JPH08338197A - Covered surface deteriorated part separating device - Google Patents

Abstract

PURPOSE: To separate the deteriorated part of the wide range of covered surface efficiently by using a rotating roller provided at the top end of a work arm mounted on a vehicle part in combination with a water jet nozzle. CONSTITUTION: A pressing force is applied controllably to the top end of a work arm 1 mounted on a vehicle part so as to press a rotating roller 2 on a covered surface for separation of deteriorated part. Also a water jet nozzle 4 is supported toward the covered surface by a manipulator 5 set at the top end of a work arm 1 so as to separate the deteriorated part locally. Thus separation is performed using a rolling roller 2 over a wide range corresponding to its width, and also forcibly performed locally by more powerful force using the water jet nozzle 4. By this, the wide range of deteriorated part of the covered surface can be separated efficiently without damaging the sound covered surface.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for removing a deteriorated portion of a lining surface, which is applied for repairing a lining surface in a tunnel.

[0002]

2. Description of the Related Art FIG. 4 is an explanatory view of a conventional peeling work of a deteriorated portion on a lining surface of a tunnel. In the figure, the conventional peeling work of the deteriorated portion on the lining surface of the tunnel is carried out manually by several workers 18 riding on a work carriage 17 and hammering them with a hammer 19 or the like. Further, based on the experience of the worker 18, the location where the peeling is required is visually selected and the peeling operation is performed.

[0003]

As described above, since the conventional work of peeling off the deteriorated portion on the tunnel lining surface is carried out manually, it takes much time and labor and the work efficiency is poor. . Moreover, since the peeling work is performed by selecting the place where the peeling is necessary depending on the experience of the worker 18, there is a risk of overlooking the place where the peeling is necessary.

[0004]

SUMMARY OF THE INVENTION An object of the present invention is to remove a deteriorated portion of a lining surface according to the present invention, and is mounted on the tip of a working arm mounted on a vehicle part so as to control the pressing force. A rotating roller that presses against the lining surface to peel off the deteriorated portion, and a water jet nozzle that is supported toward the lining surface by a manipulator installed at the tip of the working arm to locally peel off the deteriorated portion are provided. Characterized by the configuration.

[0005]

That is, in the apparatus for removing a deteriorated portion of a lining surface according to the present invention, a rotating roller is attached to the tip of a working arm mounted on a vehicle part so that the pressing force can be controlled and is pressed against the lining surface. The water jet nozzle is supported toward the lining surface by a manipulator installed at the tip of the work arm, and the deteriorated part is locally peeled off.The pressing force of the rotating roller is applied to the peeling of the lining surface. By using, it is possible to peel off the deteriorated portion in a wide range corresponding to the width of the rotating roller. Further, since the rotary roller is attached to the tip of the working arm having the function of controlling the pressing force, it is possible to access the lining surface with a predetermined pressing force so as not to damage the sound lining surface. In addition, by using a water jet nozzle supported by a manipulator, it is possible to locally forcibly peel with a stronger force. As described above, by using the rotating roller and the water jet nozzle, the deteriorated portion can be peeled off in a wide range of the lining surface without damaging the sound lining surface.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 to FIG. 3 are explanatory views of an apparatus for removing a deteriorated portion of a lining surface according to an embodiment of the present invention. In the figure, the device for removing deteriorated parts of the lining surface according to the present embodiment is used for repairing the lining surface inside the tunnel, etc., and is rotated in order to cope with utility constraints such as water in the tunnel and the shape of the lining surface. The deteriorated part is peeled off by pressing the roller 2 against the lining surface inside the tunnel, and the work arm 1 having a force control function is provided to control the pressing force and expand the access range. In order to forcibly peel off an impaired deteriorated part, a local water jet nozzle 4 is also provided so that cleaning can be performed simultaneously with peeling.
Cleaning / peeling unit 16 for cleaning and peeling the deteriorated portion, sensor units 13 and 14 for detecting the target surface and obstacles, illumination device 7 for illuminating the target surface, ITV camera 6 for detecting the peeling unit, peeled removed matter It is composed of a removed matter recovery plate 8 for recovering the above, an operation unit 10 for controlling and controlling these devices, a vehicle unit 9 equipped with these devices and moving in a tunnel, and the like.

A rotating roller 2 for peeling the lining surface is mounted on the working arm 1. The control of the work arm 1 calculates a pressing force required by the operating unit 10 and commands such as movement and rotation based on the information on the obstacle and the information on the pressure obtained from the sensor unit 14 and sends the command to the drive unit of the cleaning device unit 15. As a result, the working arm 1 is controlled to remove the deteriorated portion of the lining surface. Further, with respect to a location where local forced peeling is required, the operation unit 10 sends a necessary movement and water jet injection command to the peeling device unit 12 based on information from the sensor unit 13 and the ITV camera 6. The local water jet nozzle 4 and the manipulator 5
Is controlled to remove the deteriorated portion of the lining surface. The peeling work is performed over the entire surface of the tunnel as the vehicle unit 9 travels.

