JP4140008B2 - Wall moving device - Google Patents

Description

  The present invention relates to an apparatus for moving a wall surface extending in the vertical direction, and more particularly to an apparatus for moving a wall surface extending in the vertical direction by mounting a wall surface coating apparatus, a wall surface cleaning apparatus, a wall surface peeling apparatus, a wall surface inspection apparatus, and the like.

  As with other parts, wall treatment and wall inspection are performed on vertical wall surfaces (hereinafter referred to as wall surfaces) such as vertical walls or inclined wall surfaces of concrete buildings, buildings, and swimming pools. Is called. In recent years, for the purpose of saving labor in wall surface processing and wall surface inspection, for example, wall surface processing devices such as wall surface coating devices, wall surface cleaning devices, wall surface peeling devices, radiological inspection devices and ultrasonic inspection devices for inspecting cracks and corrosion, etc. Automated devices such as wall inspection devices have been developed.

A conventional automation device is arranged to be lifted by a wire extended from a lifting means such as a crane or a winch installed above a wall surface and arranged on the wall surface.
For example, as shown in FIG. 16, the upper surface 2 and the wall surface 3 are formed on the structure 1, and two lifting means 4 are installed on the upper surface 2 at a predetermined interval. The inspection device 5 is lifted and placed on the wall surface 3. Specifically, the wall treatment device 5 is brought into a predetermined position on the wall surface 3 by engaging the ends of the wires 7 extended from the lifting means 4 with the two suspension tools 6 provided on both upper sides of the wall treatment device 5. Be placed.

  The wall surface processing apparatus 5 processes the entire wall surface 3 by repeatedly processing the wall surface 3 of the arranged portion, moving to the next portion, and processing the wall surface portion. When the wall surface processing device 5 is moved to another part of the wall surface 3, the wire length of each lifting means 4 is moved little by little while adjusting each other. After the movement, the wire length is fixed so as not to change on the lifting means 4 side.

  However, when the wires 7 are respectively engaged with the hanging tools 6 provided on both upper sides of the wall surface processing apparatus 5, the wall surface processing apparatus 5 is inclined as shown in the figure if there is a difference between the left and right wire lengths. When the wall surface processing is performed in a state where the wall surface processing apparatus 5 is tilted in this way, an unprocessed portion and an overlapped processing portion are generated at the boundary portion before and after the movement, and the processing efficiency is lowered. Further, the end of the wall surface 3 may form an inner corner with another wall surface, and it becomes difficult to process the inner corner with the wall processing apparatus 5 in an inclined state.

  In order to prevent the wall surface processing device 5 from being inclined as described above, one point at the central portion of the upper edge passing through the center of gravity of the wall surface processing device 5 is lifted by two wires from diagonally upward and left and right. Is desirable. On the other hand, when the wall surface processing apparatus 5 is moved to the next wall surface portion, it is necessary to temporarily separate the wall surface processing apparatus 5 from the wall surface 3.

  For this purpose, for example, a feeding / winding means is provided at a part away from the wall surface 3, and a wire extending from the feeding / winding means is engaged with the center surface of the wall surface processing apparatus 5. Then, by pulling the wire, the wall surface processing device 5 is moved slightly to the next portion from the wall surface 3, and after the movement, the wire is loosened again, and the wall surface processing device 5 is positioned and arranged on the wall surface 3.

  However, as described above, when the wall surface processing apparatus 5 is lifted by two wires from diagonally upward and left at one point in the center of the upper edge, the wall surface processing apparatus 5 is moved laterally while being floated from the wall surface 3. When this occurs, another problem arises that the wall surface processing device 5 is likely to rotate. For example, the wall surface processing device 5 may rotate and the corner portion may hit the wall surface 3 even if it is a trivial factor such as a deviation in the timing of winding / unwinding of the left and right wires and a change in the center of gravity of the device. When the wall surface processing device 5 hits the wall surface 3 as described above, there is a possibility that each part of the device may be adversely affected by the impact, and there are cases where the contacted portion becomes resistance and smooth movement and positioning becomes difficult.

