JPH06280302A - Cleaning robot furnished with circular arc soil discharge plate and cleaning of inner surface of horizontal cylindrical body by same robot - Google Patents

Abstract

PURPOSE:To improve efficiency of cleaning work to drag out the sediment sedimented on the bottom of a horizontal cylinder of a horizontal Hume pipe and others by a soil discharge plate. CONSTITUTION:On a head end installation part 2a of a cleaning robot 10 in a horizontal cylinder suited to travel in the longitudipal direction on a wall surface 9 in the cylinder which is strong as a substitute of human power, a circular arc soil discharge plate 1 formed in a circular arc shape to match the bore diameter of the wall surface 9 in the cylinder is installed. By travelling the soil discharge plate 1 with the cleaning robot 10 in the cylinder in the longitudinal direction in the horizontal state or by way of inclining it to the left or to the right, it is made possible to drag out sediment on the bottom of the cylinder.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for cleaning the inner wall surface of a horizontal cylindrical body, and more particularly to a cleaning robot equipped with an earth-discharging plate for removing deposits adhering to the inner surface of the horizontal cylindrical body such as a horizontal fume tube. Regarding cleaning method.

[0002]

2. Description of the Related Art Conventionally, the cleaning of deposits deposited on the bottom surface of a long horizontal cylindrical body such as a sewer system has conventionally depended on human power, and a trapezoidal excavator is used for dredging. It was out. However, due to human power, there was a limit to the amount of dredging per person, and work efficiency was low.
In addition, since the excavator used is a common trapezoidal shape,
There was a large amount of leakage left from the gap between the inner wall surface of the cylinder and it was necessary to repeat the dredging many times, further reducing the cleaning efficiency. Further, since the sewer cleaning work is a so-called 3K work, there are problems such as chronically suffering from a shortage of workers.

[0003]

DISCLOSURE OF THE INVENTION The present invention is intended to solve the above problems, and enables cleaning of deposits deposited on the bottom surface of a long horizontal cylinder in a powerful manner instead of manually, and at a stroke. It is intended to provide a new cleaning means. That is, according to the present invention, (1) an arc-shaped earth-discharging plate, which is formed in an arc shape in accordance with the inner wall surface of the horizontal cylindrical body of the cleaning object, is attached to the tip of a cleaning robot traveling in the longitudinal direction in the horizontal cylindrical body. A cleaning robot provided with an arc-shaped earth-discharging plate, and (2) an arc-shaped earth-discharging plate that is formed in an arc shape in accordance with the wall surface of the horizontal cylindrical body of the cleaning object,
The cleaning robot is mounted on the tip of a cleaning robot that travels in the longitudinal direction in a horizontal cylinder, and the cleaning robot is run while pressing the earth-discharging plate against the inner surface of the cylinder to remove the deposits adhering to the inner surface. Is a method for cleaning the inner surface of a horizontal cylindrical body by a cleaning robot having an arc-shaped earth-discharging plate. Further, the cleaning method of the present invention is characterized in that the cleaning work is performed by moving the arc-shaped earth-discharging plate in the horizontal cylinder together with the cleaning robot in a horizontal state or inclining it to the left or to the right in the longitudinal direction.

[0004]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall perspective view in which the arc-shaped soil discharging plate of the present invention is mounted on a horizontal cylindrical cleaning robot, FIG. 2 is an explanatory view of cleaning inside the cylinder by a cleaning robot mounting the arc-shaped soil discharging plate, and FIG. 3 is a cylinder. FIG. 3 is a state diagram in which the soil discharge plate is tilted leftward or rightward, in which 3-1 shows a state tilted leftward and 3-1 shows a state tilted rightward. In the figure, 1 is an arc-shaped earth discharging plate, 2 is a cleaning robot main body, 3 and 3 are left and right caterpillars, 5 and 5 are left and right tilt adjusting devices, and 6 is a remote control device.
Reference numeral 9 is a cylinder inner wall surface, 9a is a cylinder inner wall surface, and 10 is a horizontal cylinder cleaning robot.

The arc-shaped earth-discharging plate 1 according to the present invention is made of an iron plate, and is formed in an arc shape according to the inner diameter A of the horizontal cylindrical inner wall surface 9. Further, the arc-shaped earth-discharging plate 1 is detachably screwed to the tip mounting portion 2a of the main body 2 of the horizontal cylindrical cleaning robot 10 described below via the connecting joint 1d. When traveling in a cylinder as shown in FIG. 2, the soil discharging plate 1 is slidable in close contact with the bottom surface 9a of the cylinder. Thus, the sediment (not shown) that has settled on the bottom surface 9a due to the sliding of the earth discharging plate 1 can be dredging out at a stretch without being left behind by the strong pushing of the cleaning robot 10.

Further, since the arc-shaped earth-discharging plate 1 according to the present invention is formed in an arc-shape adapted to various cylindrical inner diameters A to be cleaned and can be selectively exchanged and inserted, all of them can be attached. The horizontal cylinder can be cleaned efficiently. Next, a horizontal cylindrical body cleaning robot 10 equipped with the arc-shaped earth-discharging plate 1 of the present invention.
When running in the horizontal direction in a horizontal cylinder such as a horizontal fume tube, tilt the caterpillars 3, 3 on both sides in a V shape,
The contact surfaces 3a, 3a run perpendicularly against the inner wall surface 9 of the cylinder to run, and even inside the cylinder, the contact surfaces 3a, 3a of the caterpillars 3, 3 as a whole fall down even if they are stepped on and tilted. It is characterized by high stability without fear. In addition, when traveling on the inner surface of the cylinder like a conventional fixed parallel traveling type cleaning robot, it has a feature that it is abutted only at both ends of the caterpillars 3, 3 and there is no possibility of causing one-sided slippage. Suitable for running in the longitudinal direction.

