JPH0336200B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to an adsorption-type self-propelled vehicle that runs on walls and ceilings.

(Prior Art) For example, in a nuclear power plant, a large number of lined tanks lined with stainless steel or the like are provided for storing radioactive waste liquid and the like.

Conventionally, such cleaning work of the lining tank has been performed manually. When cleaning the lining tank manually, there are methods in which a scaffold is erected in advance inside the lining tank, and a worker climbs into a gondola and performs the cleaning.

However, when scaffolding is erected in this way, a large number of man-hours are required to assemble the scaffolding, and when cleaning work is carried out on a gondola, the reaction force of the washing water makes the cleaning work difficult. The problem is that the staff are in a very unstable situation.

In addition, especially when cleaning lining tanks contaminated with radioactive materials, such as in nuclear power plants, there is a risk that workers may be exposed to a large amount of radiation.

In addition, it is desirable to develop self-propelled vehicles that can freely run on concrete or metal walls of buildings, ships, or hydroelectric dams to clean, decontaminate, or paint these walls. It was rare.

(Problems to be Solved by the Invention) The present invention has been made in view of the above-mentioned conventional circumstances, and an object of the present invention is to provide an adsorption type self-propelled vehicle that can freely and reliably run on walls and ceiling surfaces. By equipping the self-propelled vehicle of the present invention with a cleaning mechanism such as a brush or an inspection device, work such as cleaning and inspection of the walls inside the lining tank can be carried out freely.

[Structure of the invention]

(Means for Solving the Problem) That is, the present invention includes a main body, a pair of endless tracks provided on both sides of the main body, and a plurality of driving wheels on both sides of the main body for guiding these endless tracks. ,
A drive device that drives these driving wheels, a small wheel that is fixed coaxially with the driving wheel and rolls, an inner endless track that is guided by this small wheel, and a drive device that is provided between these endless tracks and the inner endless track. adsorption grounding mechanism,
It consists of an idler wheel that guides the inner endless track corresponding to the ground surface side of the endless track upward in a predetermined section. a cylinder communicating with the member and provided inside the endless track;
This adsorption type self-propelled vehicle is characterized by being comprised of a piston that is slidably provided within the cylinder and an elastic member that connects the piston to an inner endless track.

(Function) According to the present application, when the suction member provided on the endless track comes into contact with the ground surface, the pressure inside the suction member is reduced. Therefore, since the suction member is attracted to the ground surface, the vehicle can run freely without falling even if the ground surface is a vertical wall, ceiling, etc.

In addition, in this application, between the driving wheel and the driven wheel,
It has an endless track guided by these wheels, and an inner endless track guided by small wheels coaxially fixed to these driving wheels. A suction grounding mechanism is provided between these endless tracks and the inner endless track, and this suction grounding mechanism uses a suction cup-shaped suction member provided on the outside of the endless track to correspond to the grounding surface of the endless track. The pressure inside these suction members is automatically reduced in a predetermined section by a piston-cylinder mechanism. In other words, the inner endless track of the present invention is guided upward by the idler wheel in a predetermined section, and at this time, the elastic member connected to the inner endless track is pulled upward. Therefore, the piston connected to the elastic member rises, and as a result, the lower side of the piston in the cylinder, that is, the suction cup-like suction member, is strongly depressurized. That is, in the present application, since a piston-cylinder is used for the pressure reducing mechanism, the stroke of the piston can be made large. Therefore, it is possible to strongly reduce the pressure inside the suction member, making it possible to obtain a strong suction force even when there are some unevenness on the wall surface or when the weight of the vehicle body is large, resulting in a stable It has the advantage of being able to run. Further, since no special drive source for pressure reduction is required other than the drive equipment for driving the endless track, there is an advantage that the configuration can be simplified.

(Example) The details of the present invention will be described below with reference to an example shown in the drawings. In this embodiment, the suction type self-propelled ground vehicle of the present invention is provided with a cleaning mechanism.

FIG. 1 is a partially sectional plan view of an embodiment of the present invention, and FIG. 2 is a side view thereof.

In FIGS. 1 and 2, reference numeral 1 indicates a suction type self-propelled vehicle body, and a pair of endless tracks 2, 2 are arranged on the sides thereof with the tracks parallel to each other. Each endless track 2 includes a drive wheel 4 driven by a motor etc. and a drive device 3, a driven wheel 5 that rotates in conjunction with this drive wheel 4, and an auxiliary wheel for making the endless track 2 follow a wall surface 6. 7, 7... Further, an inner endless track 8 is disposed inside the endless track 2, and this inner endless track 8 is connected to the driving wheel 4.
and a small drive wheel 9 and a small driven wheel 10 that are coaxially supported by the driven wheel 5 and rotate, and a pair of idler wheels 11 and 12 that are arranged as a pair at a distance between these two wheels. The idler wheels 11, 12 are horizontally arranged above the auxiliary wheels 7, 7....

Between the endless track 2 and the inner endless track 8, a suction grounding mechanism 13 whose both ends are fixed to both the tracks is installed at a distance. This suction grounding mechanism 1
3, as shown in FIG. 3, there is a suction cup-shaped suction member 14 having an opening at the top and a suction surface that suctions to the bottom wall surface, and a communication pipe 15 at the top of the suction member 14.
a cylinder 16 provided through the cylinder 16; a piston 17 inserted into the cylinder 16 so as to be able to move vertically;
An elastic member 19 such as a spring is provided at the upper end of the piston 17 with a spacing member 18 interposed therebetween, and the adsorption member 14 is provided on the endless track 2 over the entire circumference of the endless track. ,
An end portion of an elastic member 19 is attached to the inner endless track 8 to a mounting plate 20 fixed to the track.
The spacing member 18 is used to maintain a distance between the upper end of the piston 17 and the mounting plate 20 at a certain level or more, and therefore, its upper portion is movable relative to the mounting plate 20.

