (e ₂ ) is a driving wheel mounted on the supporting frame (f ₁ ) (f ₂ ) Motors, (g ₁ ) and (g ₂ ) are driving chains (or driving belts) suspended between the sprockets of the driving motor (e ₁ ) and the running wheels (d ₁ ) (d ₂ ), ( g ₃₎ (g ₄₎ is KakaSo the drive chain between the sprockets of sprocket and the running wheel of the drive motor _{(e 2) (d 3)} (d 4), (h) is the suction pads body ( a reduced pressure space formed between a) and each of the flexible seal members (b), and (h ₁ ) is the suction pad body (a).
The vacuum suction hose (c) is attached to the vacuum suction port (h ₁ ) at the center of the vacuum suction port communicating with the decompression space. Also, (i) is a wall surface, (j) is a support member of each of the flexible seal members (b), (k) is a partition member for preventing over-deformation of each of the flexible seal members (b), (l) Are vacuum suction hoses (c) extending from a vacuum source with bolts for fixing the respective flexible seal members (b) to the support members (j).
Is attached to the vacuum suction port (h ₁ ), the vacuum source is operated, and the air in the decompression space (h) formed between the suction pad body (a) and each flexible seal member (b). , The wall suction device is sucked on the wall surface (i), and then the drive motors (e ₁ ) and (e ₂ ) are started to rotate the drive chains (g ₁ ) (g ₂ ) and (g ₃ ). ) (g ₄₎ via a running wheel (d ₁₎
(D ₂₎ and (d ₃₎ communicated to (d _4), the running wheels (d ₁₎
By rotating (d ₂ ), (d ₃ ) and (d ₄ ), the wall surface adsorbing device is caused to travel along the wall surface (i). At this time, each flexible seal member (b) is deformed according to the unevenness of the wall surface (i) (see arrow x), and the space between the suction pad body (a) and each flexible seal member (b) is formed. The inside of the formed decompression space (h) is maintained in a vacuum state.

[Problems to be solved by the invention]

In the conventional wall surface working device shown in FIGS. 8, 9, and 10, the flat wall surface (i) is basically set as the suction target surface. Therefore, when the suction target surface is cylindrical like a cylindrical structure, the diameter of the suction pad main body (a) is reduced, and the suction pad main body (a) and each flexible seal member (b) are reduced. Thus, the suction can be performed on the cylindrical suction target surface or the shape of the suction pad body (a) can be changed according to the cylindrical suction target surface to enable suction on the cylindrical suction target surface. In either case, it is necessary to take any countermeasure, but in this case, the suction pad main body (a) is reduced in size, so that a large working device cannot be mounted. In such a case, the main body of the wall surface working device has to be remodeled significantly, which raises a problem that the cost increases.

The present invention proposes in view of the above problems,
Make sure that the diameter of the wall working device body is small according to the cylindrical suction target surface, or the suction on the cylindrical suction target surface is ensured without changing the shape of the wall working device body according to the cylindrical suction target surface. Providing a wall work device that can perform the work, such as cleaning and painting the wall, for work that goes straight in a certain direction, without automatically monitoring and controlling the direction (manual steering), automatically in the designated direction In order to provide a wall work device that can travel in a natural way and monitor the situation before and after in the running direction on a TV screen and avoid obstacles, etc. Safe and easy-to-operate walls that can be used in combination with safety devices that are always suspended and supported at a constant tension (variable) via wires, and that these devices can be controlled using a wireless portable operation panel. Work equipment Providing, it is an object.

[Means for solving the problem]

In the wall working device that works by sucking on the wall, a variable curvature mechanism that elastically presses the horizontal side edge directly and elastically by using a spring is added to the back of each flexible suction cup, and the expansion and contraction mechanism is attached to the support of each suction cup. Is provided, and the variable curvature mechanism and the expansion and contraction mechanism cooperate with each other to enable reliable suction on cylindrical surfaces having different curvatures. In addition, a tilt sensor (angle sensor; one that outputs an output corresponding to the angle) is provided at an appropriate position in the device, and the signal is fed back to control the steering mechanism to a predetermined value, thereby moving in the desired direction. Is possible. In addition, by providing a wireless TV camera before and after the device, it is possible to monitor before and after. Furthermore, safety can be improved by always suspending the device main body with a constant tension via a wire by a safety device having a winch with a torque control function built therein.

