JPH08257952A - Suction type wall surface walking device having surface treatment mechanism - Google Patents

Abstract

PURPOSE: To provide a lightweight and inexpensive suction type wall surface walking device having a surface treatment mechanism. CONSTITUTION: A blast mechanism 70 is loosely locked to a suction type wall surface walking device 1 which suctionally walks a wall surface. The blast mechanism 70 is raised and lowered by a winch means 65 provided on a deck; i.e., the role of the suction type wall surface walking device 1 is to loosely hold the blast mechanism 70 and to keep the mechanism 70 from rolling horizontally and not to support the entire blast mechanism 70. Therefore, the suction type wall surface walking device 1 needs to support its own weight only and so can be made lightweight and small as a whole.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suction type wall surface walking apparatus having a surface treatment mechanism.

[0002]

2. Description of the Related Art Conventionally, the cleaning of the walls of high-rise buildings, the cleaning of window glass, and the maintenance of the walls of high-rise buildings have been done by using scaffolding, using aerial work vehicles, and using gondola hung by ropes. , These scaffolds, aerial work vehicles, and gondola-mounted workers. Mechanization of work in high places,
Due to the demand for automation, adsorption-type wall-walking devices equipped with a surface treatment mechanism have been studied and partially put into practical use. The suction-type wall walker is a device that attaches a vacuum suction cup to the tip of multiple leg mechanisms, and can move the wall like a "spider" by repeating suction and non-suction of the vacuum suction cup while moving the leg mechanism. Is.

[0003]

However, since the surface treatment mechanism mounted on the suction type wall surface walking device projects the blast onto the wall surface at a high speed in the case of a blast mechanism, for example, a large reaction force is applied to the suction type wall surface. Give to the walking device. The same applies when the surface treatment mechanism is a steel brush, and the reaction force tends to increase as the treatment capacity increases. Further, since the conventional surface treatment mechanism is directly mounted on the suction type wall walking device, and the surface treatment mechanism is a heavy object, the suction type wall walking device must bear both its weight and its own weight. I won't. In that case, the suction-type wall walking device needs to be a structure having sufficient rigidity and has a large suction force. Therefore, the conventional suction-type wall surface walking apparatus having the surface treatment mechanism is large, complicated, and expensive, which is a factor that hinders the spread of the apparatus. Therefore, an object of the present invention is to provide a lightweight and inexpensive suction type wall surface walking apparatus with a surface treatment mechanism.

[0004]

In order to achieve the above object, the present invention comprises an apparatus comprising a surface treatment mechanism for treating the surface of a wall surface and an adsorption type wall walker for loosely holding the surface treatment mechanism. Positioning and moving the surface treatment mechanism by a hoisting means, the suction-type wall-walking device is an annular main body frame, a plurality of leg mechanisms lowered from the main body frame, and tips of these leg mechanisms. And a vacuum sucker attached to the device, and is configured to walk independently of the hoisting means.

When the position of the surface treatment mechanism becomes improper on the basis of the suction type wall surface walking device, position detecting means for detecting this is provided between the surface treatment mechanism and the suction type wall surface walking device. Prepare for at least one.

[0006]

[Operation] By raising and lowering the surface treatment mechanism by the winding means,
Make sure that the load of the surface treatment mechanism is not applied to the suction-type wall walker. Since the suction type wall walking device only needs to support its own weight, the structure can be simplified and the weight can be reduced.

When the position detecting means is activated, the surface treatment mechanism is accelerated / decelerated or the suction type wall walker is decelerated / accelerated to correct the position of the surface treatment mechanism.

