JPH06457A - Automatic cleaning apparatus - Google Patents

Abstract

PURPOSE:To perform automatically recognition of an object and positional adjustment of a cleaning nozzle by judging the size and the shape of a body to be cleaned on a truck seat from an output of a distance sensor which are obtained when the truck seat passes through a gate-shaped frame and the amt. of movement of the truck seat and providing a computer commanding setting of the position of the cleaning nozzle. CONSTITUTION:A plurality of distance sensor 15 are positioned on the upper part and both side faces of a gate-shaped frame 14 striding over a guide rail 12 in the middle of a movement path for a truck seat 3 and a body to be cleaned 40 is carried on the truck seat 3 and the truck seat 3 is transferred by starting a motor 7 and the dimension of the body 40 is measured by passing it through the gate-shaped frame 14. On the other hand, the amt. of movement of the truck seat 3 is detected from the output of a detector for rotation of the motor 7 to measure the length of the body 40. Then, the height, the width and the shape of the body to be cleaned 40 are obtd. by the computer and setting of the positions of a plurality of freely extendable and shrinkable nozzles 17 for cleaning positioned on the gate-shaped cleaning frame 16 is commanded to a motor for extending and shrinking of the nozzles to perform cleaning.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a spray type automatic cleaning apparatus, for cleaning objects of irregular shape and various sizes from large articles to small articles such as rolling rolls and reels of machine products for iron making. The present invention relates to a suitable automatic cleaning device.

[0002]

2. Description of the Related Art Generally, cleaning methods include a dipping method using a chemical reaction action, a spray method using physical energy, and a mechanical brush method. In general spray type automatic cleaning devices, the cleaning nozzle position is fixed and the object is swung, or the cleaning nozzle fixed to the swivel frame is swung, and If the object is limited and the dimensional change is large, the nozzle position must be adjusted by changing the setup. Further, a robot cleaning method is adopted as a method of cleaning along a shape. In this case, the shape of the object is limited by the number of teaching patterns because the cleaning is performed according to the trajectory taught in advance.

[0003]

SUMMARY OF THE INVENTION As described above, the present invention provides automatic cleaning capable of automatically recognizing objects having irregular shapes and various sizes from large articles to small articles and automatically adjusting the cleaning nozzle position. The purpose is to provide a device.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in order to achieve the above objects in an advantageous manner. The gist of the present invention is that it is guided by a guide rail provided on a base,
A pedestal that mounts an object to be washed and can move back and forth, a gate frame that is arranged on the base so as to straddle the movement position of the pedestal, and has a plurality of distance sensors inside the pedestal, and the base. The gate-shaped cleaning frame and the pedestal, which are provided so as to travel in the moving direction of the pedestal over the moving position of the pedestal and have a plurality of expandable and contractible cleaning nozzles inside, form the gate-shaped frame. The size and shape of the object to be cleaned on the pedestal is determined from the output of the distance sensor and the movement amount of the pedestal obtained when the vehicle passes, and the position setting of the cleaning nozzle arranged on the gate type cleaning frame is commanded. The present invention relates to an automatic cleaning device comprising a computer.

[0005]

The apparatus of the present invention has the above-described structure, and the size and shape of the object to be cleaned is automatically determined by mounting the object to be cleaned on the pedestal and passing it through the gate frame provided with the distance sensor. The cleaning is performed while adjusting the setting position of the cleaning nozzle arranged on the gate type cleaning frame based on this, so even if the size or shape of the object to be cleaned changes, it is automatically set to the optimum state for cleaning. It is possible to

[0006]

1 is an overall side view and FIG. 2 is a perspective view. In the figure, 1 is a base. Reference numeral 2 is a guide rail fixedly arranged on the base 1, and 3 is a pedestal movably arranged on the guide rail 2 via a guide bearing 4, on which an object to be cleaned can be mounted. Reference numeral 5 is a drive belt having one end engaged with the trolley seat 3, and 6a is a member fixed to the base 1, and a motor 7 for driving the drive belt 5 is mounted above the member. 8 is a rotation detector of the motor 7, 9 is a pulley connected to the motor 7,
Reference numeral 0 denotes a drive pulley, which has a pulley 11 and obtains a driving force via a pulley 9 on the motor 7 side and a transmission belt 13. Reference numeral 12 is a driven pulley rotatably supported by a member 6b provided on the other end of the base 1, and a transmission belt 13 stretched between the pulley 9 and the pulley 11 by activating the motor 7.
The drive pulley 10 is rotated by. This drive pulley 1
The drive belt 5 is stretched between 0 and the driven pulley 12, and one end of the drive belt 5 is connected to the pedestal 3 so that the pedestal 3 is movable along the guide rail 2 in the longitudinal direction of the base 1. .