[Action]

A variable curvature mechanism attached to the left and right two places on the back of the suction cup against the wall surface of a cylindrical structure such as a chimney having a linear shape in the height direction and having a constant or variable curvature in the horizontal direction is a horizontal side edge of the suction cup. The part is pressed directly from the back to give deformation along the curvature of the wall, and the expansion and contraction mechanism provided on each suction cup can adjust the ingress and egress of the entire suction cup, so that the entire suction cup is pressed against the wall by the expansion and contraction mechanism At the same time, in the horizontal direction most affected by the curvature, the suction cup can be brought into close contact with the wall surface by direct pressing by the curvature variable mechanism. Therefore,
For a cylindrical structure wall having various curvatures (cylindrical diameter),
The suction of the suction cup can be surely performed. Work (e.g., blasting or painting) can be performed efficiently by suction movement on the wall surface, and is particularly effective for inclined tubular structures. By installing an inclination sensor and controlling the steering so that this value always becomes the set angle, it is possible to realize the traveling in the intended constant direction. By installing TV cameras before and after the device,
It is possible to control the lap (overlap) cost of cleaning and painting and avoid obstacles.

In addition, a winch driven by a torque control motor is incorporated into the safety device, the wall work device is lifted from above by a wire, and the tension is set to the weight of the main unit. Damage can be reduced.

In the case of performing wireless control, it is not necessary to route cables or the like, and workability in work at a high place or work in a narrow part is improved.

〔Example〕

The wall working device of the present invention will be described with reference to an embodiment shown in FIGS.

Reference numeral 1 denotes a flexible suction cup made of synthetic rubber or the like, which is arranged at an appropriate position in the apparatus main body. As shown in FIG. 2, the inside of the suction cup 1 is brought into a vacuum state by a vacuum source 24 (using a suction action of compressed air) called an ejector, and is adsorbed on the wall surface 13 or the like.

The present device is intended to be applied to a cylindrical structure having various curvatures, and for that purpose, it is necessary to stably adsorb to a wall surface having various curvatures. For this reason, as shown in FIGS. 4 and 5, a curvature variable mechanism 1-a that presses both left and right side edges in the horizontal direction of the back surface of the suction cup 1 directly toward the wall surface 13 with a spring, and the whole suction cup 1 as the wall surface 13 There is provided a telescopic mechanism 1-c that can be adjusted to take in and out of the device. 1-b is a holding bracket of the curvature varying mechanism 1-a, 1-d is a universal joint that can flexibly change the posture of the suction cup 1, 1-e is a vacuum suction port, and 1-f is a vacuum degree. The measurement port, 1-g, is a flange that makes close contact with the suction cup 1 to create a closed space.

2 is a front wheel drive motor, 2 'is a rear wheel drive motor, 3,3'
Are wheels (made of rubber), which run up and down, left and right by four wheels (drives) arranged at four corners in this embodiment.

When the vehicle is traveling up and down, the front wheels 3 are used to control the steering. Reference numeral 4 denotes an impeller (abrasion-resistant material) for projecting the abrasive material 6 (grid or the like), 5 denotes a motor for rotating the impeller 4 at a high speed, and the abrasive material 6 projects a projection path 7 (four sides are surrounded by abrasion-resistant material). ) And projected on the wall 13 to perform blasting. The abrasive material 6 projected on the wall surface 13 and the coating film piece detached from the wall surface are collected in the abrasive material tank 8 by an air flow sucked by the collection path 7 ′ and the dust collection hose 9. In the tank 8, the grid and dust (coated film pieces) are sorted by wind (cyclone, etc.) or a mesh plate,
The grid is recycled. Reference numeral 10 denotes an electric system cable, reference numerals 11 and 11 'denote wireless TV cameras, reference numeral 12 denotes a wire suspended from a safety device (not shown), and reference numeral 14 denotes a wall cleaned and cleaned (at least two types of keren). The polishing width is, for example, about 500 mm.

FIG. 3 shows a state in which the present apparatus is operated (wireless type), and FIGS. 6 and 7 show a state in which an ultra-high chimney (for example, a height of 220 m) is automatically blasted by the present apparatus.

Reference numeral 15 denotes an ultra-high chimney, and reference numeral 16 denotes a compressor which is an auxiliary equipment of the present apparatus. In this example, compressed air of 5 kg / cm ² × 5 m ³ / min is supplied through a hose.

Reference numeral 17 denotes a dust collector for collecting dust collected through the dust collecting hose 9 (including a filter), and reference numeral 18 denotes a dust collecting blower. Reference numeral 19 denotes a wire for lifting a dust collector 17, a blower 18, an electric control panel, an air relay, and the like (not shown) to a working position. The winch (not shown) for winding the wire 19 is placed on the ground. Reference numeral 20 denotes a safety device with a built-in winch with a torque control motor for supporting the wall working device via the wire 12 (preventing the device from dropping in case of detachment), and sandwiching the rail 21 (an inverted T-shaped bar). It also has the function of orbiting. Reference numeral 22 denotes a wireless operation by an operator.

An example of trial calculation of a wall mounting force (F: a force generated by friction between a suction force P and a wall due to a force parallel to the wall) of the wall working device according to the present invention is shown.

