JPH02187162A - Obstruction evader in hanging dolly for wall surface work - Google Patents

Abstract

PURPOSE:To easily evade an obstruction without interrupting work by providing both a rotary evader for evading the obstruction such as a rising pipe provided on the wall surface and a turning arm. CONSTITUTION:A hanger arm 15 is projected to the direction of a wall surface in the top end part of an edge part 2 from the top end of a frame-shaped hanging dolly frame 5 which is arranged nearly parallel to the wall surface 1. A hanger shaft 16 nearly parallel to the wall surface 1 is freely rotatably supported to the tip thereof. Six pieces of evadible arms 18a are radiately provided to the lower end of the shaft 6. The center of a rotary evader 18 provided with a wheel 18b touched to the top face of the edge part 2 is fitted to the respective tip parts of the arms 18a. Further one or two pieces of turning arms 19 fitted with a touch roller 20 allowed to abut against the wall surface 11 to the tip part are projected to the direction of the wall surface in the position lower than the edge part 2. The turning arms 19 are freely turnably supported by a supporting pin 21 to the right and left directions. The automatic return means 23, 23a, 26, 26a are provided which returns the turning arms 19 into original positions when these are turned.

Description

Detailed Description of the Invention (Field of Industrial Application) This invention is applicable to work robots, gondolas, etc. that perform wall surface work such as painting on walls of structures such as cylindrical storage tanks, ships, and concrete structures. Obstacle avoidance on the hanger trolley for wall surface work to avoid obstacles such as pipes installed vertically along the wall when the hanger trolley for wall surface work that hangs and moves vertically and horizontally moves horizontally. It is related to the device.

(Prior Art) The wall surface treatment of the above structure requires wall surface work such as scaffolding work, plaster work, painting base work, painting work, piping work, inspection work, etc., and in order to perform these wall surface works. In order to do this, it is necessary to suspend wall work equipment such as work robots, gondolas, or mobile ladders and move them vertically and horizontally. A hanger truck is used that moves laterally while being supported by a protruding edge.

In this case, something that obstructs the work, such as rising piping along the wall surface, is attached, which may impede the horizontal movement of the hanger cart. In such cases, the conventional method was to remove the wall surface work equipment and hang it again in a position that avoided the obstacle.

In addition, a device for avoiding flattened protrusions protruding from a wall surface during wall surface work is known in Patent Application Publication No. 58156 filed in 1985 by the present applicant, but this device avoids flattened projections protruding from a wall surface, such as a rising pipe. Obstacles cannot be avoided.

(Problems to be Solved by the Invention) In the conventional method described above, rehanging the wall work equipment every time there is an obstacle is a big waste of time as it interrupts the work. This requires a large tow truck, which incurs a large amount of money in terms of tow truck fees and labor costs.Also, the rehanging work is heavy and involves work at heights, which can be dangerous. There was a need for a means to avoid obstacles without having to rehang the wall work equipment.

The object of the present invention is to solve the above-mentioned problems and provide an obstacle avoidance device for a hanger cart for wall work, which can avoid obstacles such as standing piping while hanging wall work equipment.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention is such that a wall work device such as a work robot is suspended so as to be able to rise and fall and is protruded horizontally from the wall surface of a building. A frame-shaped hanger trolley arranged approximately parallel to the wall surface, which is a device for avoiding obstacles such as rising piping installed on the wall surface when the hanger trolley supported by the edge moves laterally. A support arm is provided from the upper end of the frame to protrude in the direction of the wall at the upper end of the edge, a hanger shaft substantially parallel to the wall is rotatably supported at the tip of the support arm, and a lower end of the hanger shaft is provided. Six avoidance arms are provided radially at approximately equal intervals, and the center of a rotation avoidance device is attached to the tip of each of the avoidance arms, which is provided with a wheel that contacts the upper surface of the edge. At a position below the edge of the trolley frame, one or two rotating arms are rotatably attached to the tips of touch rollers that contact the wall surface, and are protruded toward the wall surface and can be moved left and right by support pins. This is an obstacle avoidance device for a hanger truck for wall surface work, which is rotatably supported and equipped with an automatic return means for returning the rotary arm to its original position when the rotary arm rotates.

(Function) The hanger trolley that suspends the wall work equipment is attached to the tip of the edge, with the wheels of the rotation avoider installed at the upper end touching the upper surface of the edge of the building and supporting its weight. It moves horizontally along the rack rail, and if there is an obstacle such as a pipe that rises up on the wall of the building during horizontal movement, one of the six avoidance arms of the rotation avoidance device will cause a work obstruction. When it hits an object, the rotation avoidance device rotates to move the obstacle into the space between adjacent avoidance arms and straddle it, and when the tip of the rotation arm hits an obstacle, it rotates around the support pin. Then, the automatic return means returns the rotary arm to its original position.If the wall work equipment is hung on the rotary arm 1, the wall work equipment will also move as the rotary arm rotates. Obstacles can be avoided. However, if the wall work equipment can be located at a distance from the wall surface, obstacles will not pose an obstacle, so it is sufficient to hang it on a hanger trolley frame other than the rotating arm.

