JPH04254700A - Slip-off prevention device for barrel body cleaning robot - Google Patents

Abstract

PURPOSE:To safely and surely clean the surface of a barrel body by preventing a barrel body cleaning robot from slipping off when the barrel body cleaning robot travels on the curved surface of a barrel body and makes a change of direction. CONSTITUTION:A barrel body cleaning robot A is so set up that it can clean the surface of a barrel body wile being moved automatically thereon in a state where it is sucked on the curved surface of the barrel body F, and a balancer B or a separate barrel body cleaning robot is disposed on the surface of the barrel body at a position of symmetry with the aforesaid barrel body cleaning robot about the center of the barrel body. The robot and the balancer or the respective robots are mutually connected with connecting bars. In this case, the robot can be increased in number depending on the size of the barrel body. And when the barrel body is in a horse-shoe shape and the like, N pieces of the respective robots are mutually connected at an interval of 1/N (wherein, N represents the over-all circumferential length of the barrel body), the over-all circumference can thereby be cleaned only with the robot moved by the stroke of 1/N.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a slip-off prevention device for a can cleaning robot.

0002

2. Description of the Related Art Up to now, the present inventors have developed a robot for cleaning the surface of can bodies such as formwork for tunnel lining. The structure and operation of an example of the can body cleaning robot will be described with reference to FIGS. 5 and 6. In the figure, 1 is a main body frame, and four running wheels 2 are arranged on the lower side thereof. The running wheels 2 are rotated in both forward and reverse directions by an appropriate drive means 2a such as a hydraulic motor or an electric motor, and run on the surface of the can body. The running wheels 2 rotate by 90 degrees around the vertical axis 2b and can be steered in orthogonal directions, allowing the main body frame 1 to move in the circumferential direction and axial direction of the can body. Reference numeral 3 denotes a magnet, which attracts the can body made of a magnetic material with an appropriate clearance, and presses the traveling wheel 2 against the surface of the can body. A rotating brush 4 is driven to rotate in both forward and reverse directions by a hydraulic motor or the like, and brushes and cleans the surface of the can body. Reference numeral 5 denotes a coating nozzle that sprays and coats a release agent or the like onto the surface of the can body after cleaning. 6 is a limit switch, and 7 is a drop-off prevention sensor, which is designed to stop the main body frame 1 when it reaches the end of the can body. The above running wheel 2
Control of rotation speed, forward and reverse rotation direction, steering, etc., on/off switching control of suction of magnet 3, control of rotation speed of rotating brush 4, forward and reverse rotation direction, etc., application nozzle 5
Control of spray amount, injection direction, etc. with limit switch 6
Controls such as stop control based on the detection information from the fall prevention sensor 7 are performed by a controller (
(not shown).

Therefore, first, the can body cleaning robot A is moved so that the rotation axis of the rotary brush 4 is parallel to the axis of the can body.
is set on the surface of the can body, and the traveling wheel 2 is pressed against the surface of the can body by the suction force of the magnet 3. Next, the traveling wheels 2 are driven to rotate in the circumferential direction of the can surface, and the can cleaning robot A is moved. In this state, the rotary brush 4 is rotated to remove deposits such as mortar on the surface of the can body, and a release agent or the like is sprayed from the coating nozzle 5.

However, when the can body cleaning robot A has a particularly small coefficient of friction on the surface of the can body, as shown in FIG. If you try to change direction in this position, you may slip and fall as shown by the arrow.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned conventional problems, and its purpose is to eliminate the risk of the can body cleaning robot A slipping down, so that it can be cleaned safely and efficiently. To provide a slip-off prevention device for a can body cleaning robot that can reliably clean the surface of the can body.

[0006]

[Means for Solving the Problems] The slip-off prevention device for a can cleaning robot of the present invention cleans the surface of a closed can body while running on its own with its curved peripheral surface adsorbed to the surface of the closed can body. In the robot, a balancer is arranged at a position on the surface of the can body that is symmetrical to the can body cleaning robot with respect to the center of the cross section of the can body, and the weight of the balancer is made approximately equal to the weight of the can body cleaning robot. The body cleaning robot and the balancer are connected by a connecting rod so that they can move together.

[0007] The above-mentioned can body cleaning robot and balancer are as follows:
Another feature is that they are connected by a connecting rod via a slider.

[0008] The balancer may be a can cleaning robot.

[0009] The present invention also provides a can body cleaning robot that cleans the surface of a can body in which a part of the curved circumferential surface is cut off while adhering to the surface while moving on its own. The body cleaning robots are sequentially connected by connecting rods, and the intervals between the can body cleaning robots are set to be equal and approximately 1/N of the total circumferential length of the curved surface.

0010

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, F is a can body, and is a structure or structure whose surface is to be cleaned and whose curved surface is closed, such as a formwork for secondary tunnel lining.

On the outer surface of the can body F, a can cleaning robot A, a balancer B, and two sliders C as described above are arranged, and they are connected sequentially by a connecting rod D, and the can body as a whole is It surrounds the surface of F.

The balancer B basically has approximately the same weight as the can body cleaning robot A, and is equipped with a guide wheel b and its steering function. The guide wheels b of the balancer B have almost the same function as the running wheels 2 of the can cleaning robot A, and move following the moving direction of the can cleaning robot A. Further, the balancer B is arranged at a symmetrical surface position with respect to the can body cleaning robot A with respect to the center of the cross section of the can body F.