The work arm 1 controls the extension and contraction and rotation of the arm for access to the lining surface and avoiding obstacles. The rotating roller 2 is applied with a low pressing force by the working arm 1 to clean and peel the lining surface. The cleaning brush 3 cleans the lining surface while running. Although the local water jet nozzle 4 forcibly peels off the deteriorated portion, it is also possible to give a shock with a hammer instead of the water jet to perform peeling by vibration. The manipulator 5 controls the position and orientation of the local water jet nozzle 4 in the case of local peeling. The ITV camera 6 observes the lining surface and zooms in and magnifies and observes a place where deterioration is suspected by intentive sensing. The illumination device 7 is an illumination for observing the lining surface. The removed matter recovery plate 8 has a set of devices housed in a container. The sensor portions 13 and 14 for detecting the target surface and obstacles by the stress are attached to the attachment portion of the rotating roller 2 to the working arm 1, and the working arm 1 can be dealt with in response to the shape distortion and the protrusion on the inner surface of the tunnel. The joint portion is controlled by controlling the rotational movement in the lengthwise direction in accordance with the pressing force at that time.

It is possible to increase the number of work arms 1 according to the required work time. In the peeling work, peeling is repeated in the length direction of the tunnel while the vehicle unit 9 is traveling at a speed of about 5 km / h. The time to repeat is determined by the number of work arms 1 with respect to the required work time. Usually, such a peeling operation is automatically performed. First, the ITV camera 6 performs image processing and the rotating roller 2 looks and touches the surface, and a forced peeling process is performed by a water jet including a detailed check only at a suspicious place. While monitoring the automatic information by image processing and the peeling situation by the rotating roller 2, the worker usually peels off the portion that is likely to be peeled off by the pressing force of the rotating roller 2, and peels off by the water jet if necessary. To do. This peeling device can automatically recognize the portion requiring peeling by the ITV camera 6 and the sensor units 13 and 14 which are distanced from each other. However, by shining light on the portion requiring forced peeling. Manipulator 5 for the position of light
It is also possible to obtain information on the place where peeling is required by detecting with a two-eye visible camera mounted above. A distance sensor such as a laser rangefinder is used to keep the position of the local water jet nozzle 4 constant in order to prevent danger.

Since the conventional peeling work of the deteriorated portion on the lining surface of the tunnel is carried out manually, it takes a lot of time and labor and the work efficiency is poor. In addition, there is a risk of overlooking the places where peeling is necessary because the locations where peeling is necessary are selected and the peeling work is performed based on the experience of the workers. In the above, the worker uses the pressing force of the rotating roller 2 having a force control function instead of performing the peeling work while hammering with a hammer, and also uses the water hammer force of the local water jet nozzle 4 to perform the peeling. Since a wide rotating roller 2 is attached to the tip of the work arm 1 that can be expanded and contracted and rotated, the deteriorated portion can be peeled off by accessing the entire tunnel lining surface. Also, the rotating roller 2
By using the pressing force of 1, the peeling in a wide range corresponding to the width of the rotating roller 2 becomes possible. In addition, peeling using the rotating roller 2 makes it possible to cope with utility restrictions such as water in the tunnel. In addition, by attaching the rotating roller 2 on the work arm 1 which has a force control function as well as an expansion and contraction and rotation function, it is possible to control the pressing force and prevent damage to a healthy lining surface at 50 kgf / It enables pressing and access to the entire tunnel lining surface with a low pressure of less than cm ² . In addition, by using the local water jet nozzle 4 supported by the manipulator 5, it is possible to locally and forcibly peel off with a stronger force. With these, it is possible to peel off the deteriorated part on the tunnel lining surface within a wide range without damaging the sound lining surface even within the constraints of the utility in the tunnel, and when forcibly peeling the deteriorated part locally. It becomes possible to deal with such.

[0011]

EFFECT OF THE INVENTION The apparatus for removing a deteriorated portion of a lining surface according to the present invention is configured as described above, and by using the rotating roller and the water jet nozzle, the deteriorated portion can be peeled off smoothly over a wide area of the lining surface. Since it is possible without damaging the lining surface, the work of peeling off the deteriorated portion on the lining surface can be carried out reliably without overlooking the place where the peeling should be carried out efficiently without requiring special time and labor.

[Brief description of drawings]

FIG. 1 is a perspective view of a device for removing a deteriorated portion of a lining surface according to an embodiment of the present invention.

2 (a) and 2 (b) are detailed views of a main part in FIG.

FIG. 3 is a functional system diagram thereof.

FIG. 4 is an explanatory view of a conventional peeling work of a deteriorated portion on a tunnel lining surface.

[Explanation of symbols]

 1 Working Arm 2 Rotating Roller 3 Cleaning Brush 4 Local Water Jet Nozzle 5 Manipulator 6 ITV Camera 7 Illumination Device 8 Removed Material Recovery Plate 9 Vehicle Part 10 Operating Part 11 Water Tank 12 Stripping Device Part 13 Sensor Part 14 Sensor Part 15 Cleaning Device Part 16 Cleaning / Peeling part

Claims (1)

[Claims] 1. A rotating roller mounted on the tip of a working arm mounted on a vehicle part so that the pressing force can be controlled and pressed against a lining surface to peel off a deteriorated portion, and a manipulator installed at the tip of the working arm. And a water jet nozzle for locally peeling off the deteriorated portion, which is supported toward the lining surface by the above.