[0008]

Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings should be viewed in the direction of reference numerals. For convenience of explanation, a single suction-type wall walking device will be described with reference to FIGS. 1 to 6, and thereafter, a suction-type wall walking device provided with a surface treatment mechanism will be described. X is the horizontal axis parallel to the wall, Y
Is a vertical axis parallel to the wall surface, and Z is a vertical axis orthogonal to the wall surface. FIG. 1 is a plan view of a suction type wall surface walking apparatus according to a first embodiment of the present invention, FIG. 2 is an exploded perspective view of the same, and FIG. 2, FIG. 3, and FIG. 1 will be described in this order. In FIG. 2, the suction-type wall-walking device 1 includes an annular main body frame 2 having a substantially mouth shape in plan view, and a plurality of leg mechanisms 10A, 10B, 10C, which are lowered from the main body frame 2.
10D, 10E, 10F, 10G, 10H, and a vacuum suction cup 3 attached to the tips of these leg mechanisms 10A to 10H.
0 ... (... indicates a plurality, the same applies hereinafter).
The body frame 2 is formed by molding a flexible material such as rubber or soft resin into a hollow rubber or resin floating ring-shaped body.

Since the leg mechanism 10A and the leg mechanism 10B are in a so-called opposite relationship and only the orientations of some parts are different, only the leg mechanism 10A will be described in detail below. FIG. 3 is an enlarged view of the leg mechanism 10A.
Is a mounting bracket 11, bands 12 and 12, and an X-direction cylinder 15 (hereinafter, simply referred to as "X cylinder 1" that is mounted to the mounting bracket 11 via attachments 13 and 14.
5 ”. ) And a Z-direction cylinder 18 (hereinafter,
It is simply referred to as "Z cylinder 18". ). 19,
Reference numeral 19 is a guide rod, and 21 ... Fixing blocks are members for fixing the guide rod 19 to the mounting member 11. The guide rods 19 and 19 are members for maintaining the posture of the Z cylinder 18.

Piston rod 22 of the Z cylinder 18
A vacuum suction cup 30 is attached to the tip of the vacuum suction cup 30. The vacuum suction cup 30 is formed by molding rubber or soft resin into a cup shape, and is connected to a three-way solenoid valve 32 and a vacuuming means 33 such as a vacuum pump with a hose 31. Vacuuming means 33
By increasing the degree of vacuum in the vacuum suction cup 30, the vacuum suction cup 30 is sucked onto the wall surface. Three-way solenoid valve 32
Is switched to disconnect the hose 31 from the evacuation means 33 and communicate with the atmosphere, the hose 31 and the vacuum suction cup 30 return to atmospheric pressure, and the vacuum suction cup 30 loses its suction force. This state is called non-adsorption.

Returning to FIG. 2, the leg mechanism 10B has only the X cylinder changed to the Y direction cylinder 24 (hereinafter simply referred to as "Y cylinder 24"), and the other parts are not changed, and therefore the description thereof will be omitted. Other leg members 10D, 10E, 10H are X
It has a cylinder 15 and the leg members 10C, 10F, 10G have a Y cylinder 24. Therefore, the leg mechanism 10A,
10D, 10E and 10H move the vacuum suction cup 30 in the X direction in the figure by the action of the X cylinder 15, and the leg mechanisms 10B and 10H.
C, 10F, and 10G move the vacuum suction cup 30 in the Y direction in the figure by the action of the Y cylinder 24. Therefore, by using any one of them, the vacuum self-propelled device 1 is self-propelled in the X or Y direction. be able to.

In FIG. 1, a total of eight vacuum suckers are designated as 30A, 30B, 30C, 30D, 30E, 30F and 3 for convenience.
0G, 30H, X, -X, displayed in the center of the figure
According to the Y and -Y directions, it is possible to move in either direction in the following manner. Here, only the movement in the Y direction will be described. In the following description, the cylinder forward movement means that the piston rod is extended outward from the cylinder, and the cylinder backward movement means the opposite. The vacuum suction cups 30C and 30F are advanced by one pitch in the manner of non-adsorption, Z cylinder (symbol omitted, hereinafter the same) backward movement, Y cylinder forward movement, Z cylinder forward movement, and adsorbed at that position. Vacuum suction cups 30A, 30D,
30E and 30H are not adsorbed, and preferably the Z cylinder is moved backward to the standby position. Simultaneously with or immediately after this, the Y cylinders related to the vacuum suction cups 30B and 30G are moved forward, and the Y cylinders related to the vacuum suction cups 30C and 30F are moved backward. This moves the body frame 2 in the Y direction by one pitch. The vacuum suction cups 30A, 30D, 30E, 30H are adsorbed. The vacuum suction cups 30B and 30G are advanced by one pitch in the manner of non-adsorption, Z cylinder backward movement, Y cylinder backward movement, and Z cylinder forward movement, and then returned to the state shown in FIG. Although the above explanation is a little difficult to understand, it is a general operation example of the suction type wall walking device. Further, this action is not limited to the above description. Since other -Y, X, -X are the same,
Description is omitted.

