JPH06104227B2 - Work equipment - Google Patents

Work equipment

Info

Publication number
JPH06104227B2
JPH06104227B2 JP1227937A JP22793789A JPH06104227B2 JP H06104227 B2 JPH06104227 B2 JP H06104227B2 JP 1227937 A JP1227937 A JP 1227937A JP 22793789 A JP22793789 A JP 22793789A JP H06104227 B2 JPH06104227 B2 JP H06104227B2
Authority
JP
Japan
Prior art keywords
tubular body
wall surface
working
machine body
drive
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP1227937A
Other languages
Japanese (ja)
Other versions
JPH0389988A (en
Inventor
京宣 新谷
宣明 海達
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Original Assignee
Kubota Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kubota Corp filed Critical Kubota Corp
Priority to JP1227937A priority Critical patent/JPH06104227B2/en
Publication of JPH0389988A publication Critical patent/JPH0389988A/en
Publication of JPH06104227B2 publication Critical patent/JPH06104227B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B08—CLEANING
    • B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
    • B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto 
    • B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
    • B08B9/027—Cleaning the internal surfaces; Removal of blockages
    • B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
    • B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Cleaning In General (AREA)
  • Manipulator (AREA)
  • Coating Apparatus (AREA)

Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、筒状体の内部を走行してその内壁面の洗浄や
塗装等の作業を行う作業装置に関し、更に詳しくは、筒
状体の軸心に沿った駆動回転軸を、前記筒状体内を走行
自在な機体に設け、その駆動回転軸に、前記筒状体の内
壁面に対する作業を行う作業部を取り付けてある作業装
置に関する。Description: TECHNICAL FIELD The present invention relates to a working device that travels inside a tubular body to perform work such as cleaning and painting of its inner wall surface, and more specifically, a tubular body. The present invention relates to a working apparatus in which a drive rotating shaft along the axis of is provided in a machine body that can travel in the tubular body, and a working unit for performing work on the inner wall surface of the tubular body is attached to the drive rotating shaft.

〔従来の技術〕[Conventional technology]

従来の作業装置においては、複数のノズルが、前記駆動
回転軸に対してその周方向に分散され且つ前記駆動回転
軸から一定距離だけ離間した状態に取り付けられて、前
記作業部が構成されていた。そして、前記駆動回転軸が
前記筒状体の軸心に位置するように、前記機体を前記筒
状体内に配置することにより、前記複数のノズルを、前
記筒状体の内壁面に対して一定距離だけ離間させてい
た。In the conventional working device, the working unit is configured by mounting a plurality of nozzles in a state in which they are dispersed in the circumferential direction with respect to the drive rotation shaft and separated from the drive rotation shaft by a predetermined distance. . Then, the plurality of nozzles are fixed to the inner wall surface of the tubular body by disposing the machine body in the tubular body so that the drive rotation shaft is located at the axis of the tubular body. It was separated by a distance.

〔発明が解決しようとする課題〕[Problems to be Solved by the Invention]

しかしながら、上述した従来の作業装置にあっては、前
記ノズルと前記筒状体の内壁面との距離が固定されたも
のであったため、前記筒状体の内壁面に対する作業を、
前記筒状体の周方向に万遍なく実施する場合には、比較
的好都合な条件が得られるものの、前記機体を安定的に
走行させつつ、前記作業を前記筒状体の内壁面の一部に
対して集中的に実施することが難しい、という問題があ
った。However, in the above-described conventional working device, since the distance between the nozzle and the inner wall surface of the tubular body is fixed, work on the inner wall surface of the tubular body is performed.
When it is carried out evenly in the circumferential direction of the tubular body, relatively convenient conditions can be obtained, but the work is performed stably while a part of the inner wall surface of the tubular body is used for the work. There was a problem that it was difficult to implement intensively against.

本発明の目的は、上述した従来の問題を解決する点にあ
る。An object of the present invention is to solve the above-mentioned conventional problems.

