JPH02143199A - Wall surface cleaning robot - Google Patents
Wall surface cleaning robotInfo
- Publication number
- JPH02143199A JPH02143199A JP63296275A JP29627588A JPH02143199A JP H02143199 A JPH02143199 A JP H02143199A JP 63296275 A JP63296275 A JP 63296275A JP 29627588 A JP29627588 A JP 29627588A JP H02143199 A JPH02143199 A JP H02143199A
- Authority
- JP
- Japan
- Prior art keywords
- cleaning
- wall surface
- robot
- main body
- robot main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 117
- 239000007788 liquid Substances 0.000 claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000002441 reversible effect Effects 0.000 description 6
- 239000002351 wastewater Substances 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000001629 suppression Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 206010011224 Cough Diseases 0.000 description 1
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
- 239000000941 radioactive substance Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Landscapes
- Monitoring And Testing Of Nuclear Reactors (AREA)
- Cleaning In General (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用公費〉
本発明は、廃液タンク等の内壁面の清掃に使用する壁面
清掃ロボットに関する。DETAILED DESCRIPTION OF THE INVENTION <Public Expenses for Industrial Use> The present invention relates to a wall surface cleaning robot used for cleaning the inner wall surface of a waste liquid tank or the like.
〈従来の技術〉
原子力発電プラントの熱交換語等からのドレンを集めた
ｊＪ液タンク内は、放射性物質を含んだ水垢が付着する
ため、丁寧な清掃が必要とされている。<Prior Art> The inside of the JJ liquid tank, which collects condensate from heat exchangers in nuclear power plants, requires careful cleaning because limescale containing radioactive substances adheres thereto.
従来廃液タンク内の壁面を清掃するロボットとしては、
壁面に所定のルートで敷設されたレールに移動体を係合
させ、自走式または外部からの牽引によって移動体を移
動させながら回転ブラシ等によって壁面に付着した水垢
等を除去するようにしたものが考えられている。As a conventional robot that cleans the wall inside the waste liquid tank,
A movable body is engaged with a rail laid on a wall along a predetermined route, and while the movable body is moved by self-propelled or external traction, water scale, etc. attached to the wall surface is removed using a rotating brush, etc. is considered.
〈発明が解決しようとする課題〉
従来考えられていた清ｍロボットにあっては、保守上の
付帯設備としてのレールを壁面に設ける必要があり、壁
部の建造コスト高を招く他、壁面構造を複雑にして清掃
の邪魔になると共に清掃残りが生じてしまっていた。<Problem to be solved by the invention> In the conventionally conceived Kiyom robot, it is necessary to provide rails on the wall as ancillary equipment for maintenance, which not only increases the construction cost of the wall but also reduces the wall structure. This complicates the cleaning process, obstructs the cleaning process, and leaves cleaning residue behind.
このため、廃液タンク内は人手による清掃が必要となり
、人手によって清掃する場合は、完全な防具を必要とす
る他、放射能の被曝量の木目細かい管理が必要となって
一回の作業時間を長くすることができず清掃作業能率が
悪くなっていた。For this reason, it is necessary to clean the inside of the waste liquid tank manually, which requires full protective gear and careful management of the amount of radiation exposure, which reduces the time required for each task. It was not possible to make the length longer, resulting in poor cleaning efficiency.
本発明は上記状況に鑑みてなされたもので、壁面に案内
部材を必要とせず遠隔操作によって清掃残りが生じろこ
となく壁面の清掃が確実に行なえる壁面清掃ロボットを
提供することを目的とする。The present invention has been made in view of the above situation, and an object of the present invention is to provide a wall cleaning robot that does not require a guide member on the wall and can reliably clean the wall without leaving cleaning residue by remote control. .
