JP7319025B2 - Abrasive device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cleaning device and, for example, to a cleaning device that is effective when applied to tunnel repair work.

Tunnels constructed on expressways and general roads are repaired after a predetermined period of time has passed since the start of service. In tunnel repair work, after the deteriorated tunnel surface is scraped off to roughen the surface and remove the paint film, the surface of the tunnel is coated with a concrete modifier.

Here, in the surface preparation work in the tunnel repair work, a high work platform is installed at the work location, and workers ride on the work platform and carry out the work manually. However, the manual work is inefficient because heavy tools must be used and the work must be done in an upward posture, which not only takes time but also increases the cost.

Therefore, for example, as described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2017-040103), there has been proposed a tunnel ceiling surface cleaning apparatus that automatically cleans the tunnel ceiling surface without relying on human power.

JP 2017-040103 A

In the surface preparation in tunnel repair work, a truck or the like equipped with a tunnel cleaning device is placed near the inner wall surface of the tunnel along the inner wall surface, and the cleaning head of the tunnel cleaning device is placed on the inner wall surface of the tunnel. After approaching and pressing, the cleaning head is horizontally moved along the inner wall surface to clean the wall surface of the tunnel.

By the way, in the tunnel cleaning device examined by the present inventors, in order to press the cleaning head of the tunnel cleaning device against the inner wall surface of the tunnel when cleaning the inner wall surface of the tunnel, a base of the tunnel cleaning device is used. By horizontally moving the horizontal moving table provided in the head, the cleaning head is arranged near the inner wall surface of the tunnel at one end in the width direction of the bed of the feed truck. As a result, there is a possibility that the weight will be uneven in the plane of the bed of the truck, and the installation stability of the tunnel cleaning device will be impaired.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a technique capable of improving the installation stability of a tunnel cleaning apparatus.

In order to solve the above-mentioned problems, the cleaning device of the present invention according to claim 1 comprises a cleaning device main body having a cleaning head for cleaning the inner wall surface of a tunnel , and support means for supporting the cleaning head. a first moving body to which said supporting means is attached ; first moving means for moving said first moving body in a first horizontal direction toward and away from said wall surface; a second moving body on which a body is mounted; second moving means for moving the second moving body in a second horizontal direction crossing the first horizontal direction; and the second moving body a third moving body for moving the third moving body in the first horizontal direction; a rotating body for mounting the third moving body; It is characterized by comprising rotating means for rotating along the mounting surface of the third moving body, and a fixed body on which the rotating body is mounted.

According to a second aspect of the present invention, there is provided a cleaning apparatus according to the first aspect, wherein the first moving means comprises a first rail on which the first moving body is mounted so as to be freely traversable. and a first driving body for reciprocating the first moving body on the first rail in the first horizontal direction, wherein the second moving means moves the second moving body and a second driving body for reciprocating the second moving body on the second rail in the second horizontal direction; 3 moving means includes a third rail on which the third moving body is horizontally placed, and reciprocates the third moving body on the third rail in the first horizontal direction. and a third driver.

According to a third aspect of the present invention, there is provided a cleaning apparatus according to the second aspect, wherein the first driving body, the second driving body and the third driving body are electric motors. It is characterized by being

According to claim 4, there is provided a cleaning apparatus according to any one of claims 1 to 3, wherein the fixed body, the rotating body, the second moving body and the third The moving body is characterized by being formed in a rectangular frame shape in plan view.

According to a fifth aspect of the present invention, there is provided a cleaning device according to any one of the first to fourth aspects, wherein the fixed body, the rotating body and the third moving body are The second horizontal dimension is longer than the first horizontal dimension.

ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to improve the stability of a tunnel cleaning apparatus.

(a) is a conceptual diagram showing a tunnel cleaning system to which a tunnel cleaning device according to an embodiment of the present invention is attached, and (b) is a work at height constituting the tunnel cleaning system of FIG. 1(a). It is a conceptual diagram at the time of the deck part rise of a vehicle. 1 is a front view of a tunnel cleaning device that is an embodiment of the present invention; FIG. 3 is a side view of the tunnel cleaning device of FIG. 2; FIG. FIG. 3 is a plan view of the main surface of a cleaning head provided in the tunnel cleaning device of FIG. 2; FIG. 3 is an explanatory view of an elevating mechanism of the cleaning head of the tunnel cleaning device of FIG. 2; FIG. 3 is a plan view of a pedestal of the tunnel cleaning device of FIG. 2; 7A is a plan view of a fixed frame of the pedestal in FIG. 6, and FIG. 7B is a plan view of a rotating frame and a slide frame of the pedestal in FIG. 6; FIG. (a) is a sectional view taken along line II in FIG. 6, and (b) is a sectional view taken along line II-II in FIG. FIG. 7 is a plan view of the gantry in FIG. 6 when a rotating frame is rotated; FIG. 7 is a plan view of the slide frame in the pedestal of FIG. 6 when sliding; 3(a) and 3(b) are plan views of a stand of the tunnel cleaning apparatus of FIG. 2 when preparing for cleaning work; FIG. (a) is a plan view of the pedestal during preparation for cleaning work of the tunnel cleaning device after FIG. 11(b), and (b) is during cleaning work of the tunnel cleaning device after FIG. It is a top view of a mount frame. FIG. 4 is a conceptual diagram showing a tunnel cleaning system to which a tunnel cleaning device according to another embodiment of the present invention is attached;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment as an example of the present invention will be described in detail below with reference to the drawings. In the drawings for describing the embodiments, in principle, the same components are denoted by the same reference numerals, and repeated description thereof will be omitted.

(First embodiment)

FIG. 1(a) is a conceptual diagram showing a tunnel cleaning system to which a tunnel cleaning device according to an embodiment of the present invention is attached, and FIG. 1(b) constitutes the tunnel cleaning system of FIG. 1(a). FIG. 10 is a conceptual diagram when the deck portion of the aerial work platform is raised. In addition, in FIGS. 1A and 1B, the lower part of the tunnel cleaning device 10 is also shown through for easy understanding of the explanation.

The tunnel cleaning system S of the present embodiment is, for example, a system capable of cleaning the inner wall surface of a tunnel formed into a curved surface, and includes an aerial work vehicle V and a tunnel cleaning device 10. .

The aerial work vehicle V is a special vehicle capable of moving the tunnel cleaning device 10 to a predetermined location and setting the height of the tunnel cleaning device 10 to a predetermined height. has a pantograph section Vp and a deck section Vb installed thereon. The pantograph part Vp is an elevating mechanism part for elevating the deck part Vb, and by setting the tunnel cleaning device 10 mounted on the deck part Vb to a predetermined height, the tunnel cleaning device 10 can move up and down. It is now possible to perform tunnel cleaning operations.

In the aerial work vehicle V shown in FIG. 1, when the tunnel cleaning device 10 is mounted, there is no vibration at low frequencies and the deflection can be suppressed to about 15 mm. Applicable. In addition, in the case of the aerial work vehicle V of FIG. 1, the tunnel cleaning device 10 can be mounted in a stable state, and the tunnel cleaning device 10 can be moved even while being raised on the deck portion Vb. Therefore, the cleaning work can be efficiently performed.

