JPH0446633B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a bowl-shaped body cleaning device that sprays high-pressure liquid onto the inner surface of a bowl-shaped body in the shape of a hollow blastomere to clean it.

(Prior Art) A conventional cleaning device for cleaning the surface of this type of bowl-shaped body and removing paint, rust, etc. will be explained with reference to FIGS. 4 and 5.

The bowl-shaped body 11 to be cleaned has a so-called hollow blastomere shape obtained by dividing a part of a hollow sphere (not actually real) with a diameter d, and S, A, B, C... in the figure.
A bowl-shaped body 11 is formed with a nozzle having a movement trajectory shown in E.
This is done by injecting high-pressure liquid onto the inner surface of the That is, the nozzle starts moving from the starting point S,
First, in the outermost row A of the bowl-shaped body 11,
Translate from A ₁ to An along the Y-axis direction.
Next, at point An, it is moved in parallel by a certain width in the X-axis direction and moved to column B. Then, it moves in parallel in the Y-axis direction from _B1 to Bn. Thereafter, in the same manner, while moving sequentially by a certain width in the X-axis direction, the robot moves in parallel in the Y-axis direction, and continues to move until the end point E. This operation injects high-pressure liquid over the entire inner surface of the bowl-shaped body 11 to perform cleaning.

Here, in order to maintain a constant cleaning effect and perform good cleaning, the distance between the nozzle and the inner surface of the bowl-shaped body 11 must always be constant.

However, in the conventional apparatus shown in FIGS. 4 and 5, the distance between the nozzles and the bowl-shaped body 11 is L in the rows A and U near the edge of the bowl-shaped body 11, but the distance between the nozzles and the bowl-shaped body 11 is L+h in the central row K. It increases to. This means that
The same is true for parallel movement in the Y-axis direction, and if the nozzle is moved in parallel without changing its height, the distance between the inner surface of the bowl-shaped body 11 will change greatly near the edge and in the center. For this reason, a stable cleaning effect cannot be obtained.

Bowl-shaped body 11 during parallel movement in the Y-axis direction
In order to maintain a constant distance from the inner surface, the height of the nozzle must be adjusted to C ₁ , C ₂ , C ₃ , C ₄ ...Cn, as shown in Figure 6.
As shown, it must be changed to follow the curvature of the inner surface of the bowl-shaped body 11. That is, the nozzle must move in the Z-axis direction (height direction) in addition to the conventional X-axis and Y-axis directions.

However, even if this is done, the X shown in FIG.
If the axial movement is in the horizontal direction, there will still be a large difference in the distance between the rows A and U near the edges and the row Z at the center with respect to the bowl-shaped body 11. Therefore,
In order to solve this problem, as shown in Figure 7,
Even when moving in the X-axis direction, the position must be adjusted in the Z-axis direction, making position control of the nozzle extremely complicated.

Furthermore, even if the distance between the nozzle and the bowl-shaped body 11 is always kept constant through the complicated control described above, since the nozzle is always parallel to the Z-axis, its axis line is almost parallel to the inner surface of the bowl-shaped body 11. They are not perpendicular to each other in position, and as shown in FIG. 8, the jet flow spreads particularly near the edge, and the distance to the inner surface of the bowl-shaped body 11 differs greatly between the left and right sides for 2Q. That is, the reach distance is Ls on the left side of the figure, L on the center, and Ll on the right side, and the cleaning effect at each position will be different, which may cause uneven cleaning.

It is also conceivable to use a robot to solve the above-mentioned problems by keeping the nozzles at regular intervals on all sides of the bowl-shaped body 11 and perpendicular to the inner surface of the bowl-shaped body 11. An example of a robot that satisfies these functions is a vertically articulated robot. In other words, the arm rotates,
The lower arm can be tilted, the upper arm can be tilted, the wrist can be rotated,
It requires something extremely complex and expensive that allows for wrist swings. In addition, since it is used for cleaning, it is necessary to perform waterproofing on the wrist joints in particular, and anti-corrosion treatment to prevent rust caused by water wetting in areas near the nozzle, leading to further increases in price.