く課題を解決するための手段〉
上記目的を達成するための本発明の構成は、浮氷可能な
ロボット本体と、咳ロボット本体の一端側に設けられろ
と共に壁面の清掃を行なう清掃具が回転自在に保持され
ろ清掃体と、前記ロボット本体の他端側に設けられ前記
清掃員の回転中心軸に治って該ロボット本体を一端側に
推進させる第一推進手段と、前記清掃体に設けられ該第
一推進手段による前記清掃体の前記壁面への押付は量を
規制するストッパと、前記ロボット本体に設けられ前記
清掃員の回転中心軸に直交する水平方向に該ロボット本
体を推進させる第二推進手段と、前記ロボット本体に設
けられ該ロボット本体の液面に対する深度を調節するバ
ラスト手段と、前記ロボット本体に備えられ前記第二推
進手段による推進方向に沿って延びろ軸回りで前記清掃
体を回動させる清掃体回動手段とからなることを特徴と
する。Means for Solving the Problems> To achieve the above object, the present invention has a robot body that can float ice, and a cleaning tool provided at one end of the cough robot body and that is rotatable for cleaning the wall surface. a first propulsion means provided on the other end of the robot body for propelling the robot body toward one end by being attached to the rotation center axis of the cleaning person; A stopper restricts the amount of pressing of the cleaning body against the wall surface by the first propulsion means, and a second propulsion device is provided on the robot body and propels the robot body in a horizontal direction perpendicular to the rotation center axis of the cleaning person. means, a ballast means provided on the robot main body for adjusting the depth of the robot main body relative to the liquid level, and a ballast means provided on the robot main body extending along the propulsion direction by the second propulsion means to move the cleaning body around the rotor axis. It is characterized by comprising a cleaning body rotation means for rotating the cleaning body.
〈作 用〉
ロボット本体を液中に浮かせ第一推進手段の駆動によっ
てロボット本体を−＃側に推進させ、ストッパが壁面に
当接するまで清掃体の清掃具を壁面に押圧し清掃員を回
転させる。<Operation> The robot body is floated in the liquid and the first propulsion means is driven to propel the robot body towards the −# side, and the cleaning tool of the cleaning body is pressed against the wall surface until the stopper comes into contact with the wall surface, causing the cleaning person to rotate. .
第二推進手段の駆動によって清掃具を押付けな状態でロ
ボット本体を清掃員の回転中心軸に直交する水平方向に
推進させ、壁面を水平方向に清掃する。バラスト手段に
よってロボット本体の液面に対する深度を順次調節して
壁面を清掃していく。底壁面や頂壁面の清掃を行なう場
合、清掃体回動手段によって清掃体を回動させて対処す
る。By driving the second propulsion means, the robot main body is propelled in a horizontal direction perpendicular to the rotation center axis of the cleaning person while the cleaning tool is not pressed, thereby cleaning the wall surface in the horizontal direction. The ballast means sequentially adjusts the depth of the robot body relative to the liquid level to clean the wall surface. When cleaning the bottom wall surface or the top wall surface, the cleaning body is rotated by the cleaning body rotation means.
く実 施 例〉
第１図には本発明の一実施例に係る！！藺清掃四ポット
のｒ４視、第２図にはその清掃体取付部の平面、ｆｓ３
図１とは壁面清掃ロボットの側面、第４図には第３図中
の要部拡大状態、第５図には清掃員の取付状態を表わす
斜視を示している。Embodiment FIG. 1 shows an embodiment of the present invention. ! R4 view of the four cleaning pots, Figure 2 shows the plane of the cleaning body attachment part, fs3
FIG. 1 shows a side view of the wall cleaning robot, FIG. 4 shows an enlarged view of the main parts of FIG. 3, and FIG. 5 shows a perspective view showing the state in which a cleaning person is attached.
図示の清掃ロボット１は、原子力発電プラントで使用さ
れている熱交換器等からのドレンを集めろ廃水タンクの
内壁面を清掃するものであり、マンホールから廃水タン
ク内に搬入されろ。The illustrated cleaning robot 1 cleans the inner wall surface of a wastewater tank that collects drain from heat exchangers and the like used in nuclear power plants, and is carried into the wastewater tank through a manhole.
第１図に示すように、清掃ロボット１のロボット本体１
０は、上面開放の略直方体形状のケーシング１０ａにバ
ッキングを介装し、上１１１−Ｏｂを気密状態に止具で
取付けろことで形成されろ超ジュラルミン薄板製の中空
船殻となって８９、浮氷可能になっている。ロボット本
体１０の内部空気圧は潜水深度に応じて外部の調圧弁（
図示省略）から所定の空気圧がホース及び管継手１０ｃ
を介して供給されろ。ロボット本体１０の一端側には二
つの清掃体２０が設けられている。As shown in FIG. 1, the robot body 1 of the cleaning robot 1
0 is a hollow hull made of super duralumin thin plate 89, which is formed by inserting a backing into a substantially rectangular parallelepiped-shaped casing 10a with an open top surface, and attaching an upper part 111-Ob with a fastener in an airtight state. Floating ice is now possible. The internal air pressure of the robot body 10 is controlled by an external pressure regulating valve (
(not shown) to the hose and pipe joint 10c.
be supplied via. Two cleaning bodies 20 are provided at one end of the robot body 10.
