JPS62206500A - Cleaner for floor surface - 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 the Invention The present invention relates to a self-propelled floor cleaning device that cleans floors, particularly in narrow spaces such as inside the main condenser hot well of a nuclear power plant. It is suitable for use in cleaning floors in large spaces.

B0 Summary of the Invention The present invention is a self-propelled floor cleaning device that automatically collects objects on the floor, and includes a raking mechanism that uses a self-propelled traveling cart to scrape the objects to be collected in front of the traveling cart. The machine is equipped with a collection mechanism that stores the gathered objects in a built-in storage box, and can collect objects over a wide area by traveling twice.

C0 Conventional Technology During periodic inspections of nuclear power plants, it is necessary to clean various floor surfaces, and conventionally this type of work was performed by workers. In other words, - For example, during floor cleaning work inside the main condenser hotwell, 15 to 20
With only millimeter pure water left, rust has formed all over the floor, and the sand-like rust (crud) is deposited on the floor and in the water. Workers wear protective equipment and enter the hot well through a manhole that is barely large enough for a person to enter, inspecting the interior, removing crud, and cleaning the collection. The inside of the hotwell is narrow and maze-like.
Workability is extremely poor.

D. Problems to be Solved by the Invention As mentioned above, when workers clean the floor surfaces of the main condenser hot well of a nuclear power plant, the work efficiency is extremely poor. However, there was a problem that the workers could be exposed to radiation.

The present invention solves these problems by providing a device that automatically cleans floors, thereby relieving workers of the heavy labor of cleaning floors and avoiding exposure to radiation. The purpose is to increase their work efficiency.

E. Means for Solving the Problems The structure of the floor cleaning device of the present invention that achieves the above object includes a self-propelled traveling trolley, and a movable trolley provided at the front in the running direction of the traveling trolley to clean the floor surface. a raking mechanism for raking objects to be collected from both left and right sides, and a collection mechanism mounted on the traveling trolley and raking in and storing objects to be collected that have been gathered in front of the traveling trolley as the traveling trolley travels; A control cable automatic pay-out/winding unit that is mounted on the traveling truck and automatically pays out and winds up the control cable as the traveling truck runs; The present invention is characterized by comprising an operation section that controls the main body of the device, which is composed of an automatic control cable feeding/winding section.

=3-10 Action The traveling trolley is remotely controlled from the operation unit and travels on the floor, while the scraping mechanism collects objects that are omnipresent over a wide area in front of the traveling trolley to the front of the traveling trolley. It is gathered up and stored in a storage box by a collection mechanism. Further, since the control cable is let out or wound up as the traveling carriage runs, the control cable does not become tangled with the traveling carriage.

G. Example Hereinafter, an example in which the present invention is applied to a floor cleaning device for collecting crud in a main condenser hotwell of a nuclear power plant will be described in detail with reference to the drawings.

FIG. 1 is a perspective view showing a floor cleaning device according to an embodiment of the present invention in use, and FIG. 2 is a perspective view of the main body of the device. As shown in FIGS. 1 and 2, the floor cleaning bag holder according to the present invention comprises a device main body 100 and an operating section 200 for remotely controlling the device main body 100. The device main body 100 is divided into a plurality of assemblies and carried into the hot well 11 through the manhole 14 of the hot well 11, and
It is designed to be assembled within the hot well 11.

On the other hand, the operating section 200 is installed in a separate room outside the hot well 11 and is connected to the apparatus main body 100 via a cable 10, through which power is supplied to the apparatus main body 100 and signals are transmitted. The operation unit 200 includes a control panel 201, an operation box 202, a color monitor television 203,
The apparatus main body 100 is remotely controlled by a worker using an operation box 202, and the surrounding situation inside the hot well 11 is displayed on a color monitor television 203, and the internal cladding 13 is displayed on a color monitor television 203. In addition to informing the operator of the state of accumulation and removal of the toner, the position of the main body 100 of the apparatus is also displayed on the traveling position monitor television 204.