  Further, since the conventional wall surface processing apparatus 5 is slightly separated from the wall surface during the movement as described above, it is necessary to provide a feeding / winding means in a part apart from the wall surface 3 apart from the lifting means. Therefore, skill is required because it is necessary to carry out fine adjustment in coordination with the lifting means. Therefore, they were one of the factors that increased the construction cost.

  Therefore, an object of the present invention is to provide a wall surface moving device that can efficiently move a wall surface by mounting a wall surface processing device, a wall surface inspection device, or the like.

Wall moving apparatus of the present invention to solve the above problems, there is provided an apparatus for moving a wall extending in the vertical direction, comprises a frame 11 that can be placed on the wall 3 by lifting in the lifting means 4, the lifting by the lifting means 4 The frame 11 is provided with a plurality of wheel devices 13 that can freely travel in the frame 11 so that the frame 11 in the state can move along the wall surface 3. 3 is provided with expansion / contraction means 15 that expands and contracts with respect to
The wheel 14 is a caster 16 or a ball wheel 28,
The frame 11 is provided with a moving mechanism 33 for moving the support 32 vertically and horizontally, and a wall surface processing device including a wall surface inspection device is attached to the support 32.
In addition, a plurality of suction units 34 having suction pads 34a spaced apart from each other around the frame 11 are provided,
While the wheel 14 is retracted from the wall surface via the expansion / contraction means 15, the wall surface 3 is adsorbed by the suction pad 34a, and the frame 11 is fixed to the wall surface 3 via the suction pad 34a, The wall treatment apparatus is configured to move vertically and horizontally,
The suction pad 34 a is released from the suction of the wall surface 3, and the frame 11 is moved by the lifting means 4 while the wheel 14 is in contact with the wall surface 3 via the telescopic means 15. characterized in that it is (claim 1).

In the wall moving apparatus may be provided with a load block to engage the wire of the two lifting means are installed at predetermined intervals in the horizontal direction above the wall the upper edge central portion of the frame (claim 2) .

As described above, the wall surface moving device of the present invention includes the frame that can be lifted by the lifting means and can be arranged on the wall surface, and the frame that is lifted by the lifting means can be moved along the wall surface. It is provided with a plurality of traveling directions freely wheel device.

  According to the wall surface moving device, since the plurality of wheel devices that can travel in the direction of movement are provided so that the frame can move along the wall surface, the wall surface moving device can be stably and smoothly moved on the wall surface. Further, since it is not necessary to move the frame away from the wall surface when moving the wall surface, it is not necessary to provide the feeding / winding means separately from the lifting means as in the conventional case.

Furthermore, the wheel device is provided with telescopic means for stretching the running direction freely wheels and it wall. Since providing such stretching means, when the wall moving device moves contacts the wheel device on the wall, itself devices by separating it from the wall surface in the case of the wall treatment and wall inspection stopped or The wall surface moving device can be stably supported on the wall surface by a stopper or the like.

The running direction freely wheels are constituted by casters or ball type wheels. In the case of a caster, even if there are some steps on the wall, it can be overcome smoothly. Moreover, when it comprises a ball-type wheel, the position of the wall surface moving device can be finely adjusted on the wall surface.
Furthermore, the frame 11 is provided with a moving mechanism 33 for moving the support 32 vertically and horizontally, and a wall surface processing device including a wall surface inspection device is attached to the support 32.
In addition, a plurality of suction units 34 having suction pads 34a spaced apart from each other around the frame 11 are provided,
While the wheel 14 is retracted from the wall surface via the expansion / contraction means 15, the wall surface 3 is adsorbed by the suction pad 34a, and the frame 11 is fixed to the wall surface 3 via the suction pad 34a, The wall treatment apparatus is configured to move vertically and horizontally,
The suction pad 34 a is released from the suction of the wall surface 3, and the frame 11 is moved by the lifting means 4 while the wheel 14 is in contact with the wall surface 3 via the telescopic means 15. Therefore, it is possible to reliably prevent the frame 11 from moving during the wall surface processing operation or the wall surface inspection operation, and to perform the operation accurately, and to facilitate the subsequent movement of the frame 11 as a whole. It becomes an efficient mobile device.