The operation of the suction type wall surface walking device described above will be described below. FIG. 4 is an operation diagram of the suction type wall surface walking apparatus of the present invention, in which the ship side outer plate 40 of a large ship has many concave surfaces 41 and convex surfaces 42. Therefore, in the suction-type wall surface walking device 1 according to the present invention, the main body frame 2 is deformed following the concave surface 41 and the convex surface 42. To be precise, the center of the body frame 2 is bent. This is because the other parts are constrained by the fitting 11 and the bands 12, 12. Therefore, the vacuum suction cups 30 ... Always contact the ship side outer plate 40 at a preferable angle, and there is no fear of impairing the suction ability. In this way, the suction-type wall surface walking device 1 is free to travel on a curved surface.

FIG. 5 is an exploded perspective view of a suction type wall walking apparatus according to a second embodiment of the present invention, in which the main body frame 50 is a hollow element in which both openings of a rectangular cylinder of rubber or soft resin are closed. 51 ... and a metal fitting 52 ... for connection,
The hollow elements 51, 51 are joined together by a metal fitting 52 to form an annular shape as a whole. Leg members 10A-10H
Is not changed, the reference numerals are applied correspondingly, and the description is omitted. In the second embodiment, the corner portion is deleted. The hollow elements 51 ... Have a simple shape and structure. Therefore, the main body frame 50 can be manufactured at low cost.

FIG. 6 is a view showing another embodiment of the main body frame of the present invention. The main body frame 60 comprises a hollow tube 61 having a small diameter, for example, a rubber tube having both ends closed, and the band 6
It is bundled with 2,63. The cost can be further reduced as compared with the second embodiment.

FIG. 7 is an exploded perspective view of a suction type wall surface walking apparatus having a blast mechanism according to the present invention. A blast mechanism 70, which is a typical example of the surface treatment mechanism, is a blast box 73.
A blast nozzle 74, 74 for connecting the tips of the blast supply hoses 71, 71, and a nozzle swing mechanism 80 for swinging the blast nozzle 74, 74.
A wire coupling plate 75 (also serving as a stand for the motor 81) and guide grooves 76, 76. On the other hand, the parallel link 7 is attached to the bands 12 and 12 on the suction type wall surface traveling device 1 side.
The guide rail 79 is attached via 7, 77 and the single links 78, 78, and the blast mechanism 70 is slidably attached to the two guide rails 79, 79.

FIG. 8 is a plan view of a suction type wall surface walking apparatus equipped with the blast mechanism according to the present invention.
Through parallel link 77 ... and single link 78
... is attached, guide rails 79, 79 are attached to these links 77, 78, ..., and these guide rails 79, 79 are attached.
The state which attached the blast mechanism 70 in between is shown. In the figure, the blast mechanism 70 is movable up and down. But,
Movement in the front and back direction of the drawing is suppressed. Lt is an upper limit position detecting means, and Lb is a lower limit position detecting means, and detects that the blast mechanism 70 has reached one of them. The position detecting means Lt and Lb may be of any type as long as they are relative position detecting means such as a lever type limit switch, a push type limit switch, a magnetic proximity switch, and an optical proximity switch.