〔課題を解決するための手段〕[Means for Solving the Problems]

本発明に係る作業装置の特徴構成は、筒状体の軸心に沿
った駆動回転軸を、前記筒状体内を走行自在な機体に設
け、その駆動回転軸に、前記筒状体の内壁面に対する作
業を行う作業部を取り付けてある作業装置であって、前
記機体を前記筒状体の径方向において位置調整自在な位
置調整機構を設け、前記機体に対し、前記駆動回転軸の
支持部を前記筒状体の径方向に位置変更自在に取り付け
てあることにあり、その作用・効果は次の通りである。A characteristic configuration of a working device according to the present invention is that a drive rotating shaft along an axis of a cylindrical body is provided in a machine body that can travel in the cylindrical body, and the drive rotating shaft has an inner wall surface of the cylindrical body. Is a working device to which a working unit for performing work is attached, wherein a position adjusting mechanism is provided for adjusting the position of the machine body in the radial direction of the tubular body, and a supporting unit for the drive rotation shaft is provided for the machine body. The cylindrical body is attached so that its position can be changed in the radial direction, and its action and effect are as follows.

〔作用〕[Action]

つまり、上記特徴構成を備えた作業装置によれば、前記
機体の前記径方向における位置を、前記位置調整機構を
用いて調整することにより、前記機体を安定的に走行さ
せ得る状態を実現させることができる。しかも、その安
定的な条件の下で、前記駆動回転軸の支持部の位置を、
前記機体に対して適宜位置に、即ち、前記駆動回転軸の
回転状態での前記作業部の位置が、前記筒状体の内壁面
の一部にだけ近接するような位置に変更することによ
り、前記作業を前記筒状体の内壁面の一部で集中的に実
施することができるようになる。That is, according to the working device having the above-mentioned characteristic configuration, by adjusting the position of the machine body in the radial direction using the position adjusting mechanism, it is possible to realize a state in which the machine body can be stably run. You can Moreover, under the stable condition, the position of the support portion of the drive rotary shaft is changed to
To an appropriate position with respect to the machine body, that is, by changing the position of the working portion in the rotating state of the drive rotation shaft to a position that is close to only a part of the inner wall surface of the tubular body, The work can be intensively performed on a part of the inner wall surface of the tubular body.

〔発明の効果〕〔The invention's effect〕

従って、本発明に係る作業装置によれば、従来装置では
実施困難であった特殊作業、即ち、前記機体を安定的に
走行させつつ筒状体の内壁面の一部に対して洗浄や塗装
等を集中的に実施する作業を実現することができるよう
になり、本発明の目的が達成されるようになる。Therefore, according to the working apparatus of the present invention, it is difficult to carry out a special work which is difficult to perform with the conventional apparatus, that is, cleaning or painting a part of the inner wall surface of the tubular body while stably traveling the machine body. It becomes possible to realize the work for intensively performing the above, and the object of the present invention is achieved.

〔実施例〕〔Example〕

以下、本発明の実施例を図面に基づいて説明する。 Embodiments of the present invention will be described below with reference to the drawings.

第１図及び第２図には、本発明に係る作業装置の一実施
例が示されており、図中、（10）は筒状体であり、その
筒状体（10）内には、その筒状体（10）内を走行自在な
機体（１）が挿入されるようになっている。1 and 2 show an embodiment of a working apparatus according to the present invention. In the drawings, (10) is a tubular body, and inside the tubular body (10), A machine body (1) that can travel freely is inserted in the tubular body (10).

前記機体（１）には、その先端部に、前記筒状体（10）
の軸心に沿った駆動回転軸（2a）が設けられており、そ
の駆動回転軸（2a）には、前記筒状体（10）の内壁面
（11）に対する洗浄作業を行う作業部（２）（即ち、洗
浄液及び空気が混合されてなる洗浄流体を噴出自在なノ
ズルを先端に備えるノズル機構）が取り付けられてい
る。一方、前記機体（１）の後端部には、前記空気を供
給自在なエアー供給パイプ（８）と、前記洗浄液を供給
自在な洗浄液供給パイプ（９）とが接続されている。The body (1) has the tubular body (10) at the tip thereof.
A drive rotating shaft (2a) is provided along the axis of the drive rotating shaft (2a), and the drive rotating shaft (2a) has a working unit (2) for cleaning the inner wall surface (11) of the tubular body (10). ) (That is, a nozzle mechanism having at its tip a nozzle capable of ejecting a cleaning fluid formed by mixing a cleaning liquid and air). On the other hand, an air supply pipe (8) capable of supplying the air and a cleaning liquid supply pipe (9) capable of supplying the cleaning liquid are connected to the rear end of the machine body (1).

