JPS61257567A - Apparatus for hanging wall surface working vehicle - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] (Field of Industrial Application) This invention is a wall surface on which work equipment for inspection, painting, etc. is mounted on the wall surface of a ship, a structure, etc., and is freely moved around to perform required work. This invention relates to a suspension device for safely operating a work vehicle.

C Western Committee's #2i &) wall work vehicle is attached to the wall by the suction force of a magnet device or vacuum device, is equipped with a traveling device, and travels along the wall surface by remote control, making full use of various work equipment mounted on the tower. Conventionally, a safety rope was used as a lifeline to prevent accidents such as falling and damage due to a decrease in adhesion to the wall due to some reason. In this system, the safety rope is used in a slack state so that it does not create any resistance, and if the wall work vehicle falls due to some accident, the safety rope acts as a lifeline and prevents the wall work vehicle from falling and being damaged. Ta.

(Problem to be solved by the invention) Conventional wall work vehicles support their own weight by the frictional force of running wheels that are pressed against the wall by the attraction force of a magnet device or vacuum device, and are equipped with a running device to remotely move vertical walls, etc. Since it is a device that moves when operated, the suction force must be increased as its own weight increases, which has a causal relationship that increases the weight even more, so the weight of the work equipment that can be mounted is naturally limited. In addition, since the safety rope is used in a slack state, the slack safety rope may get caught between the wall work vehicle and the wall. There is a danger that the safety rope may break due to the wall work vehicle being lifted off the wall, reducing suction power and causing the wall work vehicle to fall.
In addition, there are problems such as the safety rope that hangs down obstructing the work of the work equipment, requiring advanced driving skills to operate the wall work vehicle, and the current situation is that it has not been implemented satisfactorily. be.

The present invention solves these conventional problems and provides a safety opening,
- Automatically follows the movement of the wall work vehicle and always lifts the rope with a predetermined tension to eliminate sagging.
To enable safe wall work by hanging with a tension that balances the weight of the wall work vehicle, as well as to increase the weight of work equipment that can be mounted on the wall work vehicle and to reduce the suction force required to adsorb it to the wall surface. The purpose is to

(Means for Solving the Problems) To achieve the above object, the present invention provides a winch mechanism for a wall work vehicle through a tension mechanism using a spring, a balance weight, and a torque motor alone or in combination as a torque generation source. A rotational torque is applied to the tension mechanism by a torque generating source, and the rotation of the drum, which has a safety rope wrapped around the outer periphery for hanging the wall work vehicle, as the wall work vehicle travels is detected. Equipped with a rotation angle detector, the winch mechanism is automatically started and stopped based on the signal from this rotation angle detector, and the distance between the tension mechanism and the wall work vehicle is kept almost constant, so that the tension that hangs the wall work vehicle does not change. This is a hanging device for a wall work vehicle that is configured to automatically control.

(Function) In the hanging device for a wall work vehicle of the present invention, the winch mechanism lifts the tension mechanism above the wall surface, and the tension mechanism suspends the wall work vehicle by a safety rope wrapped around a built-in drum.
The drum receives rotational torque from the elasticity of the spring, the weight of the balance weight, or the torque of the torque motor, singly or in combination, and this rotational torque winds up the safety rope, which uses its tension to support the weight of the wall work vehicle. As the work vehicle moves, the relative position between the tension mechanism and the wall work vehicle changes, and the elasticity of the spring changes.
When the weight of the balance weight, the torque of the torque motor, etc. can no longer absorb the changes in the above-mentioned relative positions, the rotation angle detector built into the tension mechanism detects the rotation of the drum and generates a signal that drives the motor of the winch mechanism. It functions to stop the tension mechanism and the wall work vehicle to return to their normal relative positions.

When this hanging device for wall work vehicles is used, the weight of the work equipment that can be mounted on the wall work vehicle can be greatly increased because it is lifted upward with a force that is almost equal to the weight of the wall work vehicle, significantly increasing the work capacity. At the same time, it is possible to significantly reduce the suction force of the magnet device and vacuum device required to attract and hold the wall work vehicle on the wall, thereby reducing the weight of the wall work vehicle. .

In addition, the winch mechanism only needs to be operated intermittently, and the winch mechanism alone can change the tension of the safety rope, since the torque of the drum is absorbed by the spring force when the wall work vehicle travels over a short distance. Compared to adopting a method of detecting and following the movement of the wall work vehicle, the tension device of the present invention can significantly reduce equipment costs.

Furthermore, if a torque motor is used in addition to the torque generated by a spring or balance weight, the lifting force can be adjusted steplessly and remotely by adjusting the torque motor.

(Example) DESCRIPTION OF THE PREFERRED EMBODIMENTS The structure of the present invention will be explained below based on drawings illustrating embodiments.

(1) is the wall surface, (2) is the wall surface work vehicle, and the work equipment (3)
The tower is equipped with a suction device (4), a motor (5), a reducer (6
), equipped with wheels (7), the wall work vehicle (2) is held on the wall (1) by the frictional force between the vehicle (7) and the wall (1) due to the suction force of the suction device (4). At the same time, the wheels (7) are driven by the motor (5) via the reducer (6) to run on the wall surface (1) by remote control.

(8) is a tension mechanism that fixes the drum 〇〇 on which the wall work vehicle (2) is suspended and the safety loaf (9) wrapped around its outer periphery is fixed to the drum shaft α Yu. It is rotatably supported and has spiral springs (2
) and torque motor α are connected, and the torque of this spring (to) and torque motor α is applied to drum α0.
The safety rope (9) is working to lift the wall work vehicle (2). Furthermore, it has a built-in rotation angle detector (g) that is linked to the rotation of the drum 〇〇 from the drum shaft Ql) to the sprocket (g) aQ and the chain α.