第２図乃至第５図に基づいて清掃体２０の構成を説明す
る。ロボット本体１０の一端側の左右（第２図では上下
）にはエアモータ２５が設けられ、エアモータ２５の駆
動軸２６には円盤Ｃが取付けられている。円盤Ｃにはバ
ヨネット式の急速嵌脱継手２３（第３図参照）を介して
硬質ナイロン類の背板ａが取付けられ、背板ａにはポリ
ウレタン系スポンジの清掃具２１が接着されている。各
清掃具２１はエアモータ２５の駆動によって互いに逆方
向（第１図中Ａ、、Ａ、で示す）に回転駆動されろ・
急速嵌脱継手２３を第５図に基づいて説明する。背板ａ
には一対の円弧状の係合切欠きｄが形成され、円盤Ｃに
は係合切欠きｄに係合する一対の係合爪６が形成されて
いる。係合爪ｅの内側には案内溝ａ、及び鍵溝６２がそ
れぞれ設けられている。背板ａには背板ａを円盤Ｃに押
え付けろ抑圧ユニットｆが設けられ、抑圧ユニットｆは
案内溝６．及び鍵溝０２に係合する突起ｇ１を一対備え
た外筒ｇと、中央の案内ピンｈに沿ってクリップｈ （
第３図参照）までコイルスプリングｉ （第３図参照）
によって伸張付勢された内筒ｊとから構成されている。The configuration of the cleaning body 20 will be explained based on FIGS. 2 to 5. An air motor 25 is provided on the left and right sides (up and down in FIG. 2) of one end of the robot body 10, and a disk C is attached to a drive shaft 26 of the air motor 25. A back plate a made of hard nylon is attached to the disk C via a bayonet type quick-fitting/disconnecting joint 23 (see FIG. 3), and a cleaning tool 21 made of polyurethane sponge is adhered to the back plate a. The cleaning tools 21 are rotated in opposite directions (indicated by A, A in FIG. 1) by the drive of an air motor 25. back plate a
A pair of arc-shaped engagement notches d are formed in the disc C, and a pair of engagement claws 6 that engage with the engagement notches d are formed in the disc C. A guide groove a and a key groove 62 are provided inside the engagement claw e, respectively. A suppression unit f is provided on the back plate a to press the back plate a against the disc C, and the suppression unit f is provided with a guide groove 6. and an outer cylinder g equipped with a pair of protrusions g1 that engage with the keyway 02, and a clip h (
(see Fig. 3) up to coil spring i (see Fig. 3)
It consists of an inner cylinder j that is urged to expand by.
抑圧ユニットｆは、コイルスプリング１に抗して外筒ｇ
及び内筒ｊを背板ａに押付けながら突起ｇ、を案内溝ｅ
、に嵌入させて回動し、フィルスプリングｉの付勢力で
突起ｇ、を鍵溝６２に係合し、清掃部材２１を円盤Ｃに
安定的に固定させるものである。清掃Ａ２１を取外す場
合、前述と逆の動作を行なう。The suppression unit f pushes the outer cylinder g against the coil spring 1.
And while pressing the inner cylinder j against the back plate a, insert the protrusion g into the guide groove e.
, the protrusion g is engaged with the keyway 62 by the biasing force of the fill spring i, and the cleaning member 21 is stably fixed to the disc C. When removing the cleaning A21, perform the operation opposite to that described above.
エアモータ２５は高速回転が掃られ、比較的高いトルク
も得られるもので、ロボット本体１０の底面後方に設け
られた供給管継手２７ａからタービン駆動用高圧空気を
供給し、排気はエアモータ２５の側部の管継手２７ｂか
らホースを経てタンク外部に導出するようになっている
。又、清掃具２１はエアモータ２５によって回転駆動さ
れ、壁面に押圧されると清掃具２１に含浸された液と空
気は回転による遠心力によって接線方向外側に飛敷され
、清掃具２１の中央腔所内は真空状態になって壁面に対
する吸着力が増大することになる。The air motor 25 rotates at a high speed and can also obtain relatively high torque. High pressure air for driving the turbine is supplied from a supply pipe joint 27a provided at the rear of the bottom of the robot body 10, and exhaust air is discharged from the side of the air motor 25. It is led out from the pipe joint 27b through a hose to the outside of the tank. Further, the cleaning tool 21 is rotationally driven by an air motor 25, and when it is pressed against the wall surface, the liquid and air impregnated in the cleaning tool 21 are blown outward in the tangential direction by the centrifugal force caused by the rotation, and inside the central cavity of the cleaning tool 21. becomes a vacuum state and the adsorption force against the wall increases.