(Example) The present invention will be described below with reference to an example shown in the drawings.

FIG. 1 is a front view showing an embodiment of the present invention in which a hanger trolley for wall surface work is attached to a cylindrical storage tank and in use, and FIG. 2 is a side view of the same;
) is a wall surface, and on this wall surface (1), an edge (2) generally called a wind garter is provided in the circumferential direction.
) is mounted upright through the edge (2).

(4) is a hanger trolley, which consists of a first hanger trolley frame (5) in the shape of a horizontally long rectangle with a narrower width and a nearly square frame placed on top, and a second hanger trolley frame (5) in the shape of a horizontally long rectangle only. The frames (5a) are arranged laterally and connected by connecting fittings (6), and the first hanger truck frame (5) and the second hanger truck frame (5a) are connected to the protruding end of the edge (2). The first hanger trolley frame (
5) and the second hanger truck frame (5a), two guide roller units (
8) (8) (8) (8) engages in a horizontally movable manner to prevent falling off, and is attached to the first hanger trolley frame (5) to connect the electric motor (not shown)
A lateral movement unit (9), which is driven by this electric motor and includes a pinion (not shown) that meshes with the rack of the rack rail (7), moves the hanger cart (4) along the rack rail (7). .

00) is a working robot that is a wall work equipment, and is suspended from the lower end of the cable 02) so that it can be raised and lowered by an electric winch (11) attached to the first hanger cart frame (5), and is used to process the wall surface (1). This is what we do. The cable 03) for this working robot 00) is suspended from the second hanger cart frame (5a) by a hanging jig with cables, and the cable 03) between it and the working robot 00) has a loop. It is possible to cope with the lifting and lowering of the working robot 00).

In addition, the items to be hung on the first hanger trolley frame (5) are as follows:
In addition to the work robot 00), there may also be other wall work equipment such as gondolas and mobile ladders, and the second hanger trolley frame (5a) is equipped with suction hoses for dust collection and blasting work in addition to the cable θ3). It is used to hang flexible objects such as sand hoses that are necessary depending on the type of wall surface work.

The upper end of the first hanger trolley frame (5) has an edge (2)
A hanger arm 05) is provided which protrudes further upward and protrudes from its upper end toward the wall surface.

As shown in FIGS. 3, 4, and 5, this hanger arm 05) has a hanger axis θ6 that is approximately parallel to the wall surface (1).
) is rotatably supported via a thrust bearing Q7)07), and six avoidance arms (18a) are radially provided at approximately equal intervals on the lower end of this hanger shaft 06). A rotatable wheel (18b) is attached to the lower end of the avoidance arm (18a) and is in contact with the upper surface of the edge (2).
is attached, and furthermore, a roller (18c) is attached to the tip end surface to roll and make it easier to get over the rising pipe (3) which is an obstacle to the work.

This rotation avoider θ8) has three to four wheels (18b) that are always in contact with the upper surface of the edge (2) to support the weight of the hanger cart (4) on which the work robot 00) is suspended. , When the hanger cart (4) moves laterally in the direction of arrow P as shown in Fig. 6, if there is a rising pipe (3), the roller ( 18c) hits the rising pipe (3), and then the rotation avoidance device 08) rotates in order from Figures B, 0, and D, and the avoidance arm (18a) tilts while touching the rising pipe (3). The avoidance arm (18a) is introduced into the space between the avoidance arms (18a) for avoidance.

09) is a rotating arm whose tip is bent downward and has a wall surface (1
) is rotatably attached to the touch roller I2Φ, and the support pin (21) protruding near the center of the top surface in the front-rear direction is attached to the first hanger truck frame (5), and the thrust bearing (22) (22) It is rotatably inserted through and supported with the tip facing toward the wall surface (1).

(23) (23a) is a lock absorber, which is similar to the door check known in -i, and is attached in a pair on both sides of the support pin (21) of the rotating arm 09). A lever (25) (25a) having a roller (24) (24a) at its tip is rotatably attached at its base end. And this lever (25 (25a)
) and the side surface near the support pin (21) of the rotating arm 09).
a) is stretched, and the rollers (24) (24a) are in contact with the outer surface of the horizontal member (5') of the first hanger truck frame (5).