In the wall surface moving device described above, a hanging tool that engages with wires of two lifting means that are installed at predetermined intervals above the wall surface can be provided at the center of the upper edge of the frame.
If comprised in this way, it can move on the wall surface up and down, right and left, without tilting a wall surface moving apparatus.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory view showing a state in which a wall surface moving device according to the present invention is arranged on a wall surface. The wall surface moving device 10 includes a frame 11, and a hanging tool 12 is provided at the center of the upper edge of the frame. In the illustrated example, two lifting means 4 are installed at a predetermined interval on the upper surface 2 of the concrete structure 1, and the tips of the two wires 7 from the lifting means 4 are engaged with the lifting tool 12. By doing so, the wall surface moving device 10 is arranged at a predetermined position on the wall surface 3.

  The frame 11 is mounted, mounted, connected or incorporated with a wall surface processing device such as a wall surface coating device, a wall surface peeling device, a wall surface cleaning device, or a wall surface inspection device such as a wall surface inspection device (hereinafter collectively referred to as a wall surface processing device). Therefore, when the frame 11 constituting the wall surface moving device 10 moves on the wall surface 3, the wall surface processing device attached to the wall surface moving device 10 also moves on the wall surface accordingly. And in order to perform this movement smoothly, the wheel apparatus 13 which can freely run is provided in the four corners of the frame 11, respectively.

  Next, the wall surface moving device of the present invention will be described in more detail by taking as an example the case where the wall surface processing device is integrally incorporated in the frame 11 shown in FIG. 2 is a front view of the entire apparatus, FIG. 3 is a partially broken plan view of FIG. 2, and FIG. 4 is a partially broken right side schematic view of FIG. In these drawings, the wall surface moving device 10 includes a frame 11, a wheel device 13 provided at four corners of the frame 11 that can freely travel, and a hanging tool 12 provided at the center of the upper edge of the frame 11. The wall surface cleaning device 30 is incorporated in the.

  The wall surface cleaning device 30 includes a plurality of rotating brushes 31 that clean the concrete wall surface 3, a support body 32 that supports the rotating brushes 31 together, a moving mechanism 33 that moves the support body 32 vertically and horizontally, and wall surface cleaning. Six adsorbing units 34 for adsorbing the device 30 to the wall surface 3, four telescopic stoppers 35 for setting the distance between the wall surface cleaning device 30 and the wall surface 3, and dust such as concrete debris generated by the cleaning operation are collected. A dust collecting mechanism 36 is provided. The dust collecting mechanism 36 is connected to a suction device such as a vacuum pump (not shown).

  Pressurized air is supplied to the rotating brush 31 through a support 32 from a pressurized air control unit (not shown), and the rotating brush 31 is rotated by the pressurized air to clean the concrete surface. As shown in FIG. 2, the moving mechanism 33 includes two vertical frame members 37, two horizontal frame members 38, one screw rod 39 provided between the horizontal frame members 38, and two rails 40. The two guide bodies 42 slidably coupled to the rails 40, the moving body 43 connecting the guide bodies 42, and the transmission body 44 provided on the moving body 43 and screwed to the screw rod 39. And a drive shaft 45 and a support guide 46 that are rotatably supported by the support body 32. The screw rod 39 is rotated forward or reverse by a drive unit 47 (FIG. 3) such as a drive motor with a speed reduction mechanism.

  When the screw rod 39 rotates forward or backward, the support 32 connected to the transmission body 44 screwed to the screw rod 39 moves in the vertical direction of FIG. Further, by rotating the drive shaft 45 forward or backward by another drive unit (not shown) housed inside the support body 32, the support body 32 moves in the left-right direction in FIG. By providing such a moving mechanism 33, even when the frame 11 is stopped at a predetermined position on the wall surface 3, the rotary brush 31 is vertically and horizontally within a range surrounded by the vertical frame member 37 and the horizontal frame member 38. It can move, and the cleaning operation of the range can be performed without the movement of the wall surface moving apparatus 10.

  Dust such as concrete debris generated during the cleaning operation is discharged outside and collected by the suction force of the dust collecting mechanism 36. Alternatively, during the cleaning operation, a force to separate the wall surface cleaning device 30 in a direction perpendicular to the wall surface 3 is applied, but the separation force is suppressed by the adsorption force to the wall surface by the four adsorption units 34.