従って、後述する第一推進手段３０を停止しても、壁面
に対して清掃具２１は当接状態に保持されることになる
。Therefore, even if the first propulsion means 30, which will be described later, is stopped, the cleaning tool 21 is kept in contact with the wall surface.
清掃体２０には、清掃具２１が壁面に押圧されて変形す
る量を制限するために壁面に当接するストッパ４０が設
けられている。ストッパ４０はエアモータ２５のケーシ
ング２６ｍに固定される脚４２と、１１４２の先端に設
けられ壁面に当接して転勤する鋼球４１とから構成され
ている。The cleaning body 20 is provided with a stopper 40 that comes into contact with the wall surface in order to limit the amount by which the cleaning tool 21 deforms when pressed against the wall surface. The stopper 40 is composed of a leg 42 fixed to the casing 26m of the air motor 25, and a steel ball 41 provided at the tip of the leg 1142 and moved in contact with a wall surface.
二つのエアモータ２５の基端は水平横断連結軸２７によ
って支持され、水平横断連結軸２７はロボット本体１〇
一端側に旋回可能且つ９ｃ密に支承されている。水平横
断連結軸２７にはウオームホイール２８ａが取付けられ
、ウオームホイール２８ａにはウオームギヤ２８ｂ（第
４図参照）が噛み合っている。ウオームギヤ２８ｂはロ
ボット本体１０に固定された可逆転モータ２８ｃの出力
軸に取付けられ、可逆転モータ２８ｃのＷ動によってウ
オームギヤ２８ｂ、ウオームホイール２８ｍを介して水
平横断連結軸２７が旋回する。つまり、つオームホイー
ル２８ａ、ウオームギヤ２８ｂ。The base ends of the two air motors 25 are supported by a horizontal transverse connecting shaft 27, which is rotatably and tightly supported at one end of the robot body 10. A worm wheel 28a is attached to the horizontal transverse connecting shaft 27, and a worm gear 28b (see FIG. 4) meshes with the worm wheel 28a. The worm gear 28b is attached to the output shaft of a reversible motor 28c fixed to the robot body 10, and the horizontal movement of the reversible motor 28c causes the horizontal transverse connecting shaft 27 to rotate via the worm gear 28b and the worm wheel 28m. That is, the ohm wheel 28a and the worm gear 28b.
可逆転モータ２８ｃによって清掃体回動手段２ＢがＷＩ
成され、清掃体回動手段２８による水平横断連結軸２７
の旋回により、清掃体２゜を第３図で兼線で示す水平状
態と二点鎖線で示す垂直状態とに旋回動させる。The cleaning body rotating means 2B is rotated by the reversible motor 28c.
horizontally transverse connecting shaft 27 by the cleaning body rotation means 28.
As a result of the rotation, the cleaning body 2° is rotated between a horizontal state shown by a double line in FIG. 3 and a vertical state shown by a two-dot chain line.
また、エアモータ２５のケーシング２６ａば連結棒２６
ｂにより連結され、連結棒２６ｂによって清掃中の清掃
具２１の反力が支えられるようになっている。清掃具２
１やエアモータ２５の水平横断連結軸２７にかかる片持
ち荷重は、ロボット本体１０に固定された可逆転モータ
２８ｃによって安定的に担持される＜ｌ清掃体２０の旋
回角度位置はパルスエンコーダ２９（第２図参照）から
外部のデイスプレィに表示されるようになっている。In addition, the casing 26a of the air motor 25 and the connecting rod 26
b, and the reaction force of the cleaning tool 21 during cleaning is supported by the connecting rod 26b. Cleaning tool 2
1 and the horizontal transverse connecting shaft 27 of the air motor 25 are stably supported by the reversible motor 28c fixed to the robot body 10. (see Figure 2) is displayed on an external display.
第１図、第３図に示すように、ロボット本体１０の中空
内部には三個のバラストタンク５１が配設され、バラス
トタンク５１にはバラスト水供給’ｔｍ手５２から供給
されたバラスト水がｆ４磁弁＃５３で配分されて供給さ
れろ。バラストタンク５１．バラスト水供給管継手５２
．＠Ｔ１１弁群５３によってバラスト手段５０が構成さ
れ、バラスト手段５０によって水面Ｗ（第３図参照）に
対する清掃具２１の適正な位置が制御されろ。ロボット
本体１０の端部には多数の鋼球おもりが封入されたバラ
ンス装［５５が設けられ、鋼球おもりの数を調節して四
ボット本体１０の姿勢制御の補助を行なっている。As shown in FIGS. 1 and 3, three ballast tanks 51 are arranged in the hollow interior of the robot body 10, and the ballast tanks 51 receive ballast water supplied from a ballast water supply 'tm hand 52. Distribute and supply with f4 magnetic valve #53. Ballast tank 51. Ballast water supply pipe joint 52
．． @T11 The valve group 53 constitutes a ballast means 50, and the appropriate position of the cleaning tool 21 with respect to the water surface W (see FIG. 3) is controlled by the ballast means 50. A balance device [55] containing a large number of steel ball weights is provided at the end of the robot body 10, and assists in controlling the attitude of the four-bot body 10 by adjusting the number of steel ball weights.