The tunnel cleaning device 10 mounted on the deck portion Vb of the aerial work vehicle V, for example, polishes the inner wall surface of the tunnel formed in a curved shape by spraying an abrasive against the inner wall surface. It is an abrasive injection type cleaning device that cleans. The cleaning device main body of the tunnel cleaning device 10 includes, for example, a holding frame (supporting means) 12, a rod (supporting means) 15 held by the holding frame 12, and a tip end of the rod 15 that is detachable and swingable. A cleaning head 17 is movably supported and mounted on a base 18 .

First, the cleaning head 17 of the tunnel cleaning apparatus 10 will be described with reference to FIGS. 2 to 4. FIG. 2 is a front view of a tunnel cleaning device according to an embodiment of the present invention, FIG. 3 is a side view of the tunnel cleaning device of FIG. 2, and FIG. 4 is a cleaning device provided in the tunnel cleaning device of FIG. 4 is a plan view of the main surface of the head; FIG.

As shown in FIGS. 2 and 3, the cleaning head 17 of the tunnel cleaning apparatus 10 of the present embodiment is means for cleaning the inner wall surface WS of the tunnel, and includes a mounting portion 17a and an arm portion 17r. and an air cylinder 17p (see FIG. 3).

The mounting portion 17a of the cleaning head 17 includes a mounting base 17a-1, a rotating plate 17a-2, and a rear plate 17a-3. The mount 17a-1 has a main surface (first surface) facing the inner wall surface WS of the tunnel and a rear surface (second surface) on the back side thereof. As shown in FIGS. 2 to 4, on the main surface of this mounting base 17a-1, there are a grinder (grinding section) 17b, a caster 17c, a first ring brush 17s-1, and a second ring. A brush 17s-2 is installed, and two rotating plates 17a-2 are integrated with the mounting base 17a-1 at both ends in the longitudinal direction of the mounting base 17a-1 on the back side of the mounting base 17a-1. is erected.

The grinder 17b is an abrasive injection unit that sprays an abrasive onto the inner wall surface WS of the tunnel in order to grind the deteriorated portion of the inner wall surface WS of the tunnel. Here, as shown in FIGS. 3 and 4, two cleaners 17b, for example, are installed. As shown in FIG. 4, each cleaner 17b has, from the inside to the outside, an injection port (jet port portion) 17b-1, a suction port (suction port portion) 17b-2, and a first ring. The brush 17s-1 is arranged concentrically.

The injection port 17b-1 of the cleaner 17b is an opening for injecting the abrasive, and is formed in a circular shape, for example, in plan view. The diameter of the injection port 17b-1 is, for example, about 80 mm. The planar shape of the injection port 17b-1 is not limited to a circular shape, and can be variously changed to, for example, an elliptical shape or an oval shape. 2 and 3, a discharge hose (abrasive supply pipe) 17b-3 for supplying the abrasive to the cleaning head 17 is located behind the injection port 17b-1 on the rear surface of the mount 17a-1. mechanically connected. The abrasive sent through the discharge hose 17b-3 is jetted from the jet port 17b-1 (see FIG. 4) and sprayed onto the inner wall surface WS of the tunnel.

As shown in FIG. 4, the suction port 17b-2 of the grinder 17b is an opening for sucking under negative pressure the peeled pieces separated from the inner wall surface WS of the tunnel by the cleaning process and the abrasive after spraying. , is formed in an annular shape in a plan view so as to surround the outer circumference of the injection port 17b-1. Behind the suction port 17b-2 on the rear surface of the mounting base 17a-1, there is a suction hose (suction pipe) 17b-4 (see FIG. 2) for flowing the peeled pieces and the abrasive sucked from the suction port 17b-2. properly connected. Note that the drawing of the suction hose 17b-4 is omitted in FIG. 3 to make the drawing easier to see.

As shown in FIGS. 2 to 4, the two abrasive cleaners 17b are configured so that the injection port 17b-1 and the suction port 17b-2 of each abrasive cleaner 17b face the inner wall surface WS of the tunnel. It is installed on the mounting base 17a-1 in a state in which it is possible to Also, as shown in FIG. 4, the two cleaners 17b are arranged side by side along the cleaning direction. When the side surface of the mount 17a-1 is viewed from the left or right side of FIG. While (overlapping), the cleaners 17b, 17b are arranged in a mutually shifted state in a direction intersecting (perpendicular to) the direction in which the cleaners 17b are arranged side by side. The injection width of the abrasive is set by the displacement of the injection ports 17b-1, 17b-1. In this embodiment, the overlap dimension of the injection ports 17b-1, 17b-1 of the two grinders 17b, 17b is, for example, 40 mm. is jetted in a width of 120 mm (=80 mm×2-40 mm). However, these numerical values are merely examples, and the present invention is not restricted to these numerical values.

The number of installed cleaners 17b can be freely set, and may be one or three or more. Further, when three or more abrasive cleaners 17b are provided, the abrasive cleaners 17b may be arranged in a zigzag pattern along the direction in which the abrasive cleaners 17b are arranged side by side, or may not be arranged so as to be mutually shifted. Furthermore, the cleaner 17b may be of a water jet type that cleans and cleans the inner wall surface WS of the tunnel with a pressurized water stream instead of the abrasive injection type as in the present embodiment.

Further, as shown in FIGS. 2 to 4, the caster 17c secures a constant space between the main surface of the mounting base 17a-1 and the inner wall surface WS of the tunnel during the cleaning operation, and the cleaning head 17 along the inner wall surface WS. During the cleaning operation, the caster 17c is in contact with the inner wall surface WS of the tunnel, so that the mount 17a-1 and the inner wall surface WS of the tunnel are kept at a constant distance, and the caster 17c moves along with the movement of the cleaning head 17. 17c rotates along the inner wall surface WS of the tunnel.

The wheel portion of the caster 17c is made of, for example, rubber or plastic such as urethane or nylon. As a result, the inner wall surface WS is not damaged when the casters 17c come into contact with the inner wall surface WS, and the weight of the casters 17c can be reduced. The caster 17c is rotatable by 360° within the main surface of the mounting base 17a-1 (that is, within the polishing surface of the inner wall surface WS). As a result, the degree of freedom in the moving direction of the cleaning head 17 can be improved during cleaning. Furthermore, a load meter (not shown) is attached to the caster 17c so that the load applied to the caster 17c during the cleaning operation can be measured. The number of casters 17c, mounting positions, materials, etc. are not limited to those described above, and can be changed in various ways.

Further, as shown in FIG. 4, the first ring brush 17s-1 serves to shield scattered matter such as flakes and abrasives from leaking outward from the main surface of the mount 17a. It is a shielding member, and is formed in an annular shape in plan view so as to surround the outer periphery of each cleaner 17b. Also, as shown in FIGS. 2 to 4, the second ring brush 17s-2 is a shielding member for shielding the scattered matter from leaking outward from the main surface of the mount 17a. , it is formed in, for example, a rectangular frame shape in plan view so as to surround the two cleaners 17b, 17b. By providing the second ring brush 17s-2 in this manner, it is possible to further suppress or prevent the scattered matter from leaking to the outside.