  Each suction unit 34 is attached to the four corners of the frame 11 constituting the wall surface moving device 10, and each suction unit 34 has a decompression chamber and a flexible suction pad 34a disposed in the opening thereof. A decompression device (not shown) such as is connected by a hose or the like. Then, the suction pad 34 a is attracted to the wall surface 3 by bringing the decompression chamber into a decompressed state.

  FIG. 5 is a front view showing an example of a wheel device 13 that can freely travel in the wall surface moving device 10, FIG. 6 is a bottom view of FIG. 5, and FIG. 7 is a view taken along arrow VII-VII in FIG. In these drawings, the wheel device 13 includes a wheel 14 that can freely travel and an expansion / contraction means 15 that expands / contracts the wheel 14 with respect to the wall surface 3. In the present embodiment, the wheel 14 is constituted by a caster 16 and can freely rotate and turn in the arrow direction.

  The expansion / contraction means 15 includes a bracket 17 bolted to the frame 11, an air cylinder 18 and a guide block 19 bolted to the bracket 17, a support member 21 connected to the drive shaft 20 of the air cylinder 18, and an end to the support member 21. The guide rod 22 is connected to each other, and the guide rod 22 is slidably inserted into the guide block 19.

  The guide block 19 and the guide bar 22 reinforce the caster 16 by supporting the lateral stress generated when the frame 11 moves. The air cylinder 18 has an extension side air inlet 23 for supplying pressurized air for extending the drive shaft 20 and a reduction side air inlet 24 for supplying pressurized air for reducing the drive shaft 20. They are provided with pneumatic piping from a pneumatic control mechanism (not shown).

  Next, the operation of the above apparatus will be described with reference to FIGS. First, a device in which the wall surface cleaning device 30 is incorporated in the wall surface moving device 10 of FIG. 1 is arranged on the wall surface 3 of the concrete structure 1. That is, each wire 7 extended from the two lifting means 4 is engaged with a lifting tool 12 provided at the center of the upper edge of the frame 11 in the wall surface moving device 10. At the same time, the stoppers 35 (FIG. 3) provided at the four corners of the frame 11 are adjusted to set the distance between the wall surface cleaning device 30 and the wall surface to a predetermined value.

  Next, the wheels 14 provided at the four corners of the frame 11 are retracted (reduced) from the wall surface. Specifically, pressurized air is supplied from a pneumatic control mechanism (not shown) to the reduction-side air inlet 24 of the air cylinder 18 (FIGS. 5 and 6) constituting the expansion / contraction means 15, and the drive shaft 20 is reduced to reduce the wheel. Move 14 back.

  Next, the decompression chambers of the suction units 34 arranged at the four corners of the frame 11 are brought into a decompressed state, the suction pads 34a are sucked onto the wall surface 3, and the frame 11 incorporating the wall surface cleaning device 30 by the reaction force generated during the cleaning operation or The wall surface moving device 10 is prevented from separating from the wall surface.

  Next, pressurized air is supplied to the plurality of rotating brushes 31, and the wall surface 3 is cleaned by the rotation. When the operation at one place is completed, the supply of pressurized air to the rotating brush 31 is temporarily interrupted, and the moving mechanism 33 (FIG. 2) is driven to move the rotating brush 31 to an adjacent portion where cleaning is not performed. And the cleaning operation of this part is performed similarly to the above. When this operation is repeated in the entire moving range by the moving mechanism 33, the wall surface moving device 10 is moved to the next place.

  After returning the decompression chamber of the suction unit 34 to the normal pressure state and releasing the suction, when the wall surface moving device 10 is moved, the wheel 14 of the wheel device 13 is first moved forward and brought into contact with the wall surface. That is, when pressurized air is supplied from an air pressure control mechanism (not shown) to the extension side air inlet 23 of the air cylinder 18 and the drive shaft 20 is extended to advance the wheel 14 until it contacts the wall surface 3, the wall surface cleaning device 30 is moved. The built-in frame 11 can move smoothly on the wall surface 3.

  Next, the movement operation of the wall surface moving apparatus 10 is performed. When the wall surface moving device 10 is moved in the direction perpendicular to the wall surface 3, the wires 7 of the two lifting means 4 shown in FIG. 1 are gradually expanded or contracted by the same length. When the wall surface moving device 10 is moved laterally with respect to the wall surface 3, the wire 7 of one lifting means 4 is gradually extended while maintaining the balance of the wall surface moving device 10, and the other lifting means 4. The wire 7 is gradually reduced.