第１図、第３図に示すように、ロボット本体１０の他端
側には一対の第一推進手段３０が設けられ、第一推進手
段３０によって清掃体２０を壁面に押付ける方向、即ち
清掃具２１の回転中心軸に沿ってロボット本体１０を一
＃側に推進させるようになっている。各第−推進手８．
３０は、液密容Ｂｙ内に封入された可逆転の電動モータ
及び減速機と、減速機の出力軸に取付けられたスクリュ
ーＳと、スクリ二−８を囲うスクリニ−へ９ジングＨと
から構成され、各々個別に回転方向及び回転速度が制御
されるようになっている。液密容器Ｙの底部には垂直下
方に当止脚３２が突設され、各当止脚３２はケーブルト
レイ３３で連結されている。As shown in FIGS. 1 and 3, a pair of first propulsion means 30 are provided on the other end side of the robot body 10, and the first propulsion means 30 press the cleaning body 20 against the wall surface, that is, the cleaning The robot main body 10 is propelled toward the #1 side along the rotation center axis of the tool 21. Each propeller 8.
30 is composed of a reversible electric motor and a speed reducer enclosed in a liquid-tight container By, a screw S attached to the output shaft of the speed reducer, and a screen H that surrounds the screen 8. The rotation direction and rotation speed of each are controlled individually. At the bottom of the liquid-tight container Y, a stopper leg 32 is vertically protruded downward, and each stopper leg 32 is connected by a cable tray 33.
ロボット本体１０の底面中央には第二推進手段６０が設
けられ、第二推進手段６０によってロボット本体１０は
水平横断連結軸２７の軸方向に推進されるようになって
いる。第二推進手段６０の構成は第一推進手段３０と略
同〜構成になっている。A second propulsion means 60 is provided at the center of the bottom surface of the robot body 10, and the second propulsion means 60 propels the robot body 10 in the axial direction of the horizontal transverse connecting shaft 27. The configuration of the second propulsion means 60 is substantially the same as that of the first propulsion means 30.
ロボット本体１０の一端側には洗浄水を噴射するノズル
７０が設けられると共に、暗所での清掃監視を容易にす
るため一端側前方及び下方を照明する照明具８０が設け
られている。連結棒２６ｂには水中テレビカメラ８５が
設けられ、水中テレビカメラ８５は清掃体２０と共に旋
回して清掃箇所を監視するようになっている。またロボ
ット本体１０の側縁及び端縁にはＵ形状の接触センサ９
０が設けられている。照明具８０は、約３０度傾斜させ
た透明板８１を液密状態で取付けて形成された空所８２
内に設けられている。A nozzle 70 for spraying cleaning water is provided at one end of the robot body 10, and a lighting device 80 is provided for illuminating the front and bottom of the one end to facilitate monitoring of cleaning in a dark place. An underwater television camera 85 is provided on the connecting rod 26b, and the underwater television camera 85 rotates together with the cleaning body 20 to monitor the cleaning area. Further, U-shaped contact sensors 9 are provided on the side and end edges of the robot body 10.
0 is set. The lighting fixture 80 has a space 82 formed by attaching a transparent plate 81 tilted at approximately 30 degrees in a liquid-tight state.
It is located inside.
前述した各種電気機器及び空気圧８！１冊の動力用及び
制御用ケーブルやパイプは、継手類の他にロボット本体
１０の底面に突設されたレセプタクル９５を介して外部
に導出され、タンク外に設置された電源、コンプレッサ
。In addition to the joints, the power and control cables and pipes for the various electric devices and pneumatics described above are led out through a receptacle 95 protruding from the bottom of the robot body 10, and are routed outside the tank. Installed power supply, compressor.
コントローラに連結されている。connected to the controller.