FIG. 9 is a sectional view taken along the line 9-9 of FIG. 8, which shows a detailed cross section of the blast mechanism 70. A pad 73 made of rubber, resin or the like is provided at the lower edge of the blast box 73.
a is attached, and the blast box 73 is directly attached to the wall surface.
I try not to win. This is because consideration was given so that the wall surface would not be flawed. However, slits 73b ... Are appropriately cut in the pad 73a to allow the introduction of outside air to some extent and to prevent the blast box 73 from being detached from the wall surface due to too high a vacuum degree. The openings 73c, 73c visible at the back are blast discharge openings following the blast recovery hose 72. Further, the blast nozzles 74, 74 are a motor 81 (see FIG. 8), a eccentric cam 82, and levers 83, 8 which constitute the nozzle swing mechanism 80.
3, the spherical bushes 84, 84, and the pins 85, 85 swing left and right around the pins 85, 85 so that the wall surface is uniformly blasted. 87,
A dustproof cover 87 prevents blast and rust from entering the spherical bushes 84, 84 and the like.

What is important here is that the body frame 2 and the blast box 73 are connected by parallel links 77, 77. When the inside of the blast box 73 becomes a vacuum, the pad 73a contacts the wall surface. On the other hand, the frame body 2 is deformed according to the shape of the wall surface. Therefore, by connecting the two with parallel links 77, 77, a structure is provided that does not hinder the mutual movement in the Z direction.

FIGS. 10 (a) and 10 (b) are views showing the connecting mechanism between the surface treatment mechanism and the frame body according to the present invention, and FIG.
10 is a reprint of the coupling mechanism of FIG. 10, showing a mode in which one side of the parallel link 77 is attached to the band 12 on the main body frame 2 side and a guide rail 79 is attached to the other side of the parallel link 77. Therefore, the guide rail 79 is not twisted at any height in the Z direction. However, the parallel link 77 has a sufficient supporting function in the X direction, but does not have the supporting function in the Y direction. Therefore, the single link 78 is attached to another band 12, and the movement in the Y direction is restricted by the single link 78.

(B) shows another example of the connecting mechanism, which is a plan view L.
A character-shaped rubber damper 89 is prepared, and the bands 12, 12 and the guide rail 79 are connected by this rubber damper 89. The rubber damper 89 has uneven creases on its surface, and since it is also an elastic body, it has a sufficient displacement absorbing ability, and therefore sufficiently absorbs the required displacement.

FIG. 11 is an operation diagram of the suction type wall walking apparatus equipped with the surface treatment mechanism of the present invention. The suction type wall walking apparatus 1 is provided with a blast mechanism 70, and the blast mechanism 70 is moved vertically and horizontally in the figure. At the same time, the pre-coating surface treatment of the outer shell 40 of the large ship is performed. The blast mechanism 70 is a mechanism for spraying sand or shots (steel balls, pieces of steel wire) at high speed to remove rust on the steel plate surface, and the sand or shots are referred to as blast.

The blast mechanism 70 is a heavy object, and the blast supply hose 71 and the blast recovery hose 72 hang downward for a long time, and the weight of them is also added. Therefore, in this example of use, the hoisting means 65 such as a winch and the wire 66 are prepared, and the hoisting means 6 provided with the blast mechanism 70 on the deck.
The wire 66 was moved up and down at 5. That is, the role of the suction-type wall surface walking device 1 is to gently hold the blast mechanism 70 and to prevent the blast mechanism 70 from swinging in the left-right direction (X direction), and does not support the entire blast mechanism 70. . Therefore, the suction-type wall surface walking apparatus 1 of the present embodiment has a light load, and can be configured to be lightweight and small.

For example, by laying a rail on the deck, mounting a truck on the rail, and mounting the hoisting means 65 on the trolley, the hoisting means 65 can be appropriately moved in the lateral direction of the drawing. 67 is a work vehicle laterally attached to the quay, 6
8 is a blast projection equipment. This blast projection equipment 6
Reference numeral 8 has a function of removing rust, foreign matters, etc. from the collected blast, a mechanism for firing a clean blast at a predetermined speed, and other necessary mechanisms.