  When the wall surface moving device 10 moves to a predetermined position, when the four wheels 14 are then contracted (retracted), the tips of the stoppers 35 come into contact with the wall surface 3, and the wall surface moving device 10 is stably supported at that position. And after performing cleaning operation by the said method, the wall surface moving apparatus 10 is moved to the next place again.

  8 is a front view showing a modified example of the wheel device 13 of FIG. 5, FIG. 9 is a bottom view of FIG. 8, and FIG. 10 is a view taken along the line XX of FIG. This embodiment is different from the example of FIG. 5 in that the latter telescopic means 15 of the wheel 14 that configures the wheel device 13 and the telescopic means 15 that expands and contracts it with respect to the wall surface 3 is configured. Only the drive portion is included, and the others are similarly configured. Therefore, the same parts as those in FIG.

  The expansion / contraction means 15 includes a bracket 17 that is bolted to the frame 11, a reversible rotary drive motor 25 that is bolted to the bracket 17, a gear mechanism 26 connected to the output shaft thereof, and a screw rod 27 screwed to the gear mechanism 26. The tip of the screw rod 27 is connected to the support member 21 that supports the caster 16 that is the wheel 14.

  An end of a guide bar 22 is connected to the support member 21, and the guide bar 22 is slidably inserted into a guide block 19 that is bolted to the bracket 17. Then, by rotating the drive motor 25 forward or backward, the wheel 14 extends (advances) or contracts (retreats).

  11 is a front view showing still another modified example of the wheel device 13 of FIG. 5, FIG. 12 is a bottom view of FIG. 11, and FIG. 13 is a view taken along arrow XIII-XIII of FIG. This embodiment differs from the example of FIG. 5 only in the former wheel 14 portion of the wheel 14 that configures the wheel device 13 and the telescopic means 15 that expands and contracts it with respect to the wall surface 3. Others are configured similarly. Therefore, also in this embodiment, the same parts as those in FIG.

  In the present embodiment, the wheel 14 is constituted by a ball type wheel 28 having the same structure as a bearing. The ball type wheel 28 includes a ball holding portion 29 having a spherical inner surface, and a ball 29a rotatably accommodated in the ball holding portion 29 via a large number of small bearing balls 29b. When the frame 11 to which the wheel device 13 is attached is pushed back and forth and left and right, the ball 29a can freely rotate in any direction, and the frame 11 can be smoothly moved in that direction.

  When the caster 16 is used as the wheel 14 as shown in FIG. 5, there is an advantage that even if there is a slight step portion on the wall surface 3, it can be easily overcome. However, the caster 16 has a poor performance in finely adjusting the position of the wall surface moving device 10 because the rotational position of the axle and the position of the turning shaft are shifted. For example, when the position of the axle and the position of the turning shaft are shifted by 30 mm, fine adjustment of about ± 10 mm is the limit. On the other hand, in the ball type wheel 28 like this embodiment, although the performance over the level | step difference of the wall surface 3 is inferior to the caster 16, a rotating medium is a spherical body and does not have a rotating shaft or a turning axis, The wall surface moving apparatus 10 It has excellent performance for fine-tuning the movement position.

  14 is a modification of FIG. 3, and FIG. 15 is a perspective view of FIG. The embodiment shown in FIG. 14 differs from the example shown in FIG. 3 only in the structure of the four wheel devices 13, and the other parts are configured in the same manner. Therefore, the same parts as those in FIG.

  As in the example of FIG. 5, the wheel device 13 includes a wheel 14 and an expansion / contraction means 15, and the wheel 14 includes a caster 16. The expansion / contraction means 15 includes an air cylinder 18 and a guide block 19 that are bolted to the frame 11, a support member 21 connected to the drive shaft 20 of the air cylinder 18, and four wheels 14 connected to the support member 21. The rod 22 is slidably inserted into the guide block 19.

  The support member 21 has one cross member 21a and two gate-shaped members 21b integrally connected to both ends of the cross-member 21a, respectively, and is constituted by casters 16 at the leg ends of the respective gate-shaped members 21b. Wheel 14 is supported. If the wheel device 13 is configured in this way, the four wheels 14 can be driven synchronously by the common air cylinder 18, so that the configuration of the wheel device 13 is simplified.