(Problems to be Solved by the Invention) As described above, in the conventional technology, it is difficult to obtain a stable cleaning effect over the entire inner surface of the bowl-shaped body 11, and in order to obtain a stable cleaning effect, it is difficult to obtain a stable cleaning effect over the entire inner surface of the bowl-shaped body 11. Control is required, or the use of robots causes a significant increase in costs.

An object of the present invention is to provide a bowl-shaped cleaning device that has a simple and inexpensive configuration and can maintain a stable and uniform cleaning effect over the entire area.

[Structure of the invention]

(Means for Solving the Problems) A cleaning device for a bowl-shaped body according to the present invention sprays high-pressure liquid onto the inner surface of a hollow blastomere-shaped bowl-shaped body to clean it, and a nozzle for spraying high-pressure liquid is provided at the tip. ,
The rod-shaped rotating body has a rotational fulcrum located at a predetermined length from the tip thereof at the center of a virtual sphere that becomes the inner surface of the bowl-shaped body, and the nozzle rotates the rod-shaped rotating body into the bowl-shaped body. It has a drive mechanism that rotates about the fulcrum so as to move along the inner surface in the radial direction. Further, a rotation mechanism is provided which includes a pedestal for holding the bowl-shaped body and rotates the pedestal around an axis connecting the center of the bowl-shaped body and the center of the virtual sphere. Further, as the nozzle moves, a control device is provided to control the speed of the rotating mechanism so that the relative speed between the nozzle and the inner surface of the bowl-shaped body at each moving position is constant.

(Function) In the present invention, since the rotation fulcrum of the rod-shaped rotating body is provided at the center of the virtual sphere that is the inner surface of the bowl-shaped body, the nozzle is always spaced at a constant interval from the inner surface of the bowl-shaped body, and is always connected to the inner surface of the bowl-shaped body. Orthogonal. Furthermore, since the relative speed between the nozzle and the inner surface of the bowl-shaped body is controlled to be always constant, a stable and uniform cleaning effect can be obtained with a simple structure.

(Embodiment) An embodiment of the present invention will be described below with reference to FIG. 1 of the drawings.

Bowl-shaped object to be cleaned (hereinafter referred to as work) 1
1 has a so-called hollow blastomere shape, which is obtained by dividing a part of a hollow sphere having a diameter d, as described above.
12 is a hollow rod-shaped rotating body (hereinafter referred to as a lance)
A flexible hose 15 for supplying high-pressure liquid is connected to the base end thereof, and a nozzle 13 for jetting high-pressure liquid is provided at the distal end thereof. Further, a rotation fulcrum 14 is provided at a position a predetermined length R (a value shorter than 1/2d) from this tip. Here, the work 11 is in the shape of a blastosphere, and its inner surface is a part of the sphere having the aforementioned diameter d. Of course, this sphere does not actually exist, so it is called a virtual sphere. The pivot point 14 of the lance 12 is positioned to coincide with the center of this virtual sphere.

The fulcrum shaft of the rotation fulcrum 14 is rotatably supported by a bearing 16 provided on the frame,
In addition, a worm wheel 17 is attached integrally.

Reference numeral 19 is a drive mechanism, which includes a motor 20 that can be operated reversibly.
A worm gear 22 is connected to the motor 20 via a coupling ring 21 and meshes with the worm wheel 17. The worm gear 22 is rotatably supported by a pair of bearings 23 on the pedestal, and is rotationally driven by the motor 20 to rotate the lance 12 via the worm wheel 17 and the fulcrum shaft. As the lance 12 rotates around the rotational fulcrum 14, the nozzle 13 provided at its tip moves along the inner surface of the workpiece 11 in the radial direction and at a constant distance L from the inner surface. Also, during this movement,
The axis of the nozzle 13 is always perpendicular to the opposing inner surface of the workpiece 11.

In this way, the nozzle 13 always maintains a constant distance L from the inner surface of the workpiece 11, and the nozzle 1
The reason why the axis of the lance 12 is always orthogonal to the opposing inner surface is that the pivot point 14 of the lance 12 is located at the center of the virtual sphere described above.