Reference numeral 14 denotes a gate-shaped frame body provided on the base 1 over the guide rail 2 in the middle of the movement path of the dolly seat 3. The upper and side surfaces of the frame body 14 are shown in FIG. As shown, a plurality of distance sensors 15 are arranged. As a result, the object 40 to be cleaned is mounted on the pedestal 3 and the motor 7 is activated to drive the pedestal 3 to pass through the gate frame 14, thereby allowing the distance sensor 15 to measure the size (height, width) of the object.
Is measured. On the other hand, the amount of movement of the carriage is detected from the output of the rotation detector 8 of the motor 7, and the length of the object is measured by this. The result is input to the computer shown in FIG. 3 and the shape of the object is accurately recognized by processing such as signal processing and data conversion.

Reference numeral 16 denotes a gate type cleaning frame, which is provided with a plurality of expandable nozzles 17 on the upper surface and both side surfaces of the frame as shown in FIG. The frame body 16 is fixedly arranged on the base 1 outside the guide rail 2 and in parallel with the guide rail 1.
8 is arranged to be engaged. Reference numeral 19 denotes a screw screw, and a nut (not shown) is fixed to the leg portion of the gate-type cleaning frame 16. The screw screw 19 is a bearing 2 fixed to the base 1.
It is supported by 0 and 21, and is connected to a motor 22 fixed to a bearing 21 at one end via a coupling (not shown). Then, by activating the motor 22, the gate-type cleaning frame 16 can move forward and backward on the guide rail 18.

Next, the structure of the expandable nozzle will be described. 6 and 7 show an example of a telescopic nozzle, in which 33 is a mounting seat fixedly arranged on the gate type cleaning frame 16, a bearing 24 is fixedly arranged on the mounting seat 33, and the screw screw 23 is rotated. The shaft is freely supported. A screw nut 25 is engaged with the screw screw 23, and one end thereof is connected to one end of the orthogonal shaft of the gear box 26 via a coupling (not shown). The other end of the orthogonal axis is connected to a motor 27 attached to the gate type cleaning frame 16.

Reference numeral 28 denotes a member fixedly arranged on the bearing 24. An arm member 29 is provided on the member 28 via a connecting pin 30.
Arm members 29 are also rotatably supported by connecting pins 30 on screw nuts 25 engaged with the screw screws 23. And arm members 29, 2
The intersections of 9 are rotatably connected by a connecting pin 30.
The nozzle 17 is disposed in engagement with the tip of a link mechanism formed by combining a plurality of these arm members 29. Three
Reference numeral 1 denotes a guide wheel rotatably arranged at the tip of an arm member 29 constituting the link mechanism, which engages with the upper portion of the frame of the nozzle 17. A guide shaft 32 stabilizes the position of the screw nut 25 and prevents the screw screw 23 from being loaded.

However, when the motor 27 is started, the screw screw 23 rotates and the screw nut 25 moves, whereby the arm member 29 rotatably attached to the nut is movable along the guide shaft 32. .
When the distance between the bearing 24 and the screw nut 25 changes, the link including the arm member 29 expands and contracts, so that the expansion / contraction position (set position) of the nozzle 17 can be changed.

34 is a cleaning cover, 35 is a motor cover,
Reference numeral 36 is a ventilation hole connected to the motor cover 35, 37 is a cleaning chamber configured to accommodate the gate-shaped cleaning frame 16 and surround the moving section of the frame 16, and 38 is an entrance / exit shutter of the cleaning chamber.