The first ring brush 17s-1 and the second ring brush 17s-2 are detachably attached to the mount 17a-1. Therefore, if the first ring brush 17s-1 or the second ring brush 17s-2 deteriorates, they can be replaced, so the cleaning can be performed depending on the service life of the first ring brush 17s-1 or the second ring brush 17s-2. The life of the head 17 is also not determined. In FIGS. 2 and 3, the illustration of the first ring brush 17s-1 is omitted and the second ring brush 17s-2 is shown in cross section for easy viewing of the cleaner 17b.

As shown in FIGS. 2 and 3, the rear plate 17a-3 is a plate material that mainly fixes the cleaner 17b, and has a main surface facing the rear surface of the mounting base 17a-1 and a rear surface on the back side thereof. have. The rear plate 17a-3 is installed between two rotating plates 17a-2 at both ends in the longitudinal direction of the mounting base 17a-1 with its main surface facing the rear surface of the mounting base 17a-1. .

The arm portion 17r described above is a swinging portion that supports the mounting portion 17a in a swingable state, and includes a base plate 17r-1. The base plate 17r-1 has a main surface facing the rear surface of the mount 17a-1 and a rear surface facing the tip surface of the rod 15 on the rear side. Two first support plates 17r-2 extending in a direction perpendicular to the main surface of the base plate 17r-1 are provided at both longitudinal ends of the base plate 17r-1 on the main surface of the base plate 17r-1. Two second support plates (not shown) are provided at the center of the back surface of the base plate 17r-1 in the longitudinal direction and extend in a direction orthogonal to the back surface of the base plate 17r-1. ) are provided.

The two first support plates 17r-2 of the arm portion 17r extend obliquely with respect to the rod 15, and the extending ends of the first support plates 17r-2 are connected to the two rotating plates of the mounting base 17a-1. It overlaps with 17a-2 in plan view. The first support plate 17r-2 of the arm portion 17r and the rotating plate 17a-2 of the mounting base 17a-1 are rotatable relative to each other by means of a fastening member 17x-1 provided so as to penetrate them. connected in a state Thus, the mount 17a-1 is attached to the arm portion 17r so as to be swingable in the first swing direction RR1 (see FIG. 2). Further, by extending the first support plate 17r-2 of the arm portion 17r obliquely with respect to the extending direction of the rod 15, the mount 17a-1 is attached obliquely upward to the rod 15. there is As a result, the cleaning surface of the cleaning head 17 can be pressed with a large force against the inner wall surface WS of the curved tunnel during the cleaning operation.

On the other hand, the tip surfaces of the two second support plates on the rear surface of the base plate 17r-1 of the arm portion 17r are formed in an arc shape. A projection (not shown) formed on the tip surface of the rod 15 is interposed between the two second support plates. The tip surface of this projection is also formed in an arc shape. The two second support plates on the rear surface of the base plate 17r-1 and the convex portion of the rod 15 are rotatable relative to each other by a fastening member (not shown) provided so as to penetrate them. connected in a state As a result, the cleaning head 17 (mounting base 17a-1 and arm portion 17r) moves in a second swinging direction RR2 (see FIG. 3) intersecting (perpendicular to) the first swinging direction RR1 (see FIG. 2). It is attached to the rod 15 so as to be freely swingable. The fastening member that fastens the second support plate of the base plate 17r-1 and the projection of the rod 15 is removable, and the cleaning head 17 can be removed by removing this fastening member. It has become.

As described above, according to the present embodiment, the cleaning head 17 is moved in the first swinging direction RR1 (see FIG. 2) and crossing (perpendicularly) the first swinging direction RR1 (see FIG. 2) following the curved inner wall surface WS of the tunnel. Since it can be oscillated in the second oscillating direction RR2 (see FIG. 3), even the inner wall surface WS of the tunnel formed in a curved shape can be satisfactorily cleaned.

As shown in FIG. 3, the air cylinder 17p is a member that supports the cleaner 17b in a vertically movable manner. The air cylinder 17p is attached to the center of the support frame 17e in the longitudinal direction, with the tip of the cylinder rod 17p-1 fixed to the back side of the back plate 17a-3. Thereby, the air cylinder 17p is installed so as to take a reaction force.

For example, two extensible rods 17d, 17d are installed between the longitudinal ends of the support frame 17e and the rear surface of the mount 17a-1. These two extensible rods 17d, 17d are adjusted so that an appropriate pressure is applied from the air cylinder 17p to the two cleaners 17b, and the pressure is uniform on the main surfaces of the two cleaners 17b. It is adjusted so that a sufficient pressure is applied.

Further, as shown in FIG. 4, the two telescopic rods 17d, 17d are arranged obliquely with respect to the center of the air cylinder 17p in the rear surface of the mount 17a-1. With such an arrangement, it is possible to apply sufficient pressure to the two cleaners 17b even with the two telescopic rods 17d, 17d. That is, since only two extensible rods 17d, 17d are required, the weight of the cleaning head 17 can be reduced.

During the cleaning operation, as shown in FIG. 3, when the cylinder rod 17p-1 of the air cylinder 17p is extended, the caster 17c on the main surface of the mount 17a-1 is pressed against the inner wall surface WS of the tunnel with an appropriate pressure. At the same time, the first ring brush 17s-1 and the second ring brush 17s-2 on the main surface of the mount 17a-1 are pressed against the inner wall surface WS with appropriate pressure.

Next, the rod 15 and holding frame 12 of the tunnel cleaning device 10 will be described with reference to FIGS. 2, 3 and 5. FIG. FIG. 5 is an explanatory view of the elevating mechanism of the cleaning head of the tunnel cleaning apparatus of FIG. In FIG. 5, the illustration of the discharge hose 17b-3 and the suction hose 17b-4 is omitted in order to make the drawing easier to see.

As shown in FIGS. 2, 3 and 5, the rod 15 is held by the holding frame 12 in a vertically movable state. As shown in FIG. 5 , the holding frame 12 is hollow, and the rod 15 is inserted into the hollow internal space of the holding frame 12 . An air cylinder 12a is installed below the rod 15 in the hollow internal space of the holding frame 12 with the cylinder rod 12a-1 directed toward the rod 15 side. The air cylinder 12a is a lifting device for moving the rod 15 up and down. A cylinder rod 12a-1 of the air cylinder 12a is attached to a mounting plate 15f below the rod 15. As shown in FIG.

As a result, when the cylinder rod 12a-1 of the air cylinder 12a is extended, the rod 15 (grinding head 17) rises (right in FIG. 5), and when the cylinder rod 12a-1 of the air cylinder 12a is retracted, the rod 15 (grinding head 17) rises. 17) is designed to descend (Fig. 5 left).

By adjusting the vertical position of the rod 15 with such an air cylinder 12a, the caster 17c of the cleaning head 17 can be pressed against the inner wall surface WS of the tunnel. If only the rod 15 is used for pressing, the air cylinder 17p (see FIG. 3) of the cleaning head 17 can be omitted.