前記機体（１）の外周面には、三つの平行四連機構が設
けられており、それら三つの平行四連機構によって、前
記機体（１）を前記筒状体（10）の径方向において位置
調整自在な位置調整機構が構成されている。The outer peripheral surface of the machine body (1) is provided with three parallel four-link mechanisms, and the three parallel four-link mechanisms position the machine body (1) in the radial direction of the tubular body (10). An adjustable position adjustment mechanism is configured.

前記平行四連機構の夫々は、更に詳しくは、前記筒状体
（10）の内部を前記内壁面（11）に接触した状態で走行
自在な接触走行部（4a）（具体的には、左右一対の走行
用ベルトを配したベルト式走行部）を設け、その接触走
行部（4a）と前記機体（１）とを連結アーム（６）で枢
支連結することにより構成されている。尚、前記連結ア
ーム（６）は、エアーシリンダ（図示せず）及び駆動ア
ーム（７）を介して外方へ突出移動されるようになって
おり、その突出移動によって、前記接触走行部（4a）が
前記筒状体（10）の内壁面に接触するように押圧される
ようになっている。More specifically, each of the parallel quadrangular mechanisms is a contact traveling portion (4a) (specifically, left and right) that can travel in a state where the inside of the cylindrical body (10) is in contact with the inner wall surface (11). A belt-type traveling unit) having a pair of traveling belts is provided, and the contact traveling unit (4a) and the machine body (1) are pivotally connected by a connecting arm (6). In addition, the connecting arm (6) is adapted to be projected and moved outward via an air cylinder (not shown) and a drive arm (7). ) Is pressed so as to contact the inner wall surface of the cylindrical body (10).

前記機体（１）の先端部には、上述したように、前記筒
状体（10）の軸心に沿った駆動回転軸（2a）が設けられ
ているが、その駆動回転軸（2a）の支持部（１′）は、
前記機体（１）に対して筒状体（10）の径方向に位置変
更自在に取り付けられている（図１参照）。As described above, the drive rotation shaft (2a) is provided along the axis of the cylindrical body (10) at the tip of the machine body (1). The support part (1 ') is
The tubular body (10) is attached to the machine body (1) so that its position can be changed in the radial direction (see FIG. 1).

次に、上述した作業装置を用いるに好適な洗浄対象につ
いて述べる。Next, a cleaning target suitable for using the above-mentioned working device will be described.

製紙プラントにおけるサクションローラ（10′）は、第
３図に示すように、内壁部に複数のサクション孔（11
a）を形成してあり、上下両面をフェルト布（13）で挟
まれたパイプ（14）を圧接ローラ（15）とで挟持搬送し
つつ、前記パルプ（14に含まれる水分を前記サクション
孔（11a）を通して吸引するものである。As shown in FIG. 3, the suction roller (10 ') in the paper manufacturing plant has a plurality of suction holes (11
a) is formed, and the upper and lower surfaces of the pipe (14) sandwiched between felt cloths (13) are nipped and conveyed by the pressure roller (15), while the water contained in the pulp (14 is sucked into the suction hole ( It is suctioned through 11a).

即ち、前記サクションローラ（10′）の内壁部（11）で
あって、前記フェルト布（13）との接触部に対向する箇
所に、その長手方向に沿って設けた樋（16）を介して水
分を吸引するものであり、前記作業装置は、このサクシ
ョン孔（11a）に付着堆積する、前記フェルト布（13）
を通して流入するパイプかすを洗浄除去するために用い
ることができる。That is, through a gutter (16) provided along the longitudinal direction of the inner wall portion (11) of the suction roller (10 ') facing a contact portion with the felt cloth (13). The felt cloth (13) is for sucking moisture, and the working device adheres and deposits to the suction hole (11a).
It can be used to wash away pipe debris flowing in through.