Here, the height of the object 40 to be cleaned at the time of passing through the gate frame 14 having the distance sensor as described above,
Since the width, length and shape are calculated by the computer 39, the position setting of the plurality of cleaning telescopic nozzles 17 arranged in the gate type cleaning frame 16 is calculated based on the result.
The motor 27 is instructed to execute. At this time, it goes without saying that the cleaning pressure and the nozzle distance condition are considered in advance according to the degree of contamination.

Next, a method of using the device of the present invention will be described. First, the object to be cleaned 40 is placed on the pedestal 3, and the cleaning pressure and the telescopic nozzle distance condition for cleaning are set in the computer 39 according to the degree of dirt. Next, the entrance / exit shutter 38 of the washing chamber 37 is opened, the motor 7 is activated, the pedestal 3 is caused to travel, and the gate frame 14 in which the distance sensor 15 is arranged is passed. As a result, as described above, the height, width and length of the object 40 to be cleaned are recognized by the computer 39, and then the carriage 3 is moved into the cleaning chamber 37 and the door shutter 38 is closed.

Next, the position is controlled by driving the motor 27 based on the height and width information according to the cleaning conditions and the motor 25 based on the length information according to a command from the computer 39. Position control rear gate type cleaning frame 1
6 is made to travel and the telescopic nozzle 17 is cleaned in accordance with the shape of the object 40 to be cleaned while maintaining a constant distance. Post-treatment can be made advantageous by adding an air blower and a drying device after cleaning. However, when using the device of the present invention, conditions are set in accordance with a wide variety of shapes from large products to small products,
It is to be automatically cleaned.

[0016]

As described in detail above, according to the apparatus of the present invention, it is possible to automatically form an object of large size, such as a rolling roll / reel of a machine for iron making, from a large article to a small article of various shapes and sizes. It is possible to recognize automatically, and it is possible to perform automatic cleaning by inputting cleaning conditions such as cleaning pressure, cleaning speed, and cleaning nozzle distance according to the type and degree of dirt.
The effect is extremely large.

[Brief description of drawings]

FIG. 1 is an overall side view of an embodiment of the device of the present invention.

FIG. 2 is a perspective view showing the overall configuration.

FIG. 3 is an explanatory view of recognizing the shape of an object to be cleaned and setting the position of the cleaning telescopic nozzle.

FIG. 4 is a view showing an arrangement example of the distance sensors on the gate frame in the arrow view of FIG. 1A-A.

FIG. 5 shows the arrangement of telescopic nozzles on the gate type cleaning frame in the view of FIG. 1B-B.

FIG. 6 is an explanatory view showing a mounting structure of a retractable nozzle and a retracting mechanism.

FIG. 7 is a view on arrow AA of FIG.

[Explanation of symbols]

 1 base 2 guide rail 3 pedestal 4 guide bearing 5 drive belt 6a, 6b member 7, 22, 27 motor 8 rotation detector 9 and 11 pulley 10 drive pulley 12 driven pulley 13 transmission belt 14 gate form 15 distance sensor 16 Gate Type Cleaning Frame 17 Telescopic Nozzle 18 Guide Rail 19, 23 Screw Screws 20, 21, 24 Bearing 25 Screw Nut 26 Gear Box 28 Member 29 Arm Member 30 Connecting Pin 31 Guide Wheel 32 Guide Shaft 33 Mounting Seat 34 Cleaning Cover 35 Cover 36 Ventilation Hole 37 Washing Room 38 Doorway Shutter 39 Computer 40 Object to be Washed

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Jiro Matsuo 5-3 Tokai-cho, Tokai-shi, Aichi Nippon Steel Co., Ltd. Nagoya Steel Works

Claims (1)

[Claims] 1. A pedestal seat which is guided by a guide rail provided on a base and is capable of moving forward and backward by mounting an object to be cleaned, and a pedestal on the base astride a moving position of the pedestal, and inside thereof. And a gate frame provided with a plurality of distance sensors, and a plurality of expandable and retractable cleaning nozzles provided on the base so as to be movable in the moving direction of the pedestal across the moving position of the pedestal. The size and shape of the object to be cleaned on the pedestal is determined from the arranged gate-type cleaning frame and the output of the distance sensor obtained when the pedestal passes through the gate-shaped frame and the pedestal movement amount. In addition, the automatic cleaning device comprises a computer for instructing the position setting of the cleaning nozzle arranged on the gate type cleaning frame.