However, if the rod 15 is used to roughly adjust the height of the cleaning head 17 and the air cylinder 17p is used to press the caster 17c of the cleaning head 17 against the inner wall surface WS of the tunnel, the pressing accuracy of the cleaning head 17 can be improved. Therefore, the cleaning head 17 can be pressed against the inner wall surface WS of the tunnel with a more appropriate pressure.

In the hollow internal space of the holding frame 12, a pair of rollers 12b for supporting the side surface of the rod 15 are provided in two stages, one above the other. Therefore, the rod 15 is supported by the roller pair 12b and can move up and down in a stable state. As the lifting device for moving the rod 15 up and down, for example, a lifting device using a hydraulic cylinder or a chain may be used in addition to the air cylinder 12a shown in the present embodiment. Also, an extendable rod may be used, and not the entire rod 15 as in the present embodiment, but a portion of the rod may be vertically moved.

Next, the mount 18 of the tunnel cleaning apparatus 10 will be described with reference to FIGS. 2, 3 and 6 to 10. FIG. 6 is a plan view of the mount of the tunnel cleaning and cleaning apparatus of FIG. 2, FIG. 7(a) is a plan view of the fixed frame of the mount of FIG. 6, and FIG. 7(b) is a rotating frame and a slide frame of the mount of FIG. 8(a) is a sectional view taken along line II in FIG. 6, FIG. 8(b) is a sectional view taken along line II-II in FIG. 6, and FIG. FIG. 10 is a plan view of the pedestal shown in FIG. 6 when the slide frame is slid.

Although FIGS. 6, 7, 9 and 10 are plan views, they are hatched to make the drawings easier to see. 6, 7, 9 and 10, D1 indicates a first horizontal direction crossing the inner wall surface WS of the tunnel, and D2 indicates a second horizontal direction along the inner wall surface WS of the tunnel. ing. Furthermore, FIG. 8 is simplified for the sake of clarity, and illustration of the traveling frame 18D, the base plate 18E, and moving means related to their movement is omitted.

As shown in FIGS. 2 and 3, the pedestal 18 of the tunnel cleaning and cleaning apparatus 10 includes, in order from the bottom, a fixed frame (fixed body) 18A, a rotating frame (rotating body) 18B, a slide frame (third moving body). body) 18C, a traveling frame (second moving body) 18D, and a base plate (first moving body) 18E.

As shown in FIG. 7(a), the fixed frame 18A is made of, for example, a rectangular metal frame in a plan view, and includes a pair of short frame portions 18A1 extending in the first horizontal direction D1 and a pair of short frame portions 18A1. A pair of long frame portions 18A2 provided at both ends in the longitudinal direction of the short frame portion 18A1 so as to bridge between the pair of short frame portions 18A1, and a pair of long frames as shown in FIGS. A beam frame portion 18A3 provided at the center in the longitudinal direction of the portion 18A2 so as to bridge between the pair of long frame portions 18A2, and a support portion 18A4 joined near one longitudinal end side of one of the long frame portions 18A2. integrally prepared. As shown in FIGS. 7A and 8A, a rotation bearing portion 18A5 is provided at the longitudinal center of the beam frame portion 18A3 of the fixed frame 18A (the center of the fixed frame 18A in plan view). It is

As shown in FIGS. 2 and 3, a rotating frame 18B is mounted on the fixed frame 18A via a rotating support 18R. As shown in FIGS. 6 and 7B, the rotating frame 18B is made of, for example, a rectangular metal frame in a plan view, and includes a pair of short frame portions 18B1 extending in the first horizontal direction D1. , a pair of long frame portions 18B2 provided at both longitudinal ends of the pair of short frame portions 18B1 so as to bridge between the pair of short frame portions 18B1, and a pair of It is integrally provided with a beam frame portion 18B3 provided so as to bridge between the long frame portions 18B2. As shown in FIGS. 6, 7(b) and 8(a), at the center in the longitudinal direction of the beam frame portion 18B3 of the rotating frame 18B (the center in the plane of the rotating frame 18B in plan view), a rotating A shaft portion 18B4 is provided. As shown in FIG. 8A, the rotating shaft portion 18B4 is fitted to the rotating bearing portion 18A5 of the fixed frame 18A.

As shown in FIG. 8, the rotating frame 18B is arranged so as to overlap the fixed frame 18A in a plan view when it is in a fixed position. That is, when the rotating frame 18B is in a fixed position, the pair of short frame portions 18B1 of the rotating frame 18B are placed on the pair of short frame portions 18A1 of the fixed frame 18A and the respective pair of short frame portions 18A1 are flat. They are arranged so that they overlap visually. Further, when the rotating frame 18B is in a fixed position, the pair of long frame portions 18B2 of the rotating frame 18B are placed on the pair of long frame portions 18A2 of the fixed frame 18A, and the respective pair of long frame portions 18A2 are flat. They are arranged so that they overlap visually.

The rotating frame 18B is mounted on the fixed frame 18A so as to be rotatable in both forward and reverse directions along the mounting surface of the rotating frame 18B about the rotating shaft portion 18B4. In the present embodiment, as described above, the fixed frame 18A and the rotating frame 18B are used as frame bodies, so that the weight of the tunnel cleaning/cleaning device 10 can be reduced. Further, the weight of the rotating frame 18B can be reduced, and the contact area with the fixed frame 18A can be reduced when the rotating frame 18B rotates, so that the rotating frame 18B can be rotated more smoothly. be able to. When the rotating frame 18B is rotated, the slide frame 18C, the traveling frame 18D, the base plate 18E and the main body of the cleaning/cleaning device on the rotating frame 18B are also rotated together.

Here, in order to clean the inner wall surface WS of the tunnel, when the aerial work vehicle V (see FIG. 1) equipped with the tunnel cleaning device 10 is brought alongside the inner wall surface WS of the tunnel, the aerial work vehicle V It may be arranged slightly obliquely with respect to the inner wall surface of the tunnel. In this case, when cleaning the inner wall surface WS of the tunnel, the cleaning surface of the cleaning head 17 of the tunnel cleaning device 10 is inclined with respect to the inner wall surface WS. As a result, the cleaning head 17 cannot be moved while being pressed appropriately, and it may become impossible to perform a good cleaning process on the inner wall surface WS of the tunnel. In contrast, in the present embodiment, by rotating the rotating frame 18B, the cleaning surface of the cleaning head 17 can be set parallel to the inner wall surface WS of the tunnel. Therefore, since the cleaning head 17 can be moved while being pressed against the inner wall surface WS of the tunnel appropriately, the inner wall surface WS of the tunnel can be cleaned and cleaned satisfactorily.

As shown in FIGS. 6 and 8, a jack 18J is provided near the inside of one short frame portion 18B1 of the rotating frame 18B with its rod portion 18J1 directed toward one long frame portion 18B2 of the rotating frame 18B. It is fixed to the support portion 18A4 of the fixed frame 18A in this state. The jack 18J is rotating means for rotating the rotating frame 18B, and is configured by, for example, an electric jack. By configuring the jack 18J as an electric jack, the weight of the tunnel cleaning and cleaning device 10 can be reduced as compared with the case where the jack 18J is configured as a hydraulic jack.