次に、清掃ロボット１の円筒状廃水タンク内におけろ使
用状況を概説する。先ずタンク上部のマンホールから既
に必要な配線及び配管を終えた消掃胃ボット１をタンク
内の廃水中に浮かべる。バラスト手段５０を調節して第
３図に示すように水面Ｗに対して清掃体２０が所定の位
置関係をとるようにし、次いで、第一推進手段３０を作
動させてタンク内周側壁面に対してスイッパ４ｏが壁面
に当接するまで清掃具２１を押圧する。エアモータ２５
を作動させて清掃具２１を回動して内周側壁面の水垢等
のスケールの除去清掃を開始すると共に、第二推進手段
６０も作動させて内周側壁面に治ってロボット本体１０
を移動させながら清掃を続けて行く。清掃中は、第一推
進手段３０を停止しても前述したように、清掃具２１の
回転によって中央の空所が真空状態になって壁面に吸着
保持されるため、第二推進手段６０の作動によって壁面
に沿って清掃具２１は移動することができる。ロボット
本体１０がタンク内を一周する毎に廃水を若干後いて水
面を下げて行き、略スパイラル状にタンク内周側壁面を
清掃して行き、タンク底面に当止脚３２が当る直前で清
掃体２０を下方向に９０度旋回させてバラスト手段５０
に注水し、清掃ロボット１の自重で下方向を向いｔこ清
掃具２１をタンク底面に押圧して清掃を続ける。底面全
体を清掃するために適宜第一推進手段３０及び第二推進
手段６０を後退させた秒停止させる。尚、タンク内壁面
清掃中は洗浄水をノズル７０から噴射して清掃効果を高
めろ。清掃状態は、照明具８０と水中テレビカメラ８５
によって監視されろことになる。Next, the usage situation of the cleaning robot 1 in the cylindrical wastewater tank will be summarized. First, the gastrointestinal bot 1, which has already completed the necessary wiring and piping, is floated in the wastewater in the tank from the manhole at the top of the tank. The ballast means 50 is adjusted so that the cleaning body 20 takes a predetermined positional relationship with respect to the water surface W as shown in FIG. and press the cleaning tool 21 until the switcher 4o comes into contact with the wall surface. air motor 25
is activated to rotate the cleaning tool 21 to start cleaning and removing scale such as limescale on the inner wall surface, and at the same time, the second propulsion means 60 is also activated to clean the inner wall surface and remove it from the robot body 10.
Continue cleaning while moving. During cleaning, even if the first propulsion means 30 is stopped, as described above, the rotation of the cleaning tool 21 creates a vacuum state in the central cavity and holds it by adsorption to the wall surface, so the second propulsion means 60 is not activated. The cleaning tool 21 can be moved along the wall surface. Each time the robot body 10 goes around the tank, it slightly leaves behind the waste water and lowers the water level, cleaning the inner wall of the tank in a substantially spiral shape, and the cleaning body closes just before the stop leg 32 hits the bottom of the tank. The ballast means 50 is rotated 90 degrees downward.
The cleaning robot 1 turns downward under its own weight and presses the cleaning tool 21 against the bottom of the tank to continue cleaning. In order to clean the entire bottom surface, the first propulsion means 30 and the second propulsion means 60 are appropriately stopped for a few seconds after being retracted. Incidentally, while cleaning the inner wall surface of the tank, spray water from the nozzle 70 to enhance the cleaning effect. In the cleaning state, lighting equipment 80 and underwater television camera 85
It will be monitored by.
清掃ロボット本体内の内部空気圧を調節可能に構成し、
潜航深度に応じた空気圧を送ることで、薄板の船殻構造
のロボット本体１０の変形、圧壊を防止し、全体を軽い
構造にできろ。又、清掃具２１を相互に反対方向に回転
されろ一対で構成したので、清掃作用面積も大きくなり
且つ作用部における揺動が防がれて安定し清掃能率を向
上させることができろ。第一推進手段３０及び第二推進
手段６０を各々ユニット化、モジュール化すると保守が
楽になると共に、又、可逆転式にすると走航自由度が増
大し、各種形状の壁面の清掃に機敏に対応することがで
きろ。更に洗浄水噴射ノズル７０や照明８０や水中テレ
ビカメラ８５や接触センサ９０を設けることによって、
清掃効果の向上、暗い箇所での清掃、遠隔操作の操作性
の向上、付帯機器の損傷防止等が行える。又、清掃体２
０を旋回駆動されるように構成したので、垂直壁面ばか
りではなく底壁面や頂壁面も液中に水平に浮いた状態で
容易に清掃することができる。The internal air pressure inside the cleaning robot body can be adjusted,
By sending air pressure according to the diving depth, the robot main body 10, which has a thin hull structure, can be prevented from being deformed or crushed, and the entire structure can be made lighter. In addition, since the cleaning tools 21 are configured as a pair that rotate in opposite directions, the cleaning area becomes large, and swinging in the action portion is prevented, resulting in stability and improved cleaning efficiency. If the first propulsion means 30 and the second propulsion means 60 are made into units or modules, maintenance becomes easier, and if they are made reversible, the degree of freedom in running increases, and it is possible to quickly clean walls of various shapes. Be able to do it. Furthermore, by providing a cleaning water injection nozzle 70, lighting 80, underwater television camera 85, and contact sensor 90,
It can improve cleaning effectiveness, clean in dark places, improve remote control operability, and prevent damage to incidental equipment. Also, cleaning body 2
Since the 0 is configured to be driven to rotate, not only the vertical wall surface but also the bottom wall surface and the top wall surface can be easily cleaned while floating horizontally in the liquid.