Further, the slider C is located at an intermediate position between the can body cleaning robot A and the balancer B, and has an idler wheel c. The idler wheels c also operate following the operation of the running wheels 2 of the can cleaning robot A. The two sliders C also preferably have approximately the same weight and are lightweight.

Since the apparatus of this embodiment is constructed as described above, even if the can body cleaning robot A is located on the vertical side of the can body F, as shown in FIG. Since the weight balance in the direction is maintained and it is connected by the slider C and the connecting rod D,
There is no fear of it slipping off the surface of the can body F.

The above embodiment is effective when the diameter of the can body is small and the area to be cleaned is small. In the above embodiment, the slider C may be omitted and the can body cleaning robot A and the balancer B may be directly connected by the connecting rod D. In this embodiment, a pair of can body cleaning robots A and balancer B are used.
Although the combination has been described, the present invention is not limited to this, and a plurality of pairs of can cleaning robots and balancers B may be arranged and connected sequentially by a connecting rod D.

FIG. 2 shows another embodiment in which a can cleaning robot A is arranged in place of the balancer B. In this case, the cleaning efficiency is improved, so it is especially adopted for large-diameter can bodies. In this embodiment, since the left and right can cleaning robots A have the same weight, they are mutually balanced and there is no risk of them slipping off. Although this embodiment also describes a combination of a pair of can body cleaning robot A and can body cleaning robot A, the present invention is not limited to this.
A plurality of pairs of can body cleaning robots and can body cleaning robots A may be arranged and sequentially connected by a connecting rod D to cope with a can body F having a larger diameter.

FIG. 3 shows yet another embodiment in which the can body cleaning robots A clean the inner surface of the can body F. Two can body cleaning robots A are arranged symmetrically with respect to the center of the can body F. They are arranged at the inner surface position and are connected to each other by a connecting rod D via a slider C located at an inner surface position between them. In this case, the left and right can cleaning robots A will be responsible for cleaning the right half and left half of the inner surface of the can F, respectively. In addition, by replacing one of the can body cleaning robots A with the above-mentioned balancer B, the entire inner peripheral surface of the can body F can be cleaned by one can body cleaning robot A. In this case, it is necessary to arrange the slider C at a symmetrical position as shown by the imaginary line. The connecting rod D of this embodiment can be constructed in a straight line as shown.

FIG. 4 shows an embodiment in which a part (lower side) of the horseshoe-shaped curved circumferential surface of the can body F' is cut off, and three can body cleaning robots A are connected to a connecting rod D. The cleaning work is performed while moving from the solid line state position to the imaginary line state position. In the case of this embodiment, the interval (distance) between adjacent can body cleaning robots A, that is, the length of the connecting rod D, is set equal.
In addition, if the length is set to 1/3 of the total circumference length of the can body F', each can body cleaning robot A will share 1/3 of the stroke while cleaning the entire circumference of the can body F' as a whole. Can be cleaned over a period of time. Note that the number of can body cleaning robots A is not limited to three, and may be set to any number of robots such as two, four, five, etc. depending on the diameter of the can body F'. in this case,
If the number of can cleaning robots A is N, the interval between them is set to 1/N.

[0019]

[Effect of the invention] The can body cleaning robot and the balancer, or the left and right can body cleaning robots, which have the same weight, move on the surface of the can body while maintaining balance, so the cleaning work is performed safely and reliably without falling off. be able to.

By increasing the number of can cleaning robots according to the size of the can, work efficiency can be improved.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an embodiment of the device of the present invention.

FIG. 2 is an explanatory diagram showing another embodiment of the device of the present invention.

FIG. 3 is an explanatory diagram showing still another embodiment of the device of the present invention.

FIG. 4 is an explanatory diagram showing yet another embodiment of the device of the present invention.

FIG. 5 is a sectional view showing an embodiment of a can cleaning robot.

6 is a sectional view taken along line GG in FIG. 5. FIG.

FIG. 7 is an explanatory diagram of the can body cleaning robot in a sliding state.

[Explanation of symbols]

A Can body cleaning robot B Balancer b Guide wheel C Slider c Idle wheel D Connecting rod F Can body F´　　Can body 1 Main body frame 2. Traveling wheels 2a Driving means 2b Vertical axis 3 Magnet 4 Rotating brush 5 Application nozzle 6 Limit switch 7 Fall prevention sensor

Claims (4)

[Claims] Claim 1. A can cleaning robot that cleans the surface of a closed can body while moving on its own with its curved peripheral surface adsorbed to the surface of the can body. A balancer is placed at a symmetrical position on the surface of the can body, and the weight of the balancer is made approximately equal to the weight of the can cleaning robot, and these can cleaning robots and the balancer are connected by a connecting rod so that they can move integrally. A slip-off prevention device for a can body cleaning robot, characterized in that: 2. The slip-off prevention device for a can cleaning robot according to claim 1, wherein the can cleaning robot and the balancer are connected by a connecting rod via a slider. 3. The slip-off prevention device for a can cleaning robot according to claim 1, wherein a can cleaning robot is arranged in place of the balancer. 4. In a can cleaning robot that cleans the surface of a can body with a part of its curved circumferential surface cut off while adhering to the surface while running on its own, N units of the can cleaning robots are connected by a connecting rod. A slip-off prevention device for can cleaning robots, characterized in that the can cleaning robots are sequentially connected and the intervals between the can cleaning robots are set to be equal and approximately 1/N of the total circumferential length of the curved surface.