The tip of the rod portion 18J1 of the jack 18J is joined to the inside of one long frame portion 18B2 of the rotating frame 18B so as to be able to swing. When the motor portion 18J2 of the jack 18J rotates forward and backward, the rod portion 18J1 expands and contracts along the first horizontal direction D1. It's like

For example, as shown in FIG. 9, when the aerial work vehicle V (see FIG. 1) is slanted slightly to the right with respect to the inner wall surface WS of the tunnel (the inner wall surface WS of the tunnel is When it is tilted to the left with respect to the device 10), the rod portion 18J1 of the jack 18J is extended by a predetermined length in the direction indicated by the arrow A1. Then, the rotating frame 18B is pushed by the rod portion 18J1 of the jack 18J and rotates by a predetermined amount in the direction indicated by the arrow A2. ) is almost parallel to the inner wall surface WS of the tunnel.

On the other hand, when returning the rotating frame 18B to its original position, the rod portion 18J1 of the jack 18J is retracted by a predetermined length in the direction indicated by the arrow A3. Then, the rotating frame 18B is pulled by the jack 18J and rotated by a predetermined amount in the direction indicated by the arrow A4 in FIG. 9, and the rotating frame 18 returns to its original position. Also, when the aerial work vehicle V is slanted slightly leftward with respect to the inner wall surface WS of the tunnel (when the inner wall surface WS of the tunnel is tilted rightward with respect to the tunnel cleaning and cleaning device 10 ) further shrinks the rod portion 18J1 of the jack 18J by a predetermined length in the direction indicated by the arrow A3. Then, the rotary frame 18B is pulled by the jack 18J and further rotated by a predetermined amount in the direction indicated by the arrow A4 in FIG. ) is almost parallel to the inner wall surface WS of the tunnel.

Further, as shown in FIG. 6, sensors SL1 and SL2 are installed in the vicinity of both ends in the longitudinal direction of the long frame portion 18B2 facing the inner wall surface WS of the tunnel in the rotating frame 18B. The sensors SL1 and SL2 are used to measure the distance from the sensors SL1 and SL2 to the inner wall surface WS of the tunnel in order to calculate the amount of rotation of the rotating frame 18B and the amount of movement of the slide frame 18C and base plate 18E. It is a non-contact type sensor that That is, when the tunnel inner wall surface WS is irradiated with the laser light LL from the light emitting portions of the sensors SL1 and SL2, the tunnel cleaning and cleaning apparatus 10 detects the reflected light RL reflected from the tunnel inner wall surface WS with the sensors SL1 and SL2. It is possible to calculate the distance from each of the sensors SL1 and SL2 to the inner wall surface WS of the tunnel based on the detection information obtained by receiving the light with the light receiving portions. Then, it is possible to calculate the degree of parallelism between the tunnel cleaning device 10 and the inner wall surface WS based on the calculation result, and to calculate the rotation amount of the rotation frame 18B based on the calculation result. Further, it is possible to calculate the amount of movement of the slide frame 18C and the base plate 18E based on the calculation result of the distance from each sensor SL1, SL2 to the inner wall surface WS of the tunnel.

The parallelism between the tunnel cleaning device 10 and the inner wall surface WS is represented by the inclination angle of the tunnel cleaning device 10 (specifically, for example, the long frame portion 18B2) with respect to the inner wall surface WS of the tunnel in plan view. be. Also, the number of sensors SL1 and SL2 is not limited to two, and may be, for example, three or more. Moreover, the locations where the sensors SL1 and SL2 are installed are not limited to the locations described above, and can be changed in various ways.

As shown in FIGS. 2 and 3, a slide frame 18C is mounted on the rotating frame 18B via a slide linear guide 18LS. As shown in FIG. 6, the slide frame 18C is made of, for example, a rectangular metal frame in plan view, and includes a pair of short frame portions 18C1 extending in the first horizontal direction D1 and a pair of short frame portions 18C1 extending in the first horizontal direction D1. A pair of long frame portions 18C2 provided so as to bridge between the pair of short frame portions 18C1 are integrally provided at both ends in the longitudinal direction of 18C1. The pair of short frame portions 18C1 of the slide frame 18C are arranged on the pair of short frame portions 18B1 in a state of overlapping with the pair of short frame portions 18B1 of the rotating frame 18B in plan view.

As shown in FIGS. 2 and 3, the slide linear guides 18LS are installed between the pair of short frame portions 18C1 of the slide frame 18C and the pair of short frame portions 18B1 of the rotary frame 18B. there is The slide linear guide 18LS includes a guide rail (third rail) 18LS1 and two blocks 18LS2 provided thereon. As shown in FIG. 2, the guide rails 18LS1 are arranged along the first horizontal direction D1 on the pair of short frame portions 18B1 of the rotating frame 18B. As shown in FIGS. 2 and 3, block 18LS2 is attached to guide rail 18LS1. A plurality of balls (not shown) are incorporated inside the block 18LS2, and the rolling of the plurality of balls enables the block 18LS2 to move horizontally along the guide rail 18LS1. As shown in FIG. 2, limit switches 18S1 for limiting (preventing) movement of the blocks 18LS2 are installed near both ends of the guide rail 18LS1 in the longitudinal direction.

A block 18LS2 of the slide linear guide 18LS is joined to a pair of short frame portions 18C1 of the slide frame 18C. This allows the slide frame 18C to reciprocate in the first horizontal direction D1 (that is, the direction approaching the inner wall surface WS of the tunnel and the direction away from the inner wall surface). In this embodiment, as described above, the slide frame 18C and the rotating frame 18B are used as frame bodies, so that the weight of the tunnel cleaning/cleaning device 10 can be reduced. Further, the weight of the slide frame 18C can be reduced, and the area of contact with the rotating frame 18B during movement of the slide frame 18C can be reduced, so that the slide frame 18C can be moved more smoothly. When the slide frame 18C is reciprocated along the first horizontal direction D1, the traveling frame 18D on the slide frame 18C, the base plate 18E, and the main body of the cleaning/cleaning device are also reciprocated along the first horizontal direction D1. It is designed to move.

Here, in the tunnel cleaning device examined by the present inventors, since there is no slide frame 18C, the tunnel cleaning device is required to press the cleaning head against the inner wall surface of the tunnel when cleaning the inner wall surface WS of the tunnel. A horizontal movement table provided on the base of the cleaning device moves horizontally to feed the cleaning head to near the inner wall surface of the tunnel, and is arranged at one end in the width direction of the loading platform of the aerial work vehicle V (see FIG. 1). As a result, the weight of the vehicle V (see FIG. 1) is biased in the plane of the platform, and there is a risk that the installation stability of the tunnel cleaning device will be impaired. In contrast, in the present embodiment, the slide frame 18C itself of the tunnel cleaning and cleaning apparatus 10 can be horizontally moved to approach the inner wall surface WS of the tunnel, so that the aerial work vehicle V (see FIG. 1) The in-plane weight bias of the loading platform can be alleviated, and the installation stability of the tunnel cleaning/cleaning apparatus 10 can be improved.