従ってこの清掃ロボット１は、壁面に案内部材等を必要
とせず遠隔操作によって清掃残りが生じることなく壁面
の清掃が確実に行なえる。Therefore, this cleaning robot 1 does not require a guide member or the like on the wall surface, and can reliably clean the wall surface by remote control without leaving cleaning residue.
〈発明の効果〉
本発明の壁面清掃ロボットによれば液体と接した壁面に
特に走行用の付帯的な案内手段を必要とせず、遠隔操作
等によって壁面に未清掃部を残さないように完全に清掃
することができるので操作性向上と清掃の省力化が図れ
る。特に放射能を有したスケールを人手に代って安全に
効率良くしかも確実に壁面から除去することができる。<Effects of the Invention> According to the wall surface cleaning robot of the present invention, there is no need for an additional guide means for traveling on the wall surface in contact with the liquid, and the robot can completely clean the wall surface by remote control or the like so as not to leave any uncleaned portions on the wall surface. Since it can be cleaned, operability can be improved and cleaning labor can be saved. In particular, radioactive scale can be removed from a wall surface safely, efficiently, and reliably instead of manually.
又、液面に浮かせて使用する他に、液中に潜航させて使
用することもでき、各覆使用条件に対応することができ
る。又、本発明の壁面清掃ロボットによれば、垂直壁面
に対して角度をとって設けられた天井壁及びＭ壁に対し
ても人手に代って安全に且つ完全に清掃することができ
る。Moreover, in addition to being used floating on the liquid surface, it can also be used submerged in the liquid, and can correspond to various submerged usage conditions. Further, according to the wall cleaning robot of the present invention, it is possible to safely and completely clean ceiling walls and M walls that are provided at an angle to a vertical wall instead of manually.
第１図は本発明の一実施例に係る壁面清掃ロボットの斜
視図、第２図はその清掃体取付部の平面図、第３図は壁
面清掃ロボットの側面図、第４図は第３図中の要部拡大
図、第５図は清掃具の取付状態を表わす斜視図である。
図 面 中、
１は清掃口ボッ １・、
１０はロボット本体）
２０は清掃体、
２１は清掃具、
２８は清掃体回動手段、
３０は第一推進手段、
４０はストッパ、
５０はバラスト手段、
６０は第二推進手段である。Fig. 1 is a perspective view of a wall cleaning robot according to an embodiment of the present invention, Fig. 2 is a plan view of its cleaning body attachment part, Fig. 3 is a side view of the wall cleaning robot, and Fig. 4 is Fig. 3. FIG. 5 is an enlarged view of the main parts inside, and is a perspective view showing the state in which the cleaning tool is attached. In the figure, 1 is a cleaning port (1, 10 is a robot body), 20 is a cleaning body, 21 is a cleaning tool, 28 is a cleaning body rotating means, 30 is a first propulsion means, 40 is a stopper, and 50 is a ballast means , 60 is the second propulsion means.