The horizontal cleaning robot 10 is shown in FIGS. 1 and 2, and the caterpillars 3, 3 on both sides of the main body 2 thereof are shown.
Is adjustable by using a rotating means (not shown) such as a worm gear to an opening angle B corresponding to the inner diameter A of the horizontal cylinder, and the contact surfaces 3a, 3a of the tracks 3, 3 are adjusted by the cylinder. It is in vertical contact with the inner wall surface 9. Reference numerals 5 and 5 are the tilt adjusting devices. Therefore, the opening angle B corresponding to any inner diameter A can be set. Furthermore, the main body 2
A remote operation device 6 including an operation signal receiving device, an operation control device for starting, stopping, speed adjustment, and the like is installed in the rear portion of the cleaning robot 1, and the operator can drive the cleaning operation by moving away from the cleaning robot 1. By installing an internal monitoring device such as a television camera, the driving operation can be performed from outside the cylinder.
Further, in the cleaning method of the present invention, when the soil discharging plate 1 is run horizontally (FIG. 2), the soil discharging plate 1 on both sides of the cylindrical inner wall surface 9 is moved.
For deposits adhering to a height that does not reach, as shown in FIG. 3, the soil discharging plate 1 is tilted to the left (C) or the right (D) in the cylinder together with the cleaning robot 10 to run in the longitudinal direction. You can dredge. The cleaning robot 10 is highly stable even if it is tilted by about 20 ° as described above, and does not hinder the cleaning work in the tilted state.

[0008]

As described above, the arc-shaped earth-discharging plate provided in the cleaning robot of the present invention is formed in an arc shape so as to fit the inner wall surface of the cylinder, and the backing force of the powerful horizontal cylinder cleaning robot is pushed. As a result, the adhered / deposited material on the inner surface can be dredged out all at once without leaking, and cleaning efficiency can be dramatically improved. Further, in a case where the caterpillars on both sides of the cleaning robot body to which the arc-shaped earth-discharging plate is mounted are inclined in a V shape, the contact surface can be vertically contacted with the inner wall surface of the cylinder to allow traveling. In addition to the horizontal state with the attached excavation plate, it can be run in the longitudinal direction by tilting to the left or the right, and the deposits deposited on the side surfaces of the inner wall can be efficiently removed. As described above, the present invention can greatly contribute to labor saving, labor saving, improvement of work environment, improvement of work efficiency, and improvement of cleaning technique.

[Brief description of drawings]

FIG. 1 is an overall perspective view of a cleaning robot provided with an arc-shaped earth discharging plate according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of a cleaning operation inside a cylindrical body by a cleaning robot equipped with an arc-shaped earth discharging plate.

FIG. 3 is a diagram showing a state in which a soil discharging plate is tilted leftward or rightward in a cylinder, and 3-1 shows a state tilted leftward.
Indicates a state of tilting to the right.

[Explanation of symbols]

1 arc-shaped earth-draining plate 1d connection joint 2 cleaning robot body 2a mounting part 3,3 left and right caterpillars 3a, 3a abutting surfaces of left and right caterpillars 5,5 left and right tilt adjusting device 6 remote control device 9 cylinder inner wall surface 9a cylinder Inner bottom surface 10 Horizontal cylindrical cleaning robot A Cylinder inner diameter B Opening angle C Leftward direction D Rightward direction

Claims (5)

[Claims] 1. An arc-shaped earth-discharging plate, which is formed in an arc shape in accordance with the inner wall surface of a horizontal cylindrical body to be cleaned, is attached to the tip of a cleaning robot that runs in the horizontal cylindrical body in the longitudinal direction. A cleaning robot equipped with an arc-shaped earth-discharging plate. 2. An earth-discharging plate, which is formed in an arc shape according to the inner wall surface of the horizontal cylinder of the object to be cleaned, is attached to the tip of a cleaning robot that runs in the horizontal cylinder in the longitudinal direction, The cleaning robot is run while pressing the plate against the inner surface of the cylindrical body to remove deposits adhering to the inner surface. How to clean. 3. The arc-shaped earth-moving device according to claim 2, wherein the arc-shaped earth-discharging plate is moved horizontally in the horizontal cylindrical body along with the cleaning robot while being inclined in a horizontal state or leftward or rightward to run in a longitudinal direction. A method for cleaning an inner surface of a horizontal cylindrical body by a cleaning robot equipped with a plate. 4. The cleaning robot main body is provided with caterpillars on both sides inclined in a V shape, and the contact surfaces of the respective caterpillars can be vertically contacted with the inner wall surface of the cylindrical body to be cleaned. A cleaning robot comprising the arc-shaped earth-discharging plate according to claim 1. 5. The cleaning robot main body is provided with caterpillars on both sides inclined in a V shape, and the contact surfaces of the respective caterpillars are vertically contacted with the inner wall surface of the cleaning object cylinder to run the cleaning robot. The method for cleaning an inner surface of a horizontal cylindrical body by a cleaning robot provided with an arc-shaped earth-discharging plate according to claim 2 or 3, wherein deposits attached to the inner surface are removed.