Also, in the absence of the slide frame 18C, when the aerial work vehicle V (see FIG. 1) is brought sideways near the inner wall surface WS of the tunnel, the position of the aerial work vehicle V is too close to the inner wall surface WS of the tunnel. If the distance is too far, the aerial work vehicle V itself must be moved for correction, and work efficiency is lowered. On the other hand, in the present embodiment, even if the position of the aerial work vehicle V is too close or too far from the inner wall surface WS of the tunnel, the slide frame 18C of the tunnel cleaning and cleaning device 10 slides (horizontally moves). Thus, the distance between the tunnel cleaning device 10 and the inner wall surface WS of the tunnel can be adjusted without lowering the work efficiency, so the accuracy of the stop position of the vehicle for work at height V can be relaxed.

As shown in FIGS. 6 and 7(b), on the outside of one of the short frame portions 18C1 of the slide frame 18C, near the end of the short frame portion 18C1 in the longitudinal direction of the tunnel center side, there is provided a rotatable shaft in both forward and reverse directions. motor (third driver) 18MS is installed. The motor 18MS is a moving means for reciprocating the slide frame 18C along the first horizontal direction D1, and is composed of, for example, an electric motor. By configuring the motor 18MS as an electric motor, the weight of the tunnel cleaning and cleaning apparatus 10 can be reduced as compared with the case where the motor 18MS is configured as a hydraulic motor.

As shown in FIG. 7B, inside each of the pair of short frame portions 18C1 of the slide frame 18C, a pair of rotary bearings are provided in the vicinity of the end on the inner wall surface WS side of the tunnel so as to face each other. Sections 18BP1, 18BP1 are provided. A connecting rod 18CR1 extending along the long frame portion 18C2 of the slide frame 18C is installed between the pair of rotation bearing portions 18BP1 and 18BP1 so as to be rotatable about the central axis. . A pair of chain gears 18CG1, 18CG1 is attached to each of the vicinity of both longitudinal ends of the connecting rod 18CR1.

On the other hand, inside the pair of short frame portions 18C1 of the slide frame 18C, the rotating shaft portion of the motor 18MS is arranged near one of the ends on the central side of the tunnel. Further, a rotation bearing portion 18BP2 is provided inside the pair of short frame portions 18C1 of the slide frame 18C and near the end portion on the central side of the tunnel (at a position facing the rotation shaft portion of the motor 18MS). there is A connecting rod 18CR2 extending along the long frame portion 18C2 of the slide frame 18C is rotatable about the central axis between the rotation shaft portion of the motor 18MS and the rotation bearing portion 18BP2. is set up. One end of this connecting rod 18CR2 is connected to the rotating shaft of the motor 18MS. Therefore, when the rotating shaft portion of the motor 18MS rotates, the connecting rod 18CR2 also rotates accordingly. A pair of chain gears 18CG2, 18CG2 is attached to each of the vicinity of both longitudinal ends of the connecting rod 18CR2.

As shown in FIGS. 7(b) and 8(b), a pair of chains 18SC are endlessly stretched over each of the chain gears 18CG1 and 18CG2 near the longitudinal ends of the connecting rods 18CR1 and 18CR2. ing. Each chain 18SC is joined to the short frame portion 18C1 of the slide frame 18C via a connecting body 18SJ joined to a portion of each chain 18SC. Therefore, when the motor 18MS rotates, the chain 18SC rotates, and the connecting body 18SJ joined to the chain 18SC reciprocates along the first horizontal direction D1, thereby moving the slide frame 18C to the first horizontal direction. It is adapted to reciprocate along the direction D1.

For example, as shown in FIG. 10, when the rotating shaft portion of the motor 18MS is rotated by a predetermined amount in the direction indicated by the arrow A5, the connecting body 18SJ of the chain 18SC moves toward the inner wall surface WS of the tunnel by a predetermined length. As a result, the slide frame 18C (that is, the cleaning surface of the cleaning head 17) joined to the connecting body 18SJ moves a predetermined length in the direction toward the inner wall surface WS of the tunnel (the direction indicated by the arrow A6). move and stop.

On the other hand, when the rotating shaft portion of the motor 18MS is rotated in the direction indicated by the arrow A7 opposite to the arrow A5 by a predetermined rotation amount, the connecting body 18SJ of the chain 18SC is separated from the inner wall surface WS of the tunnel by a predetermined length. , the slide frame 18C (that is, the cleaning surface of the cleaning head 17) joined to the connecting member 18JM moves away from the inner wall surface WS of the tunnel (the direction indicated by the arrow 8) by a predetermined length. move and stop. The amount of movement when the slide frame 18C moves horizontally toward the inner wall surface WS of the tunnel is based on the distances from the sensors SL1 and SL2 to the inner wall surface WS of the tunnel, which are measured by the sensors SL1 and SL2. set.

As shown in FIGS. 2 and 3, a travel frame 18D is mounted on the slide frame 18C via travel linear guides 18LL. As shown in FIG. 6, the running frame 18D is made of, for example, a rectangular metal frame in plan view, and includes a pair of long frame portions 18D1 extending in the first horizontal direction D1 and a pair of long frame portions 18D1 extending in the first horizontal direction D1. A pair of short frame portions 18D2 provided so as to bridge between the pair of long frame portions 18D1 are integrally provided at both ends in the longitudinal direction of 18D1. The planar dimension of the traveling frame 18D is smaller than the planar dimension of the slide frame 18C. The pair of short frame portions 18D2 of the traveling frame 18D are arranged on the pair of long frame portions 18C2 in a state of overlapping with the pair of long frame portions 18C2 of the slide frame 18C in plan view.

As shown in FIGS. 2 and 3, the traveling linear guides 18LL are installed between the pair of short frame portions 18D2 of the traveling frame 18D and the pair of long frame portions 18C1 of the slide frame 18C. there is Like the slide linear guide 18LS, the travel linear guide 18LL includes a guide rail (second rail) 18LL1 and two blocks 18LL2 provided thereon. The guide rails 18LL1 are arranged along the second horizontal direction D2 on the pair of long frame portions 18C2 of the slide frame 18C. A limit switch 18S2 (see FIG. 3) for limiting (preventing) movement of the block 18LL2 is installed near both ends of the guide rail 18LL1 in the longitudinal direction.

A block 18LL2 of the traveling linear guide 18LL is joined to a pair of short frame portions 18D2 of the traveling frame 18D. This allows the traveling frame 18D to reciprocate along the second horizontal direction D2 (that is, the direction along the inner wall surface WS of the tunnel). In the present embodiment, the weight of the tunnel cleaning/cleaning device 10 can be reduced by using the slide frame 18C and the traveling frame 18D as frames as described above. Further, the weight of the running frame 18D can be reduced, and the contact area with the slide frame 18C can be reduced when the running frame 18D travels back and forth, so that the running frame 18D can be moved more smoothly.

Further, as shown in FIG. 6, in the slide frame 18C, the length of the long frame portion 18C2 along the inner wall surface WS of the tunnel is made longer than the length of the short frame portion 18C1, so that the travel frame 18D (that is, the cleaning head 17 ) can be lengthened, it is possible to lengthen the cleaning distance of the inner wall surface WS of the tunnel. As a result, the cleaning work efficiency of the tunnel cleaning device 10 can be improved, so that the cleaning work time can be shortened. When the traveling frame 18D is reciprocated in the second horizontal direction D2, the base plate 18E on the traveling frame 18D and the main body of the cleaning/cleaning device also reciprocate in the second horizontal direction D2.