Wall mounting force: F Suction pad diameter: D _P = 350 mm Pad vacuum degree: H = -553 Torr (average value of six pads) Number of pads: n = 6 Suction force P = π / 4 x D _P ² x H / 760 × 1.03 × 10 ^-2 × n = 4340
kgf load ratio (pads): 0.3 weight ratio (wheel): 0.7 friction coefficient (pads - wall): mu _P = 0.2 (wheel-wall): mu _W = 0.35 Wall mounting force _{F = 0.3 × P × μ P} +0. 7 × P × μ _W = 1320kgf Because the weight of this device is about 600kg As described above, the present apparatus adsorbs to the wall surface (cylindrical surface) with the suction cups arranged in a plurality of appropriate places, and drives the four corner wheels in this state (adsorbed state), thereby performing the suction movement on the wall surface. realizable. In addition, by installing a grid circulation type centrifugal blast unit at an appropriate position (approximately at the center) and operating it in conjunction with the movement of the device, it is possible to automate wall cleaning.

Also, although not shown, the incorporation of the tilt sensor and
By utilizing the angle signal for steering control, the sixth
When working with an inclined chimney cylinder body indicated by reference numeral 15 in the figure, it is possible to constantly travel along the cylinder body axis, thereby reducing the burden on the operator and contributing to the work efficiency and stability.

In the above embodiment, the automatic blasting operation of the wall provided with the blasting material projecting device and the blasting material recovery device as the working unit has been described, but other operations such as painting, inspection, and cleaning are also possible. (In that case, the work unit required for each work is mounted on the wall work device and used).

〔The invention's effect〕

The present invention is directed to a wall working apparatus including a suction cup that communicates with a vacuum source and holds a work unit by being sucked to a wall surface, and a wheel that has a driving mechanism and moves the suction cup and the work unit. A flexible sucker, a telescopic mechanism that adjusts the entrance and exit of the suction cup to the wall surface, and a curvature variable mechanism that directly elastically presses the horizontal side edge of the rear surface of each suction cup to follow the curved wall surface of the suction cup surface. Has the following effects.

With one type of wall work device, wall work can be performed on cylindrical structures having various diameters without modification or the like.

Therefore, wall work (cleaning, painting, inspection, etc.) on various cylindrical structures (chimneys, tanks, etc.) can be performed at a practical cost and with good quality.

When steering control is performed by incorporating an inclination sensor, automatic traveling in a predetermined direction becomes possible.

It is possible to achieve front / rear monitoring by a TV camera, improvement of work safety by a fall prevention safety device, improvement of workability by radio control, and the like.

[Brief description of the drawings]

1 (a) and 1 (b) are a plan view and a side view of a wall working device according to an embodiment of the present invention, FIG. 2 is a schematic diagram of a vacuum suction mechanism, FIG. 3 is a schematic diagram of radio control, FIG. 4 (a),
(B) is a side view and a plan view of the suction cup, FIG. 5 is an enlarged view of AA cross section of FIG. 4 (b), FIG. 6 is an overall view of the chimney sweeping work, and FIG. FIG. 8 is an enlarged view of a part B, FIG. 8 is a plan view showing a conventional wall suction device, and FIG.
FIG. 10 is a cross-sectional view, and FIG. 10 is an enlarged side view of a portion D in FIG. 1 ... sucker, 1-a ... variable curvature mechanism, 1-c ... expansion / contraction mechanism, 2, 2 '... drive motor, 3, 3' ... wheels, 4-9 ... working unit, 13 ... Wall

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Morio Hirabayashi 1 Takiharucho, Minami-ku, Nagoya-shi, Aichi Prefecture Chuden Shinmei Fire Apartment E (72) Inventor Shigeo Inoue 4-6-22 Kanonshinmachi, Nishi-ku, Hiroshima, Hiroshima, Japan Inside Mitsubishi Heavy Industries, Ltd.Hiroshima Research Center (72) Inventor Koichi Wada 4-6-22, Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Inside Mitsubishi Heavy Industries, Ltd.Hiroshima Research Center (72) Inventor Shoji Takeuchi 4-chome, Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture No. 6-22 Mitsubishi Heavy Industries, Ltd. Hiroshima Works (72) Inventor Nobuhiro Yukawa 4-62 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Works (56) References JP-A-1-41457 ( JP, A) JP-A-3-266781 (JP, A) JP-A-2-88891 (JP, U) JP-A-62-232143 (JP, U) (58) Field (Int.Cl. ^6, DB name) B62D 57/02

Claims (1)

(57) [Claims] 1. A wall working apparatus comprising: a suction cup which communicates with a vacuum source and holds a work unit by being sucked to a wall surface; and a wheel having a drive mechanism for moving the suction cup and the work unit. Flexible suction cups, a telescopic mechanism that adjusts the suction of the suction cups into and out of the wall surface, and a curvature variable mechanism that directly elastically presses the horizontal side edge of the back surface of each suction cup to make the suction cup surface conform to the curved wall surface And a wall working device.