Reference numeral 25 denotes a pedestal that holds the work 11 so as to maintain the aforementioned predetermined positional relationship with the lance 12.
Note that there is a drainage hole 26 in the center of the workpiece 11 (center of the bottom surface in the figure) for draining the cleaning liquid to the outside.
A recess 27 for drainage is formed on the support surface of the pedestal 25 facing the drainage hole 26. Further, this recess 27 is provided with a drainage hole 28 to the outside of the pedestal 25, and the cleaned liquid led from the drainage hole 26 of the workpiece 11 to the recess 27 is drained to the outside through the drainage hole 28. be done.

Reference numeral 30 denotes a rotation mechanism that rotates the workpiece 11 held on the pedestal 25 about an axis (Z-axis) connecting the center of the workpiece 11 and the virtual sphere. That is, a flanged shaft 31 concentric with the Z-axis is integrally provided at the center of the lower surface of the pedestal 25, and its lower end is connected to a motor 33 via a coupling 32. The motor 33 is mounted on a vertical motor mount 34, and the flanged shaft 31
is the bearing 3 installed at the upper end of the motor mounting base 34.
5, it is rotatably supported. and,
By operating this motor 33, the workpiece 11 held on the pedestal 25 is rotated about the Z axis.

37 is a control device which inputs the rotation angle signal of the lance 12 and controls the rotation mechanism 30 in response to each rotation.
By controlling the speed of the motor 33 of the lance 12, even if the rotation angle of the lance 12 changes, the nozzle 1 provided at the tip
3 and the opposing inner surface of the workpiece 11 are always controlled to be constant. That is, nozzle 1
The motor 3 is rotated so that the workpiece 11 rotates at a higher speed as the position of the workpiece 11 increases from the edge toward the center of the workpiece 11.
Control 3.

In the above configuration, when cleaning the inner surface of the workpiece 11, high-pressure liquid supplied from the flexible hose 15 to the lance 12 is injected from the nozzle 13 onto the inner surface of the workpiece 11 facing at a constant distance L. Clean the inside surface. At this time, the drive mechanism 19 rotates the lance 12 to move the nozzle 13 from the edge of the workpiece 11 toward the center or in the opposite direction. Further, at this time, the workpiece 11 is rotated by the rotation mechanism 30.

In this way, the high-pressure liquid injected from the nozzle 13 is applied to the entire inner surface of the workpiece 11 to remove paint, rust, etc. adhering to the inner surface and clean it. The liquid after cleaning is drained from the drain hole 26 of the workpiece 11 to the outside through the recess on the pedestal 25 and the drain hole 28. Note that if the workpiece 11 does not have a drainage hole 26, the pedestal 25 that holds the workpiece 11 and the rotating mechanism 30 connected thereto are turned 90 degrees from the state shown in FIG. 1 so that the workpiece 11 is in a vertical state. to hold. If the workpiece 11 is held in this manner, the liquid after cleaning will be discharged from the edge of the workpiece 11 to the outside.

During cleaning, the lance 12 is driven to rotate around a rotation fulcrum 14, and a nozzle 13 provided at its tip
is moved from the edge of the workpiece 11 toward the center, but as shown in Fig. 2, this rotation range (within 90°) is divided equally by a fixed rotation angle θ. Let the above-mentioned equally dividing points on the inner surface of 11 be A, B, C...K. The rotation angle θ
is set corresponding to the jet width from the nozzle 13. That is, even if the nozzle 13 is displaced to an adjacent dividing point, the value is set so that the jets at each position cover each other.

Further, the radius parallel to the X axis at each dividing point A, B, C...J changes from r _A , r _B , r _C . . . r _J for each dividing point.

The drive mechanism 19 rotates the lance 12 intermittently so that the center of the nozzle 13 sequentially stops on each dividing point A, B, C...K. That is, since the rotational force of the motor 20 is transmitted to the lance 12 via the worm gear 22 and the worm wheel 17, when the rotation of the motor 20 is stopped, the lance 1
2 is fixed at the rotation angle at that time. Therefore, if the amount of rotation of the motor 20 is set in advance to a value corresponding to the rotation angle θ and this is operated intermittently, the center of the nozzle 13 will be located at each dividing point A, B, C, as described above.
...Moves intermittently while stopping sequentially on K.