The operation of the suction-type wall surface walking apparatus having the above-mentioned surface treatment mechanism will be described below. In FIG. 11, the hoisting means 65 is started to lower the blast mechanism 70 and the suction-type wall surface walking device 1 to a predetermined height. At a predetermined height, the suction-type wall surface walking device 1 is brought into a suction state, and blast is supplied from the blast projection equipment 68. In FIG. 8, the wall surface below the blast box 73 is shot,
Floating rust etc. is peeled off. The mixture of shot and rust etc. is recovered by the blast recovery hose 72. Then, by winding the wire 66, the blast box 73 rises, and the wall surface is blasted from bottom to top. Therefore, the suction-type wall surface walking device 1 is caused to walk upward in accordance with the winding speed of the wire 66.

FIG. 12 is an operation flow chart of the suction type wall surface walking apparatus provided with the surface treatment mechanism of the present invention, where STXX indicates a step number. Also, in this embodiment, the winding means 6
Reference numeral 5 can switch between a reference speed (medium speed), a low speed and a high speed. In ST01, the suction-type wall surface walking device 1 starts ascending walking, and at the same time, in ST02, the blast mechanism 70 starts projection of the blast. In ST03, the winding means 65 winds the blast mechanism 70 at the "reference speed". This reference speed is almost the same as the average walking speed of the wall surface walking apparatus 1. S
At T04, it is checked whether or not the upper limit position detecting means Lt is in the detection (ON) state, and at ST05, the lower limit position detecting means Lt is also detected.
It is checked whether or not b is in the detection (ON) state. As shown in FIG. 8, when both detection means Lt and Lb are not detected (OFF), the blast mechanism 70 is in the middle of the frame of the main body frame 2. Therefore, in each flow, the route No is followed and the wall surface walking, blasting, and winding are continued.

When the upper limit position detecting means Lt is turned on in ST04, the winding speed is relatively fast. Therefore, in ST06, the winding speed is switched to "low speed". It will continue to run for a while, but the winding speed may be too slow. Therefore, if the lower limit position detection means Lb is turned on in ST07, the Yes route is advanced to return to ST03, and the winding speed may be returned to the standard.

When the lower limit position detecting means Lb is turned on in ST05, the winding speed is relatively slow. Therefore, in ST08, the winding speed is switched to "high speed". It will continue to run for a while, but the winding speed may be too fast. Therefore, when the upper limit position detecting means Lt is turned on in ST09, the route of Yes is advanced to return to ST03, and the winding speed may be returned to the standard.
With the above control, it is possible to achieve preferable synchronization between the raising of the suction-type wall surface walking device 1 and the winding of the blast mechanism 70. The above has described the ascending work, but the same goes for the descending work.
Moreover, the control flow is merely an example, and the present invention is not limited to this example.

FIG. 13 is a sectional view of another embodiment of the surface treatment mechanism according to the present invention. The surface treatment mechanism may be the illustrated rotating brush mechanism 90. That is, the rotating brush mechanism 90
Are brushes 92, 9 in an elongated box 91 whose bottom surface is open.
2, 92 are housed, and the brushes 92 ...
Is mechanically connected by a gear 95 ..., and one of the gears 95 is connected to the output gear 9 of the motor 96.
7 is meshed. The inside of the vertical axis 93 is a water passage so that water can be injected during brushing. Provided with guide grooves 76, 76 on both sides of the box 92,
Further, the pad 73a is provided at the bottom of the box 92, which is the same as the blast box 73. Therefore,
The blast box 73 of FIG. 8 is replaced with a box 91, and a suction type wall walking device 1 equipped with a rotating brush mechanism 90.
Can be configured.

FIG. 14 is a sectional view taken along line 14-14 of FIG. 13, showing that the box 91 is an elongated box. On the rear wall 91a of the box 91, a dust recovery port 91b,
91b is opened, a dust recovery hose 98 extends from these dust recovery ports 91b, 91b, and reaches a suction means (not shown). Therefore, the generated dust, rust, etc. are forcibly collected. By the way, since the suction means moves the fluid and the substance due to the pressure difference, the inside of the box 91 may have a negative pressure, and the pad 73a may adhere to the wall surface. Therefore, the vacuum breaking holes 91d ... Are opened in the front wall 91c of the box 91 to weaken the vacuum suction force.