The shock absorber (23) (23a) and the tension spring (26) (26a) constitute an automatic return means for returning to the original position when the rotating arm side rotates from side to side.

The rotating arm 09) having the above configuration is constructed by bringing the touch roller 〇〇 into contact with the wall surface (1).
This is to prevent and stabilize the swing of the hanger truck (4).When the hanger cart (4) moves laterally, the rotating arm 09) rises and hits the piping (3).
) rises up on an incline as shown by the imaginary line in FIG. 9 and climbs over the pipe (3).

At this time, the roller (24) at the tip of the lever (25) of one shock absorber (23) is engaged with the horizontally elongated member (5') of the first hanger truck frame (5).
When the rotating arm 09) rises and climbs over the pipe (3), the restoring force of the tension spring (26) and the shock absorber (23) pulls the rotating arm 09) back to its original position, that is, the center position, as shown by the solid line. As mentioned above, the hanger cart (4) stands up while moving horizontally and the pipe (
3) above the edge (2) by rotating the rotation avoider (18), and below the edge (2) the rotating arm 09) rotates to avoid the This eliminates the need to perform the troublesome work of climbing over the rising pipe (3), and work obstacles are not limited to the rising pipe.
Ribs, small protrusions, etc. can be avoided in the same way, especially if there are large stairs.

(Effects of the Invention) According to the obstacle avoidance device in the hanger trolley for wall work according to the present invention described above, wall treatment work such as painting on the walls of buildings such as cylindrical storage tanks, ships, concrete structures, etc. In order to avoid obstacles such as piping, when a hanger trolley for hanging wall surface work equipment such as a work robot so as to be able to rise and fall is suspended on the wall so that it can be moved laterally by 4 degrees, By providing a rotation avoidance device and a rotating arm, it is possible to easily avoid obstacles without interrupting the work, so unlike the conventional work, the work can be stopped every time there is an obstacle and heavy work can be avoided. It is no longer necessary to lower and rehang the equipment, greatly improving work efficiency, eliminating the need for tow truck fees and other expenses for rehanging, and eliminating the dangers associated with rehanging heavy objects at high places. This has many effects, such as eliminating the problem and increasing work safety.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention; FIG. 1 is an overall front view, FIG. 2 is a side view of FIG. 1 as seen in the direction of arrow S,
Figure 3 is a perspective view of the rotation avoidance lid part, Figure 4 is a plan view of the rotation avoider, Figure 5 is a longitudinal sectional side view of the main part taken along the line ■-■ in Figure 4, and Figure 6 is the rotation avoider causing damage. An explanatory diagram of the action of avoiding objects, Fig. 7 is a perspective view of the rotating arm, Fig. 8 is a side view of the rotating arm, and Fig. 9 is a plan view, also showing the action of avoiding obstacles. It is a diagram. l...Wall surface 2...Edge 3...Rising piping (obstacle) 4...Hanger trolley 5...First hanger trolley frame 5a...Second hanger trolley frame 7...Rack rail 10...Working robot ( Wall surface work equipment) 15... Hanger arm 16... Hanger shaft 18... Rotation avoider
18a...Escape arm 18b...Wheel
18c...Roller 19...Rotating arm
20...Touch roller 21...Support pin 23.23a...Shock absorber (automatic return means)
26.26a...Tension spring (automatic return means) Fig. Fig. Fig. Fig. Fig. 1 (A) (B) (C) (D) Fig. 1 Flat material E (Hosho (method) Title of invention Wall surface work Relationship with the case of a person correcting an obstacle avoidance device on a hanger trolley

Claims (1)

[Scope of Claims] When a hanger cart, which is supported by an edge extending laterally and protruding from the wall of a building, is moved horizontally, by suspending a wall surface work equipment such as a work robot so that it can be raised and lowered. , a device for avoiding obstacles such as rising pipes installed on the wall surface, from the upper end of a frame-shaped hanger cart frame arranged almost parallel to the wall surface, to the upper end of the edge of the wall surface. A hanger arm is provided protruding in the direction, and at the tip of the hanger arm,
A hanger shaft substantially parallel to the wall surface is rotatably supported, six avoidance arms are provided radially at approximately equal intervals at the lower end of the hanger shaft, and the edge Attach the center of a rotation avoider having a wheel that contacts the upper surface, and one or two rollers that have a touch roller that contacts the wall surface at the tip located below the edge of the hanger trolley frame. The rotary arm is protruded toward the wall surface and supported by a support pin so as to be rotatable in the left and right direction, and is provided with an automatic return means for returning the rotary arm to its original position when the rotary arm rotates. Features: Obstacle avoidance device for hanger trolleys for wall work.