A motor (second driving body) 18ML that is rotatable in forward and reverse directions is installed at one end side of the traveling frame 18D in the longitudinal direction (first horizontal direction D1). The motor 18ML is a moving means for reciprocating the traveling frame 18D, and is composed of, for example, an electric motor. By configuring the motor 18ML as an electric motor, the tunnel cleaning and cleaning apparatus 10 can be made lighter than when the motor 18ML is configured as a hydraulic motor.

As shown in FIGS. 2 and 3, a base plate 18E is mounted on the traveling frame 18D via a transverse linear guide 18LW. As shown in FIG. 6, the base plate 18E is, for example, a substantially square metal plate in plan view. The planar dimension of the base plate 18E is smaller than the planar dimension of the traveling frame 18D. Both ends of the base plate 18E in the second horizontal direction D2 are arranged on the pair of long frame portions 18D1 in a state of overlapping with the pair of long frame portions 18D1 of the traveling frame 18D in plan view.

As shown in FIGS. 2 and 3, the above-described traversing linear guides 18LW are installed between the traversing frame 18E and the pair of long frame portions 18D1 of the traveling frame 18D. Similar to the traveling linear guide 18LL, the transverse linear guide 18LW includes a guide rail (first rail) 18LW1 and two blocks 18LW2 provided thereon. The guide rails 18LW1 are arranged along the first horizontal direction D1 on a pair of long frame portions 18D1 of the travel frame 18D. A limit switch 18S3 (see FIG. 2) for limiting (preventing) movement of the block 18LW2 is installed near both ends of the guide rail 18LW in the longitudinal direction.

A block 18LW2 of the transverse linear guide 18LW is joined to the base plate 18E. As a result, the base plate 18E is installed on the traveling frame 18D so as to be reciprocally movable along the first horizontal direction D1 (that is, the direction approaching the inner wall surface WS of the tunnel and the direction separating from the inner wall surface WS). ing. In this embodiment, the base plate 18E is formed of a substantially square metal plate. It can be made lighter. Further, the weight of the base plate 18E can be reduced, and the contact area with the traveling frame 18D can be reduced when the base plate 18E reciprocates and traverses, so that the base plate 18E can be moved more smoothly. When the base plate 18E is reciprocated and traversed, the main body of the cleaning/cleaning device on the base plate 18E is also reciprocated and traversed together.

A motor (first driving body) 18MW, which is rotatable in forward and reverse directions, is installed near one corner of the base plate 18E. The motor 18MW is a moving means for reciprocating the base plate 18E, and is composed of, for example, an electric motor. By configuring the motor 18MW with an electric motor, the tunnel cleaning and cleaning apparatus 10 can be made lighter than when the motor 18MW is configured with a hydraulic motor.

Next, an example of cleaning the inner wall surface WS of a tunnel by the tunnel cleaning apparatus 10 of the present embodiment will be described with reference to FIGS. 1 to 3, 11 and 12. FIG. FIGS. 11(a) and 11(b) are plan views of the pedestal of the tunnel cleaning apparatus of the present embodiment when preparing for cleaning work, and FIG. 12(a) shows the tunnel cleaning apparatus after FIG. 11(b). FIG. 12(b) is a plan view of the pedestal during preparation for the cleaning work, and FIG. 12(b) is a plan view of the pedestal during the cleaning work of the tunnel cleaning device after FIG. 12(a).

First, the aerial work vehicle V shown in FIG. 1 is moved to the cleaning area and laid alongside the inner wall surface WS of the tunnel. At this time, the deck portion Vb on which the tunnel cleaning/cleaning device 10 is mounted is in a lowered state. As shown in FIG. 2, the tunnel cleaning apparatus 10 includes a cleaning surface of the cleaning head 17 (a surface facing the inner wall surface WS of the tunnel and a mount 17a on which a cleaning machine 17b and the like are installed). ) faces the inner wall surface WS of the tunnel. The first horizontal direction D1 intersects the inner wall surface WS of the tunnel, and the second horizontal direction D2 extends along the direction of extension of the tunnel.

Subsequently, as shown in FIG. 1(b), the deck portion Vb of the aerial work vehicle V is raised to set the tunnel cleaning device 10 to a predetermined height, and then, as shown in FIG. 11(a), , sensors SL1 and SL2 measure the respective distances from the sensors SL1 and SL2 to the inner wall surface WS of the tunnel. Here, if it is determined that the cleaning surface of the cleaning head 17 of the tunnel cleaning device 10 is inclined with respect to the inner wall surface WS of the tunnel based on the measured values of the respective distances, the above rotation The frame 18B is rotated to set the cleaning surface of the cleaning head 17 of the tunnel cleaning apparatus 10 parallel to the inner wall surface WS of the tunnel. Here, the case where the cleaning surface of the cleaning head 17 of the tunnel cleaning device 10 is not inclined with respect to the inner wall surface WS of the tunnel is illustrated.

After that, based on the distance information obtained by the sensors SL1 and SL2, as shown in FIG. Stop in place. Here, when the cleaning surface of the cleaning head 17 of the tunnel cleaning apparatus 10 can be brought into contact with the inner wall surface WS of the tunnel by sliding the slide frame 18C, the process proceeds to the cleaning process. On the other hand, when the cleaning surface of the cleaning head 17 of the tunnel cleaning device 10 is not brought into contact with the inner wall surface WS of the tunnel only by sliding the slide frame 18C, as shown in FIG. , SL2, the base plate 18E is moved toward the inner wall surface WS of the tunnel so that the cleaning surface of the cleaning head 17 of the tunnel cleaning apparatus 10 comes into contact with the inner wall surface WS of the tunnel. Stop at the position where it is done.

Next, the rod 15 of the tunnel cleaning device 10 raises the cleaning head 17, and the air cylinder 17p presses the two cleaning machines 17b to move the cleaning surface of the cleaning head 17 to the inner wall surface WS of the tunnel. press against. At this time, the caster 17c of the cleaning surface of the cleaning head 17 is pressed against the inner wall surface WS of the tunnel, but as described above, the cleaning head 17 swings following the curved shape of the inner wall surface WS of the tunnel. Then, the cleaning surface of the cleaning head 17 comes to contact and face the inner wall surface WS of the tunnel in an optimal state.

Thereafter, as shown in FIG. 12(b), while spraying the abrasive sprayed from the cleaner 17b of the cleaning head 17 onto the inner wall surface WS of the tunnel, the traveling frame 18D is moved in the extending direction of the tunnel. The sweeping head 17 is moved in the direction of extension of the tunnel. As a result, the inner wall surface WS of the tunnel is ground and cleaned by grinding the deteriorated portion of the inner wall surface WS. At the same time, the peeled pieces and the abrasive are sucked from the suction port 17b-2 of the cleaning head 17 so that the peeled pieces and the abrasive do not leak to the outside. In this embodiment, as described above, the first ring brush 17s-1 and the second ring brush 17s-2 of the cleaning head 17 serve as walls so that the peeled pieces and the abrasive are prevented from leaking to the outside. there is

As described above, according to the present embodiment, the slide frame 18C itself of the tunnel cleaning and cleaning apparatus 10 can be horizontally moved to approach the inner wall surface WS of the tunnel, so that the loading platform of the aerial work vehicle V (see FIG. 1) can be moved. , the in-plane weight bias can be alleviated, and the installation stability of the tunnel cleaning/cleaning device 10 can be improved.