〔別実施例〕[Another embodiment]

上述した実施例は、洗浄用の作業装置であったが、本発
明装置は、前記筒状体（10）の内壁面（11）に対して、
塗料等を噴出する塗装用の作業装置であってもよく、ま
た、前記内壁面（11）を研磨する作業装置であってもよ
い。Although the above-described embodiment is the working device for cleaning, the device of the present invention, with respect to the inner wall surface (11) of the tubular body (10),
It may be a working device for spraying paint or the like, or may be a working device for polishing the inner wall surface (11).

尚、特許請求の範囲の項に図面との対照を便利にする為
に符号を記すが、該記入により本発明は添付図面の構造
に限定されるものではない。It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

【図面の簡単な説明】[Brief description of drawings]

第１図は本発明に係る作業装置の一実施例を示す正面
図、第12図はその側面図、第３図はサクションローラを
示す斜視図である。 （１）……機体、（１′）……支持部、（２）……作業
部、（2a）……駆動回転軸、（4a）……接触走行部、
（10）……筒状体、（11）……内壁面FIG. 1 is a front view showing an embodiment of a working apparatus according to the present invention, FIG. 12 is a side view thereof, and FIG. 3 is a perspective view showing a suction roller. (1) ... Airframe, (1 ') ... Supporting part, (2) ... Working part, (2a) ... Drive rotary shaft, (4a) ... Contact traveling part,
(10) …… Cylindrical body, (11) …… Inner wall surface

Claims (2)

【特許請求の範囲】[Claims] 【請求項１】筒状体（10）の軸心に沿った駆動回転軸
（2a）を、前記筒状体（10）内を走行自在な機体（１）
に設け、その駆動回転軸（2a）に、前記筒状体（10）の
内壁面（11）に対する作業を行う作業部（２）を取り付
けてある作業装置であって、 前記機体（１）を前記筒状体（10）の径方向において位
置調整自在な位置調整機構を設け、前記機体（１）に対
し、前記駆動回転軸（2a）の支持部（１′）を前記筒状
体（10）の径方向に位置変更自在に取り付けてある作業
装置。1. A machine body (1) which can freely drive a drive rotary shaft (2a) along the axis of a tubular body (10) in the tubular body (10).
A working unit (2) for working on the inner wall surface (11) of the tubular body (10) is attached to the drive rotation shaft (2a) of the machine body (1). A position adjusting mechanism capable of adjusting the position in the radial direction of the tubular body (10) is provided, and the support portion (1 ') of the drive rotation shaft (2a) is attached to the tubular body (10) with respect to the machine body (1). ) A work device mounted so that its position can be changed in the radial direction. 【請求項２】前記作業部（２）は、前記筒状体（10）の
内壁面（11）に流体を噴出するノズル機構である請求項
１記載の作業装置。2. The working apparatus according to claim 1, wherein the working unit (2) is a nozzle mechanism for ejecting a fluid onto the inner wall surface (11) of the cylindrical body (10).
JP1227937A 1989-09-01 1989-09-01 Work equipment Expired - Lifetime JPH06104227B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1227937A JPH06104227B2 (en) 1989-09-01 1989-09-01 Work equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1227937A JPH06104227B2 (en) 1989-09-01 1989-09-01 Work equipment

Publications (2)

Publication Number Publication Date
JPH0389988A JPH0389988A (en) 1991-04-15
JPH06104227B2 true JPH06104227B2 (en) 1994-12-21

Family

ID=16868621

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1227937A Expired - Lifetime JPH06104227B2 (en) 1989-09-01 1989-09-01 Work equipment

Country Status (1)

Country Link
JP (1) JPH06104227B2 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100815926B1 (en) * 2005-12-19 2008-03-31 정석동 A inspection and cleaning robot of pipe laying
JP4677048B1 (en) * 2010-05-17 2011-04-27 紘一 原田 In-pipe travel device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5210470B2 (en) * 1973-09-19 1977-03-24
JPS5715949B2 (en) * 1973-10-09 1982-04-02
JPS57107264A (en) * 1980-12-25 1982-07-03 Kawasaki Steel Corp Method and device for coating internal surface of steel tube
JPS6014161U (en) * 1983-07-09 1985-01-30 内山鑿泉工業株式会社 Cleaning device for water intake strainer in well

Also Published As

Publication number Publication date
JPH0389988A (en) 1991-04-15

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