JPH0619229B2 - Cleaning robot - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to a cleaning robot used for cleaning a combustion gas duct of a boiler.

[Prior art]

Conventionally, when cleaning a combustion gas duct of a boiler for business use or a private boiler that uses coal, crude oil or the like as a fuel, an operator carries a cleaning tool into the duct to clean combustion ash and the like.

[Problems of conventional technology]

In the past, it relied on human power, so the working environment was bad, and it was exposed to dust, which was bad for the health of the human body. There is a problem that a large number of workers have to spend time cleaning them depending on the amount of processing and the amount of work, which is expensive.

[Object of the Invention]

The present invention has been made in view of the above circumstances, and it is an object of the present invention to mechanize and robotize the inside of a combustion gas duct to protect the health of a worker and improve the efficiency of cleaning work.

[Main points of the invention]

In order to achieve the above object, a dust collector is provided on the carriage,
The gist is that the interlocking mechanism that allows the nozzle of this dust collector to rotate, move in an arc, change the contact angle, move up and down, and move back and forth and left and right with respect to the floor of the duct is operated by a predetermined program.

〔Example〕

The present invention will be described below with reference to FIGS. 1 and 2. The figure shows a front view and a side view of the cleaning robot placed on the floor surface F of the duct, and 1 is a base plate substantially parallel to the floor surface F. Trackless wheels 2 and 2A that support the bedplate 1 and can travel are provided below the bedplate 1, and the other trackless wheels extend in the direction orthogonal to the running direction of the trackless wheels 2 and 2A. 3, 3A are provided. Base plate 1 and trackless wheels 3, 3
Cylinder mechanisms 4 and 4A are interposed between A and A. By simultaneously expanding and contracting the cylinder mechanisms 4 and 4A, the base plate 1 is supported by one trackless wheel 2 or 2A, or the other trackless wheel. It is supported or selected by the moving wheels 3 and 3A. A hollow guide member 5 that is substantially parallel to the trackless wheels 3 and 3A is fixed above the center of the base plate 1, and a base 6 is slidably mounted on the guide member 5. The base 6 is formed so as to surround both sides of the guide member 5, and can be reciprocated in the horizontal direction by rotation of a drive shaft 8 whose both ends are rotatably supported by the guide member 5 via a predetermined screw mechanism. Has become.
The drive shaft 8 is rotated by a drive motor 7 provided at one end of the guide member 5. A pedestal 9 is provided on the upper surface of the base 6 so as to be rotatable in a horizontal plane.
It is rotated by a rotary motor 10 provided at the edge portion of the device via a predetermined drive mechanism. A hollow column 11 is erected substantially vertically on the upper surface of the pedestal 9, and a horizontal member 12 is slidably supported on the column 11. This horizontal member 1
The column 2 and the guide member 5 are substantially orthogonal to each other, and are vertically movable in the vertical direction by the rotation of the feed screw 14 whose both ends are rotatably supported by the column 11 via a predetermined screw mechanism. There is. Lead screw 14 is column 1
It is rotated by a drive motor 13 provided at the upper end of 1. A rod-shaped attachment member 15 is rotatably suspended from one end of the horizontal member 12 via a shaft 16. The attachment member 15 has its tip end extended to near the floor surface F, and
The drive motor 17 provided at one end of the horizontal member 12 is rotated through a predetermined mechanism. Mounting material 1
A nozzle head 18 of a vacuum cleaner 30 is rotatably supported at the tip of the nozzle 5, and a brush 31 for a polisher is provided at the tip of the nozzle head 18 so as to be able to contact the floor surface F. Further, the nozzle head 18 is rotated by a small drive motor 19 provided on the mounting member 15,
The brush 31 can be rotated by a predetermined motor mechanism.
The middle portion of the dust suction hose 20 connected to the nozzle head 18 is held by a hose support 24 rotatably provided at the upper end of the column 11, and the rear end of the hose support 24 has the weight of the first half of the dust suction hose 20. A counterweight 32 that balances is provided. The rear end of the dust suction hose 20 is guided to the dust collector 21, and the dust collector 21 is provided at the end of the base plate 1. A dust collecting bag 22 is provided laterally on the outer end of the base plate 1 via a holding plate 33, and the dust collecting bag 22 is rolled over by a springing device 23. Trackless wheels 2, 2
Drive motors 7, 10, 13, 17, and 19 including A, 3, 3A, cylinder mechanisms 4, 4A, and step motors are controlled by a controller (not shown), and the position of the floor surface F to be cleaned by the nozzle head 18 is If you set the start point, you can program to the end point. Nozzle head 1
8 is also provided with a sensor 25 for collision prevention.