When using the balance weight 4 as a torque generation source, hang the wall work vehicle (2) around the outer periphery of the drum αO on the opposite side of the hanging direction, as shown by the imaginary line in Figure 1. It has the advantage that the tension is constant regardless of the rotation angle of the drum αQ(n11) compared to a spring.

(E) is a winch mechanism that consists of a winding drum 3υ, a motor (2), a wire rope (c), and a pulley suspended from the ceiling. The tip of the safety rope (9) is tied to the hanger @ of the tensioning mechanism (8), and the tip of the safety rope (9) is tied to the hanging fitting (c) installed on the wall work vehicle (2) via the tensioning mechanism (8). This is for hanging the work vehicle (2).

As the torque generation source mentioned above, the figure shows a combination of a spring (to) and a torque motor α◆, but there are also cases where a combination of the three with a balance weight α value is used. and balance weight α
A combination of values, a combination of balance weight α0 and torque motor α→, or each torque generation source may be used alone.

As shown in the detailed cross-sectional view in Fig. 4, the rotation angle detector (G) is attached to the outer periphery of a rotating body (goods) attached to the detector shaft which is interlocked from the drum shaft αη to the sprocket (G) aQ and chain αη. Set up a dog (ha) in one place,
A limit switch support box surrounding the rotating body (goods) - Three limit switches (7) are installed at appropriate circumferential intervals, and this detector axis (e) is connected to the wall work vehicle (2).
When the dog (E) provided on the rotating body (property) contacts one of the limit switches ■ by rotating in conjunction with the drum 4 that rotates as the machine travels, the limit switch turns ON and a signal is generated. In response to this signal, the motor (2) of the winch mechanism (E) starts or stops, and the winding drum (
(b) is rotated or stopped, the wire rope (ii) is automatically wound up or unwound, and the distance between the wall work vehicle (2) and the tension mechanism (8) is automatically controlled within a predetermined range. .

Now, when the wall work vehicle (2) is lifted up and attached to the wall (1) as shown in Figures 1 and 2, Wl is the weight of the wall work vehicle (2), and W2 is the weight of the work equipment (3). Weight, P is the tension of the safety rope (9), r is the suction force to prevent the wall work vehicle (2) from sliding down the wall (1) due to gravity, θ! .

θ2 is the angle between the vertical line and the safety rope (9), μ is the wheel (
7) and the wall surface (1), then W 1 +
W 2- poosθ1-cosθ2=p(F-Pai
If the relationship nθ1−cosθ2) holds, and both θ and θ2 are O, W1+
If W2ΦP is set, F becomes 0, and the suction force required for the wall work vehicle (2) is the force required to travel on the wall (1) and the reaction generated by the work performed by the work equipment (3). Since it only needs to withstand the force, the suction device consisting of a magnet device and a vacuum device can be significantly reduced in size and weight, and the weight of the work equipment (3) that can be mounted on the tower can be significantly increased instead. .

With the above configuration, the wall work vehicle (2) is lifted by the winch mechanism (E) via the tension mechanism (8), and the wall work vehicle (2) travels on the wall surface (1) while performing a predetermined work. , when the distance to the tensioning mechanism (8) changes, the tensioning mechanism (8) uses its own torque to tighten the safety rope (9).
It winds up and rewinds to absorb the change in distance, but before the absorption limit is exceeded, the rotation angle detector (G) works and the winch mechanism (2) lifts or lowers the wall work vehicle (2). The tension mechanism (8) is controlled so that the distance between the safety lever (9) and the tension mechanism (8) does not change more than a certain amount, and the tension of the safety quadruple (9) is kept within a certain range so that wall work can be carried out safely under constant tension. be.

(Effects of the Invention) As explained above, this invention is of a type in which the lifting force of the tensioning device is balanced with the gravity of the entire wall work vehicle, so the suction device of the wall work vehicle can be made smaller, and it is possible to perform wall work. In addition to reducing the overall weight of the vehicle, the weight of the work equipment that can be mounted on it can be significantly increased, dramatically improving work capacity.Furthermore, the safety rope does not slacken, making it easier to move and work on wall surfaces. It is easy to operate and can work safely without interfering with equipment work, while the winch mechanism only requires intermittent operation and automatically moves the wall work vehicle even when working on high walls. It is possible to provide a hanging device for a wall work vehicle which is safe because the safety rope acts as a lifeline in case of emergency, and the device is relatively simple and inexpensive.

[Brief explanation of the drawing]

The drawings show one embodiment of the hanging device for a wall work vehicle according to the present invention, in which Fig. 1 is a front view showing the state of use, Fig. 2 is a view of Fig. 1 viewed in the direction of the arrow, and Fig. 3. 4 is an enlarged vertical view of the tension mechanism, and FIG. 4 is a detailed view of the rotation angle detector.

Claims (1)

[Claims] The wall work vehicle is suspended by a winch mechanism via a tension mechanism that uses a spring, a balance weight, and a torque motor alone or in combination as a torque generation source, and a safety rope for hanging the wall work vehicle is wrapped around the tension mechanism. Wall work, characterized in that it is equipped with a rotation angle detector that detects the rotation of a hung drum as the wall work vehicle travels, and is configured to automatically control a winch mechanism based on a signal from the rotation angle detector. Car hanging device.