A cleaning mechanism 22 on which the cover 21 is to be fitted is disposed in front of the suction type self-propelled vehicle body 1, and this cleaning mechanism 22 includes a pair of cleaning members 23 such as rotating brushes, and each cleaning member 23. a rotating shaft 24 that carries
Further, a cleaning water nozzle 27 is inserted into the rotating shaft 24.

The operation of the suction type self-propelled vehicle configured as described above will be explained below. Namely, when the drive wheel 4 is rotated by the drive device 3 in the direction of the arrow in FIG. Then, the inner endless track 8 starts driving in the same direction, and the suction type self-propelled vehicle body 1 is moved. Here, the inner endless track 8 has a set of idle wheels 11
a, 11b or 12a, 12b, the distance between the endless track 2 and the inner endless track 8 is wider between the pair of tracks 11 and 12 than elsewhere.

That is, here, the adsorption/grounding mechanism 13 disposed between the endless track 2 and the inner endless track 8,
As shown in FIG. 4, as the elastic member 19 stretches, the piston 17 in the cylinder 16 is pushed up and the inside of the suction member 14 is drawn to negative pressure, so that the suction member 14 can be reliably suctioned onto the wall surface. . This adsorption/grounding mechanism 13 is connected to the idler wheel 12.
At the point when it passes through, it returns to the normal state as shown in FIG. 3 and loses its adsorption function.

In this way, the suction type self-propelled vehicle body 1 has an endless track 2
When the inner endless track 8 is between the idler wheels 11 and 12, it can adsorb to the wall surface 6 at the same time as it touches the ground, and can move on the wall surface 6 without slipping. Note that operations such as changing the direction of the cleaning device main body 1 can be easily performed by controlling the rotation speeds of the pair of drive wheels 4, 4 to be different from each other.

As described above, in the present invention, when the suction member provided in infinite drive is configured to reduce the pressure on the inner surface of the suction member when it comes into contact with a wall surface, etc., it is possible to reliably suction the suction member to the wall surface, etc.

On the other hand, in the cleaning mechanism 22, a pair of drive mechanisms 26
The driving force is generated by the bevel gear 25 and the rotating shaft 2.
4. While being transmitted to the cleaning mechanism 23, cleaning water is supplied from a separately provided cleaning water tank through the cleaning water nozzle 27 to clean the wall surface 6. At this time, since the cover 21 is provided over the cleaning mechanism 22, it is possible to prevent contaminated water from scattering. In order to prevent the running performance of the cleaning device main body 1 from worsening due to the reaction force caused by the rotation of the cleaning member 23, it is preferable that the driving device 26 controls the rotation directions of the cleaning member 23 to be opposite to each other.

FIG. 5 shows how, for example, lining 2
This diagram illustrates the situation in which the side walls of the No. 8 aircraft are being cleaned. The worker, at a position away from the wall of the lining cage 28, operates the drive equipment 3, 26 of the suction type self-propelled vehicle.
The suction type self-propelled vehicle can be operated and washed by remote control using a control device 29 connected to the suction type self-propelled vehicle.

〔Effect of the invention〕

As described above, according to the suction type self-propelled vehicle of the present invention, it is possible to reliably travel on a vertical wall surface. Further, it is possible to reduce the number of workers and shorten the working time. In other words, in the present invention, since a piston-cylinder is used in the pressure reducing mechanism, the stroke of the piston can be made large. Therefore, it is possible to strongly reduce the pressure inside the suction member, making it possible to obtain a strong suction force even when there are some unevenness on the wall surface or when the weight of the vehicle body is large, resulting in a stable It has the advantage of being able to run. Furthermore, since no special drive source for pressure reduction is required other than the drive equipment for driving the endless track, there is an advantage that the configuration can be simplified.

[Brief explanation of drawings]

Fig. 1 is a plan view showing an adsorption type self-propelled vehicle according to an embodiment of the present invention, Fig. 2 is a side view of the adsorption type self-propelled car shown in Fig. 1, and Figs. 2
FIG. 5 is an enlarged sectional view of the suction/grounding mechanism shown in the figure, and FIG. 5 is a schematic diagram showing its usage. 1... Adsorption type self-propelled vehicle body, 2... Endless track,
3, 26... Drive device, 4... Drive wheel, 5... Driven wheel, 14... Adsorption member, 15... Communication pipe, 16
...Cylinder, 17...Piston.

Claims (1)

[Claims] 1. A main body, a pair of endless tracks provided on both sides of the main body, a plurality of driving wheels that guide these endless tracks on both sides of the main body, and a driving device that drives these driving wheels; A small wheel that is fixed coaxially with the driving wheel and rolls, an inner endless track guided by this small wheel, a suction grounding mechanism installed between these endless tracks and the inner endless track, and a contact grounding mechanism for the endless track. It consists of an idler wheel that guides an inner endless track corresponding to the ground side upward in a predetermined section, and the suction grounding mechanism communicates with a suction cup-shaped suction member provided on the outside through the endless track, and the suction member. A suction type self-propelled device comprising: a cylinder provided inside an endless track; a piston slidably provided within the cylinder; and an elastic member connecting the piston and the inner endless track. car.