[Action]

The nozzle head 18 is a trackless wheel 2, 2A with respect to the floor surface F.
Alternatively, the rotation of 3, 3A moves in a predetermined direction and a direction orthogonal thereto for cleaning, and by the movement of the base 6, the trackless wheels 3, 3.
The floor surface F is cleaned in the direction of 3A, and the rotation of the pedestal 9 causes the nozzle head 18 to clean the floor surface F in an arc shape.
By the vertical movement of 2, the brush 31 of the nozzle head 18 strongly or weakly contacts the floor surface F, and the rotation of the mounting member 15 causes the nozzle head 18 to reach the floor surface F farther than the base plate 1, and the nozzle head 18 The rotation makes it possible to adjust the contact angle of the brush 31 with the floor surface F. Such a cleaning robot is carried into the opening of the duct and moved by the trackless wheels 2 and 2A for traveling near the cleaning start position in the duct. Next, the trackless wheels 3 and 3A for lateral traveling are switched by the cylinder mechanisms 4 and 4A to move toward one wall surface in the duct. After that, base 6, pedestal 9, horizontal member 12, mounting material 1
5. Move the nozzle head 18 to determine the cleaning start point and store it in the controller. Next, the trackless wheels 3 and 3A are moved toward the opposite wall surface, and the base 6, the base 9, the horizontal member 12, the mounting member 15, and the nozzle head 18 are operated as necessary to control one work end point. To memorize. Next, the cylinder mechanisms 4 and 4A are used to switch to the trackless wheels 2 and 2A for traveling to advance the interior of the duct by a predetermined pitch. After the series of operations described above are stored in the control section programmatically, the cleaning robot is returned to the start point again, and the dust collector 21
Start the cleaning work inside the duct while operating.
When the duct wall is deformed, the sensor 25 corrects the position of the nozzle head 18, and cleaning is continued. When the dust collecting bag 22 reaches a weight limit amount due to ash dust or the like, the dust collecting bag 22 is automatically dropped to the rear by the springing device 23. The worker appropriately collects the dust collecting bag 22 and carries it out through the duct opening.

〔The invention's effect〕

As described above, according to the present invention, the cleaning unit of the cleaning machine is automatically rotated, moved in an arc, changed in contact angle, moved up and down, and rotated back and forth and left and right to sweep the floor surface thoroughly. Since the cleaning machine described above is mounted on the moving carriage, the effect that the inside of the duct is unmanned and highly efficient can be obtained because the dust is contaminated with combustion ash or the like.

[Brief description of drawings]

FIG. 1 is a front view of the cleaning robot of the present invention, and FIG. 2 is a side view thereof. Explanation of symbols of main parts 1 ... Base plate, 2, 2A, 3, 3A ... Trackless wheels, 4,
4A ... cylinder mechanism, 5 ... guide member, 6 ... base,
7, 10, 13, 17, 19 ... Drive motor, 8, 14
…… Feed screw, 9 …… Pedestal, 11 …… Column, 12 ……
Horizontal member, 15 ... Mounting material, 18 ... Nozzle head, 20
...... Dust suction hose, 21 …… Dust collector, 22 …… Dust collection bag, 2
4 ... Hose support, 25 ... Sensor, 30 ... Vacuum cleaner, 32 ... Counter weight

Claims (1)

[Claims] 1. A cleaning robot mounted on a traveling carriage and automatically controlled, comprising: a base plate portion having wheels that selectively roll in a direction perpendicular to each other; and a dust collector arranged on the base plate portion. A base part that is horizontally slidable above the base plate part, a pedestal part that is rotatably mounted on the base part, and a column member that is erected on the base part. A horizontal member that is vertically movable on the column member; a mounting member that is rotatably suspended on the horizontal member; and a suction nozzle that is rotatably mounted on the tip of the mounting member. And a flexible hose connected to the nozzle and the dust collector so as to inhale dust.