JPH0441993Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a tank inner surface cleaning robot that cleans the inner surface of a tank by remote control.

[Conventional technology]

Conventionally, when cleaning the inner surface of a tank, the liquid inside the tank is first drained, then a scaffold is erected inside the tank and the cleaning is carried out by workers.

[Problem that the invention attempts to solve]

In the conventional cleaning of the inside of a tank as described above, there are problems such as a large amount of manpower and time being spent on cleaning the inside of the tank, as well as preparatory work such as draining the liquid from the tank and erecting scaffolding. I am holding.

[Means for solving problems]

The purpose of the tank inner surface cleaning robot according to the present invention is to solve the above-mentioned problems, and includes a device for propelling the liquid in the tank, a device for floating and sinking in the liquid, and a device for cleaning the tank inner surface. The tank is characterized by a structure in which a cleaning vehicle inside the tank is provided so as to be operable from outside the tank.

[Effect]

That is, in the tank inner surface cleaning robot according to the present invention, for example, a cleaning vehicle and a monitoring television camera are inserted into the tank, and the rotary brush devices provided on the front and bottom surfaces of the cleaning vehicle are moved to the wall surface using a propulsion device. ,
By pressing the tank against the floor, adjusting the buoyancy of the tank mounted on a cleaning vehicle, and moving it vertically and horizontally using a propulsion device, the inner surface of the tank is controlled by remote control from a control panel installed outside the tank. Cleaning will be carried out.

〔Example〕

An embodiment of the present invention will be described based on FIGS. 1 and 2. FIG. 1 is a schematic explanatory diagram of a robot for cleaning the inside of a tank according to an embodiment of the present invention. The cleaning vehicle 5 is equipped with a cleaning vehicle 5 that is remotely controlled by a control panel 10, and is also comprised of a door unit 4, a television camera device 6, a cord reel 7, an internal cord 8, an external cord 9, etc. as shown in the figure. A cleaning vehicle 5 and a television camera device 6 are normally housed inside the door unit 4, and an internal cord 8 is wound around a cord reel 7 and sealed with a door unit inner lid 11. The door unit 4 is of a double-door type, allowing internal inspection. The tank 1 is provided with a double-door manhole 2, and an inner cover 3 and an outer cover (not shown) are always closed.

When in use, the manhole outer cover is first opened, and the door unit 4 is inserted into the manhole 2 and fixed.
Next, as shown in FIG. 1, the inner cover 3 of the manhole 2 is opened, and the door unit inner cover 11 is further opened to introduce water into the interior of the door unit 4. Cleaning truck 5
is equipped with a buoyancy tensioning mechanism and a propulsion device as described later, and can freely move in the water both vertically and horizontally via an external cord 9 and an internal cord 8 in the control panel 10. If the buoyancy is increased, cleaning can be performed near the water surface 12 by rotating the brush while pressing it against the front of the wall using the propulsion device. Reducing buoyancy allows working in intermediate and bottom positions. On the bottom, it moves using a propulsion device using wheels, and cleans by rotating the lower brush provided below. As shown in the figure, floats 13 are attached to the internal cord 8 at appropriate intervals so that the weight of the cord does not affect the cleaning vehicle 5.

FIG. 2 is a structural diagram of the cleaning vehicle 5, in which a is a side view of the cleaning vehicle 5, b is a view taken along the line bb, and c is a view taken along the line c-c. In the figure, the cleaning vehicle 5 includes a truck 15, a front brush 16, a lower brush 17, a brush drive device 18, a buoyancy adjustment tank 19, a propulsion device 20, wheels 21, a control device 22, and the like as shown. The front brush 16 is used for cleaning the wall surface of the tank, and the lower brush 17 is used for cleaning the bottom surface of the tank, and is rotated by a brush driving device 18. A normal gear mechanism is used as the rotation mechanism. The buoyancy adjustment tank 19 has the function of adjusting the buoyancy of the entire cleaning vehicle 5 to stabilize its vertical position in the water, and the interior is divided into layers as shown in the figure, and is filled with air when it is put into the tank. and keep it in the same position as shown in Figure 1. The ballast part 23 on the bottom surface of the buoyancy adjustment tank 19 is an adjustment part for this purpose.If the air in the lower layer is removed and water is naturally injected little by little using water pressure, the buoyancy will decrease and the cleaning vehicle 5 will start to sink, so the water can be adjusted at an appropriate position. Stop the injection. This operation is performed by opening and closing discharge valves (not shown) provided in each layer while monitoring with a television camera 6. A propulsion device 20 is used to move the cleaning vehicle 5. The propeller 24 is driven by the propulsion device 20 to move forward and backward.
Further, by moving the rudder 25 left and right and up and down, direction change and up and down movement are performed. Each of these operations is performed remotely by a control device 22 via an internal cord 8 from a control panel 10 outside the tank 1 shown in FIG.

As described above, the tank inner surface cleaning robot according to the present embodiment moves to an arbitrary position in the tank 1 by the propulsion device 20 equipped with the propeller 24 and the rudder 25, and moves the cleaning vehicle 5 by the buoyancy adjustment tank 19 and the ballast part 23. stabilized at any height in tank 1,
The underwater inner surface of the tank 1 is cleaned by rotating a front brush 16 for the wall surface and a lower brush 17 for the bottom surface. In addition, by using the door unit 4, work can be done without draining the water in the tank 1, and the internal cord 8 is given buoyancy to balance the weight of the cord.
It also has the advantage of not requiring washing water as it works underwater.

[Effect of idea]

Since the robot for cleaning the inside of a tank according to the present invention is configured as described above, it is possible to clean the inside of the tank by remote control from the outside of the tank without draining the liquid inside the tank, which saves a lot of manpower and time. Effects such as:

[Brief explanation of the drawing]

FIG. 1 is a schematic explanatory diagram of a tank inner surface cleaning robot according to an embodiment of the present invention, and FIG. 2 is a structural diagram of the cleaning vehicle. 1...Tank, 5...Cleaning vehicle, 8...Internal code, 9...External code, 10...Control panel, 16...
...Front brush, 17...Bottom brush, 18...Brush drive device, 19...Buoyancy adjustment tank, 20...
... Propulsion device, 21 ... Wheels, 22 ... Control device,
23...Ballast part, 24...Propeller, 25...
…rudder.

Claims (1)

[Scope of utility model registration request] A tank cleaning vehicle is provided that can be operated from the outside of the tank, and includes a device for propelling the liquid in the tank, a device for floating and sinking in the liquid, and a device for cleaning the inner surface of the tank. A robot for cleaning the inside of a tank.