In addition, even if the position of the aerial work vehicle V is too close or too far from the inner wall surface WS of the tunnel, the slide frame 18C of the tunnel cleaning device 10 slides (horizontally moves) to clean the tunnel without lowering the work efficiency. Since the distance between the device 10 and the inner wall surface WS of the tunnel can be adjusted, the accuracy of the stop position of the aerial work vehicle V can be relaxed.

In addition, when cleaning the inner wall surface WS of the tunnel formed in a curved shape, the cleaning head 17 of the tunnel cleaning device 10 is swung according to the curved surface state at each cleaning position of the inner wall surface WS of the tunnel. Since the cleaning surface of the cleaning head 17 can be pressed against the inner wall surface WS of the tunnel with an appropriate pressure, the curved inner wall surface WS of the tunnel can be cleaned satisfactorily. can be done. Since the inner wall surface WS of the tunnel, which is formed in a curved shape, can be cleaned by the tunnel cleaning device 10, the inner wall surface WS of the tunnel can be cleaned more easily and efficiently than when the inner wall surface WS of the tunnel is manually cleaned. Processing can be performed and cleaning costs can be significantly reduced.

(Second embodiment)

FIG. 13 is a conceptual diagram showing a tunnel cleaning system to which the tunnel cleaning device of this embodiment is attached.

In this embodiment, the aerial work vehicle V is different from that in the above embodiment. The aerial work vehicle V of the present embodiment includes a boom Va provided on the loading platform side, and a deck portion Vb provided at the tip of the boom Va in a state capable of undulating, turning, and linearly expanding and contracting. I have. The tunnel cleaning device 10 is mounted on the deck portion Vb.

When cleaning the inner wall surface of the tunnel, the tunnel cleaning device 10 is set at a predetermined height by the operation of the boom Va, and the cleaning angle of the cleaning head 17 of the tunnel cleaning device 10 (cleaning head 17 and the angle for setting the parallelism with the inner wall surface of the tunnel) is adjusted. The configuration other than this is the same as that of the above embodiment.

The aerial work vehicle V may not be of such a telescopic boom type, but may be of a bending boom type in which the boom bends in the middle, or may be of a lifter type (mast boom type or scissors type) in which the deck portion Vb is vertically raised and lowered. .

Although the invention made by the present inventor has been specifically described based on the embodiments, the embodiments disclosed in this specification are illustrative in all respects and are limited to the disclosed technology. isn't it. That is, the technical scope of the present invention should not be construed in a restrictive manner based on the description of the above embodiments, but should be construed according to the description of the scope of claims. All modifications are included as long as they do not deviate from the description technology and equivalent technology and the gist of the claims.

For example, in the above embodiment, the rotary frame 18B is rotated to adjust the cleaning angle of the cleaning head 17 with respect to the inner wall surface WS of the tunnel. As a structure rotatable along the inside, the cleaning angle of the cleaning head 17 with respect to the inner wall surface WS of the tunnel may be adjusted by rotating the base plate 18E.

In the above description, the cleaning apparatus of the present invention is applied to cleaning a tunnel having a curved inner wall surface. It can also be applied to cleaning the bridge walls of bridge piers.

10 Tunnel cleaning device 12 Holding frame 12a Air cylinder 12a-1 Cylinder rod 12b Roller pair 15 Rod 15f Mounting plate 17 Cleaning head 17a Mounting part 17a-1 Mounting base 17a-2 Rotary plate 17a-3 Rear plate 17b Cleaning Machine 17b-1 Jet port 17b-2 Suction port 17b-3 Discharge hose 17b-4 Suction hose 17c Caster 17s-1 First ring brush 17s-2 Second ring brush 17r Arm portion 17r-1 Base plate 17r-2 First support plate 17x-1 Fastening member 17p Air cylinder 17p-1 Cylinder rod 17d Telescopic rod 17e Support frame 18 Base 18A Fixed frame 18A1 Short frame portion 18A2 Long frame portion 18A3 Beam frame portion 18A4 Support portion 18A5 Rotational bearing portion 18B Rotating frame 18B1 Short frame portion 18B2 Long frame portion 18B3 Beam frame portion 18B4 Rotating shaft portion 18R Rotation support body 18J Jack 18J1 Rod portion 18J2 Motor portion 18C Slide frame 18C1 Short frame portion 18C2 Long frame portion 18LS Linear guide for slide 18LS1 Guide Rail 18LS2 Blocks 18S1, 18S2 Limit switch 18MS Motors 18BP1, 18BP2 Rotating bearings 18CR1, 18CR2 Connecting rods 18CG1, 18CG2 Chain gear 18SC Chain 18SJ Connector 18D Traveling frame 18D1 Long frame 18D2 Short frame 18LL Traveling linear guide 18LL1 Guide Rail 18LL2 Block 18ML Motor 18E Base plate 18LW Traversing linear guide 18LW1 Guide rail 18LW2 Block 18MW Motor S Sweeping system WS Inner wall surface V Aerial work vehicle Va Boom Vb Deck unit Vp Pantograph unit SL1, SL2 Sensor RR1 First swing direction RR2 Second swing direction

Claims (5)

a cleaning device main body having a cleaning head for cleaning the wall surface inside the tunnel and a support means for supporting the cleaning head ;
a first moving body to which the support means is attached ;
a first moving means for moving the first moving body in a first horizontal direction toward and away from the wall surface;
a second moving body on which the first moving body is mounted;
a second moving means for moving the second moving body in a second horizontal direction crossing the first horizontal direction;
a third moving body on which the second moving body is mounted;
a third moving means for moving the third moving body in the first horizontal direction;
a rotating body on which the third moving body is mounted;
rotating means for rotating the rotating body along the mounting surface of the third moving body;
and a fixed body on which the rotating body is mounted. The first moving means is
a first rail on which the first moving body is horizontally mounted;
a first driving body that reciprocates the first moving body on the first rail in the first horizontal direction;
The second moving means is
a second rail on which the second moving body is mounted so as to be free to travel;
a second driving body that reciprocates the second moving body on the second rail in the second horizontal direction;
The third moving means is
a third rail on which the third moving body is horizontally mounted;
2. The cleaning and cleaning apparatus according to claim 1, further comprising a third driving body for reciprocating said third movable body on said third rail in said first horizontal direction. 3. A cleaning and cleaning apparatus according to claim 2, wherein said first driving body, said second driving body and said third driving body are composed of electric motors. 4. The apparatus according to any one of claims 1 to 3, wherein the fixed body, the rotating body, the second moving body, and the third moving body are formed in a rectangular frame shape in a plan view. A cleaning device as described. Claims 1 to 4, wherein said fixed body, said rotating body and said third moving body have said second horizontal dimension longer than said first horizontal dimension in plan view. The cleaning device according to any one of .

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