  Although the embodiment described so far is an example in which the wall surface cleaning device 30 is incorporated in the wall surface moving device 10 according to the present invention, the wall surface moving device 10 is not limited to this, and wall surface processing such as a wall surface coating device, a wall surface peeling device, and the like. Various automated devices such as a device, or a wall inspection device such as a radiation inspection device or an ultrasonic inspection device for inspecting cracks or corrosion can be incorporated (or mounted or mounted).

Explanatory drawing which shows the state which has arrange | positioned the wall surface moving apparatus which concerns on this invention to the wall surface. The front view of the whole apparatus. FIG. 3 is a partially broken plan view of FIG. 2. The partially broken right view of FIG. The front view of the wheel apparatus 13 which can comprise the wall surface moving apparatus 10 and can drive | work freely. FIG. 6 is a bottom view of FIG. 5. VII-VII arrow line view of FIG. The front view which shows the modification of the wheel apparatus 13 of FIG.

The bottom view of FIG. XX arrow line view of FIG. The front view which shows another modification of the wheel apparatus 13 of FIG. The bottom view of FIG. XIII-XIII arrow line view of FIG. The front view which shows the modification of FIG. The perspective view which turned FIG. 14 upside down. The figure explaining the conventional wall surface processing method.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Structure 2 Upper surface 3 Wall surface 4 Lifting means 5 Wall surface processing apparatus (or wall surface inspection apparatus)
6 Hanging tool 7 Wire 10 Wall surface moving device

DESCRIPTION OF SYMBOLS 11 Frame 12 Hanging tool 13 Wheel apparatus 14 Wheel 15 Telescopic means 16 Caster 17 Bracket 18 Air cylinder 19 Guide block 20 Drive shaft

DESCRIPTION OF SYMBOLS 21 Support member 21a Cross member 21b Portal material 22 Guide rod 23 Expansion side air inlet 24 Reduction side air inlet 25 Drive motor 26 Gear mechanism 27 Screw rod 28 Ball type wheel 29 Ball holding part 29a Ball 29b Bearing ball 30 Wall surface cleaning device

31 Rotating Brush 32 Support 33 Moving Mechanism 34 Suction Unit 34a Suction Pad 35 Stopper 36 Dust Collection Mechanism 37 Vertical Frame Material 38 Horizontal Frame Material 39 Screw Rod 40 Rail

42 Guide body 43 Moving body 44 Transmission body 45 Drive shaft 46 Support guide 47 Drive section

Claims (2)

An apparatus for moving a wall surface extending in the vertical direction includes a frame 11 that can be lifted by the lifting means 4 and arranged on the wall surface 3, and the frame 11 that is lifted by the lifting means 4 can move along the wall surface 3. As described above, the frame 11 is provided with a plurality of wheel devices 13 that can freely travel, and the wheel device 13 includes a wheel 14 that freely travels and an expansion / contraction means 15 that expands and contracts it with respect to the wall surface 3.
The wheel 14 is a caster 16 or a ball wheel 28,
The frame 11 is provided with a moving mechanism 33 for moving the support 32 vertically and horizontally, and a wall surface processing device including a wall surface inspection device is attached to the support 32.
In addition, a plurality of suction units 34 having suction pads 34a spaced apart from each other around the frame 11 are provided,
While the wheel 14 is retracted from the wall surface via the expansion / contraction means 15, the wall surface 3 is adsorbed by the suction pad 34a, and the frame 11 is fixed to the wall surface 3 via the suction pad 34a, The wall treatment apparatus is configured to move vertically and horizontally,
The suction pad 34 a is released from the suction of the wall surface 3, and the frame 11 is moved by the lifting means 4 while the wheel 14 is in contact with the wall surface 3 via the telescopic means 15. It has been the wall a mobile device. In Claim 1 , the hanger 12 is provided in the center part of the upper edge of the said frame 11, and this hanger 12 is attached to the wire 7 of the two lifting means 4 installed in the horizontal direction above the wall surface 3 at predetermined intervals. A wall surface moving device characterized by being engaged.

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