Claims (1)
設けられると共に壁面の清掃を行なう清掃具が回転自在
に保持される清掃体と、前記ロボット本体の他端側に設
けられ前記清掃具の回転中心軸に沿って該ロボット本体
を一端側に推進させる第一推進手段と、前記清掃体に設
けられ該第一推進手段による前記清掃体の前記壁面への
押付け量を規制するストッパと、前記ロボット本体に設
けられ前記清掃具の回転中心軸に直交する水平方向に該
ロボット本体を推進させる第二推進手段と、前記ロボッ
ト本体に設けられ該ロボット本体の液面に対する深度を
調節するバラスト手段と、前記ロボット本体に備えられ
前記第二推進手段による推進方向に沿って延びる軸回り
で前記清掃体を回動させる清掃体回動手段とからなるこ
とを特徴とする壁面清掃ロボット。a robot body that can float on water; a cleaning body that is provided at one end of the robot body and rotatably holds a cleaning tool for cleaning a wall surface; and a cleaning body that is provided at the other end of the robot body and that rotates the cleaning tool. a first propulsion means for propelling the robot body toward one end along a central axis; a stopper provided on the cleaning body for regulating the amount of pressing of the cleaning body against the wall surface by the first propulsion means; a second propulsion means provided on the main body for propelling the robot main body in a horizontal direction perpendicular to the rotation center axis of the cleaning tool; a ballast means provided on the robot main body for adjusting the depth of the robot main body with respect to the liquid level; A wall cleaning robot comprising: a cleaning body rotating means provided in the robot body and rotating the cleaning body around an axis extending along a direction of propulsion by the second propulsion means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63296275A JP2554148B2 (en) | 1988-11-25 | 1988-11-25 | Wall cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63296275A JP2554148B2 (en) | 1988-11-25 | 1988-11-25 | Wall cleaning robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02143199A true JPH02143199A (en) | 1990-06-01 |
| JP2554148B2 JP2554148B2 (en) | 1996-11-13 |
Family
ID=17831459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63296275A Expired - Lifetime JP2554148B2 (en) | 1988-11-25 | 1988-11-25 | Wall cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2554148B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994023159A1 (en) * | 1993-04-06 | 1994-10-13 | Cadmac Hb | A device and a method for cleaning wall surface |
| EP1191166A1 (en) | 2000-09-26 | 2002-03-27 | The Procter & Gamble Company | Process of cleaning the inner surface of a water-containing vessel |
| EP1190653A1 (en) | 2000-09-26 | 2002-03-27 | The Procter & Gamble Company | Static bathtub or swimming pool cleaning device |
| EP1191167A1 (en) | 2000-09-26 | 2002-03-27 | The Procter & Gamble Company | Floating bathtub or swimming pool cleaning device |
| JP2014525567A (en) * | 2011-08-26 | 2014-09-29 | ウェスティングハウス エレクトリック スウェーデン アーベー | Surface cleaning device and use thereof |
| CN112642759A (en) * | 2020-12-15 | 2021-04-13 | 绍兴蜂鸣信息技术有限公司 | Communication tower body surface cleaning equipment based on environmental protection theory |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5918499A (en) * | 1982-07-23 | 1984-01-30 | 三菱化工機株式会社 | Floating type vacuum sticking self-running working machine |
| JPS6331757A (en) * | 1986-07-21 | 1988-02-10 | ゼロツクス コ−ポレ−シヨン | Gutter for continuous type ink jet-printer |
-
1988
- 1988-11-25 JP JP63296275A patent/JP2554148B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5918499A (en) * | 1982-07-23 | 1984-01-30 | 三菱化工機株式会社 | Floating type vacuum sticking self-running working machine |
| JPS6331757A (en) * | 1986-07-21 | 1988-02-10 | ゼロツクス コ−ポレ−シヨン | Gutter for continuous type ink jet-printer |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994023159A1 (en) * | 1993-04-06 | 1994-10-13 | Cadmac Hb | A device and a method for cleaning wall surface |
| EP1191166A1 (en) | 2000-09-26 | 2002-03-27 | The Procter & Gamble Company | Process of cleaning the inner surface of a water-containing vessel |
| EP1190653A1 (en) | 2000-09-26 | 2002-03-27 | The Procter & Gamble Company | Static bathtub or swimming pool cleaning device |
| EP1191167A1 (en) | 2000-09-26 | 2002-03-27 | The Procter & Gamble Company | Floating bathtub or swimming pool cleaning device |
| US6712079B2 (en) * | 2000-09-26 | 2004-03-30 | The Procter & Gamble Company | Process of cleaning the inner surface of a water-containing vessel |
| JP2014525567A (en) * | 2011-08-26 | 2014-09-29 | ウェスティングハウス エレクトリック スウェーデン アーベー | Surface cleaning device and use thereof |
| US10269461B2 (en) | 2011-08-26 | 2019-04-23 | Westinghouse Electric Sweden Ab | Device and method for cleaning surfaces |
| CN112642759A (en) * | 2020-12-15 | 2021-04-13 | 绍兴蜂鸣信息技术有限公司 | Communication tower body surface cleaning equipment based on environmental protection theory |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2554148B2 (en) | 1996-11-13 |
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