The rotary brush mechanism 90 has a brush 92.
The number may be 2 or 4 or more. Also,
In this embodiment, as shown in FIG. 8, the position detecting means Lt,
Although Lb is attached to the body frame 2 side, these may be attached to the blast mechanism 70 side or both.

[0032]

The present invention has the following effects due to the above configuration. An adsorption type wall surface walking apparatus having a surface treatment mechanism according to claim 1 is configured such that the surface treatment mechanism is positioned and moved by a hoisting means, and the adsorption type wall surface walking apparatus walks independently of the hoisting means. Therefore, the suction type wall walking device only has to support its own weight, and the structure is simple and the weight can be reduced. Therefore, it is easy to reduce the size and weight of the entire suction-type wall surface walking apparatus including the surface treatment mechanism.

According to another aspect of the present invention, there is provided a suction type wall surface walking apparatus equipped with a surface treatment mechanism, wherein at least one of the surface processing mechanism and the suction type wall surface walking apparatus is provided with position detecting means for detecting a relative position of the surface treatment mechanism. Therefore, the surface treatment mechanism can be easily synchronized with the moving speed of the suction-type wall surface walking device.

[Brief description of drawings]

FIG. 1 is a plan view of a suction type wall walking apparatus according to a first embodiment of the present invention.

FIG. 2 is an exploded perspective view of a suction type wall walking device according to a first embodiment of the present invention.

FIG. 3 is an exploded perspective view of a main part of the suction type wall surface walking apparatus according to the first embodiment of the present invention.

FIG. 4 is an operation diagram of the suction type wall walking device of the present invention.

FIG. 5 is an exploded perspective view of a suction type wall walking device according to a second embodiment of the present invention.

FIG. 6 is a diagram showing another embodiment of the main body frame of the present invention.

FIG. 7 is an exploded perspective view of a suction type wall walking device equipped with a blast mechanism of the present invention.

FIG. 8 is a plan view of a suction type wall surface walking device equipped with a blast mechanism of the present invention.

9 is a sectional view taken along line 9-9 of FIG.

FIG. 10 is a connection mechanism diagram of the surface treatment mechanism and the frame body according to the present invention.

FIG. 11 is an operation diagram of an adsorption type wall surface walking apparatus equipped with the surface treatment mechanism of the present invention.

FIG. 12 is an operation flow chart of an adsorption type wall surface walking apparatus equipped with the surface treatment mechanism of the present invention.

FIG. 13 is a sectional view of another embodiment of the surface treatment mechanism according to the present invention.

14 is a sectional view taken along line 14-14 of FIG.

[Explanation of symbols]

1 ... Adsorption type wall walking device, 2 ... Main body frame, 10A to 10H
... Leg mechanism, 15 ... X direction cylinder (X cylinder), 18
... Z-direction cylinder (Z cylinder), 24 ... Y-direction cylinder (Y cylinder), 30, 30A to 30H ... Vacuum suction cup,
33 ... Vacuum evacuation means, 65 ... Winding up means, 70 ... Blast mechanism as surface treatment mechanism, 90 ... Rotating brush mechanism as surface treatment mechanism, Lt, Lb ... Position detection means.

Claims (2)

[Claims] 1. A surface treatment mechanism for treating the surface of a wall surface,
The surface treatment mechanism is loosely held by a suction type wall walking apparatus, the surface treatment mechanism is positioned and moved by a winding means, and the suction type wall walking apparatus has an annular body frame and this body frame. It is equipped with a surface treatment mechanism characterized by comprising a plurality of leg mechanisms that have been unloaded from above and a vacuum suction cup attached to the ends of these leg mechanisms, and that walks independently of the winding means. Adsorption type wall walker. 2. When the position of the surface treatment mechanism becomes improper when the suction-type wall walker is used as a reference, a position detection means for detecting this is provided as the surface treatment mechanism and the suction-type wall walker. The adsorption type wall surface walking apparatus having the surface treatment mechanism according to claim 1, wherein the adsorption type wall surface walking apparatus is provided on at least one of the above.