Radius parallel to the X axis at each dividing point A, B, C...J
Since r _A , r _B , r _C . . . r _J are different from each other as described above, if the rotational speed of the workpiece 11 is constant, the circumferential speed of each division point becomes faster as the radius becomes larger. However, in order to maintain a constant cleaning effect, the nozzle 13
It is necessary to keep the relative speed between this and the inner surface of the workpiece 11 facing it constant. That is, in order to keep the peripheral speed constant at each division point, the control device 37
It is necessary to control the speed of the rotating mechanism 30.

Here, the radius of the rotating body is r, and the rotation speed is n.
(rpm), the relationship with the circumferential speed Vt at the radius point r is expressed by the following equation.

Vt=r・ω=r・πn/30=C however ω=πn/30: Angular velocity (rad/s) From the above formula, if r・n=30/πC=C', n=C'/r.

That is, if the rotational speed n of the rotating body is made inversely proportional to the change in the radius r, the peripheral speed at the radius r becomes constant.

From the above relationship, each division point A,
The radii r _A , r _B , r C ... r _J are set for each of B, _C ...J, and it is detected from the rotation angle of the lance 12 that the nozzle 13 has reached the corresponding dividing point, for example r _C. Then, the rotational speed nc in that case can be calculated from the above equation. In this way, if the rotational speed is calculated for each dividing point and the speed of the rotating mechanism 30 is controlled based on the obtained value, each dividing point A, B, C...
The relative velocity between the nozzle 13 and the inner surface of the workpiece 11 at K can always be made uniform, and a stable cleaning effect can be obtained.

Note that the nozzle 13 moves from dividing point A to K,
After cleaning is completed, it is necessary to drain water from the workpiece 11. Therefore, if the control device 37 is configured to output a preset high-speed rotation command when the end of cleaning is detected from the rotation angle of the lance 12, etc.,
The workpiece 11 can be rotated at high speed to drain water.

In addition to high-pressure water, cleaning liquids include
Tap water mixed with a chemical solution or an abrasive material such as silicon may also be used.

〔Effect of the invention〕

As described above, according to the present invention, when cleaning the inner surface of a bowl-shaped object by spraying high-pressure liquid, the distance and angle of the nozzle with respect to the cleaning surface are always kept constant, and the relative speed between the nozzle and the cleaning surface is controlled. Since it can always be kept constant, efficient cleaning can be performed with stable cleaning effects.

[Brief explanation of drawings]

FIG. 1 is a sectional view showing an embodiment of the bowl-shaped body cleaning device according to the present invention, FIG. 2 is a diagram showing the relationship between the moving position of the nozzle shown in FIG. 1 and the radius at each position, and FIG. Figure 3 is a diagram showing the relationship between each radius and circumferential speed shown in Figure 2, Figure 4 is a plan view showing the movement locus of the nozzle in the conventional device, and Figure 5 is a diagram showing the relationship between each radius shown in Figure 2 and the circumferential speed. The sectional view, FIG. 6, is a sectional view taken along the line CC in FIG. 4, and FIGS. 7 and 8 are also diagrams for explaining the moving state of the nozzle in the conventional device. 11... Bowl-shaped body, 12... Rod-shaped rotating body, 13...
... Nozzle, 14 ... Rotating fulcrum, 19 ... Drive mechanism, 25 ... Pedestal, 30 ... Rotation mechanism, 37 ...
Control device.

Claims (1)

[Scope of Claims] 1. A cleaning device for a bowl-shaped body that sprays high-pressure liquid onto the inner surface of a hollow blastomere-shaped bowl-shaped body to clean it, which includes a nozzle for jetting high-pressure liquid at the tip, and a predetermined length from the tip. a rod-shaped rotating body with a rotational fulcrum located at the center of a virtual sphere serving as the inner surface of the bowl-shaped body; and the nozzle moves this rod-shaped rotating body along the inner surface in the radial direction of the bowl-shaped body. a drive mechanism that rotates the fulcrum around the fulcrum, and a pedestal that holds the bowl-shaped body, and a rotation that rotates the pedestal around an axis connecting the center of the bowl-shaped body and the center of the virtual sphere. A bowl-shaped body comprising: a mechanism; and a control device that controls the speed of the rotating mechanism so that the relative speed between the nozzle and the inner surface of the bowl-shaped body at each movement position is constant as the nozzle moves. cleaning equipment.