The device main body 100 is equipped with a clad scraping mechanism 400 and a clad collecting mechanism 500 on a self-propelled traveling cart 300. Furthermore, the device main body 100 is equipped with a cladding mechanism 400 and a cladding collecting mechanism 500.
Winding unit 600, color ITV camera 70 with illumination light
0, an air dose rate meter 800, a traveling position sensor 900, and an on-vehicle control unit 1000, and each part has a completely sealed structure.

The traveling trolley 300 is provided with a front wheel 301 and a rear wheel 302, and the front wheel 301 and the rear wheel 302 are connected to an endless track 303.
is wound around the vehicle, making it easy to drive over steps, underwater, etc. Motors 304 are independently attached to the left and right rear wheels 302, and each motor 304
Pivot turns can be easily performed by driving and rotating the wheels in opposite directions.

The clad raking mechanism 400 moves the cladding 13 on the left and right front sides of the traveling truck 300 to the front part of the traveling truck 300 while the device main body 100 moves straight through the hot well 11 which is narrow and has many obstacles and cannot make a U-turn. It's something to stir up. Main body 40 provided at the front of traveling trolley 300
1 is provided with two scraping arms 402 that are extendable and retractable in directions perpendicular to the traveling direction of the traveling trolley 300, and these scraping arms 402 contract while pressing against the floor surfaces on the left and right front sides, respectively. Cladding 1
3 to the front part of the traveling trolley 300. The clad scraping mechanism 400 will be further described later.

The crud collecting mechanism 500 is composed of a collecting device 551 which is shaped like a spatula and is of a conveyor type, and a storage box 552 into which the crud 13 collected by the collecting device 551 is sent. Clad scraping mechanism 4
The crud 13 collected in the front part of the traveling trolley-300 by 00 is sent together with water to a storage box 552 by a collection device 551, where the water is filtered, while the crud 13 sent to the storage box-7=552 is sent to the storage box 552. 55
It is discarded by the worker together with a bag-shaped storage bag (not shown) set in the container 2. Incidentally, this crud collection mechanism 500 will also be described later.

On the other hand, the cable automatic feeding/winding unit 600
The drum 601 has a drum 601 on which the cable 10 is wound, and the drum 601 is driven to rotate in forward and reverse directions by a drive motor (not shown), so that the cable 10 of a required length is paid out or wound up in accordance with the travel of the device main body 100. It is now possible to do it.

Furthermore, the color ITV camera 700 is provided at the front and back of the upper part of the apparatus main body 100 for forward and backward movement, and has illumination lights 701 that illuminate the front and rear sides of the apparatus main body 100, respectively. The situation inside the hot well 11 photographed by the color ITV camera 700 is displayed on the color monitor television 203 of the operation unit 200 as described above. Further, a radiation dose rate meter 800 is provided to measure the radiation dose rate within the hot well 11, and the measurement results are also displayed on the operation unit 200. Traveling position sensor 90
0t, it has an encoder that detects the rotation of the rear wheel 302, which is the drive wheel of the traveling truck 300, and a gyro that detects the orientation of the device main body 100, and these signals are transmitted to the operating unit 200.
The position information of the main body 100 of the apparatus is confirmed, and the confirmed position information is displayed on the traveling position monitor television 204 of the operation unit 200 to inform the operator of the current position of the main body 100 of the apparatus.

FIG. 3 shows a sectional view of an example of the clad scraping mechanism as seen from the front. A main body 401 of the clad scraping mechanism 400 is supported by the front part of the traveling truck 300 so as to be vertically movable via a bracket (not shown) protruding from the rear surface. As shown in FIGS. 2 and 3, a swing motor 408 is attached to the top surface of the main body 401, and a connecting rod 407 is pivotally connected to a crank disk 409 that is rotationally driven by the swing motor 408. , a long hole formed at the other end of the connecting rod 407 is fixed to the traveling truck 300.
5, and by rotating the crank disk 409, the entire main body 401 can swing up and down via the connecting rod 407.

Each of the clad scraping mechanisms 400 has a traveling trolley 300.
It has two scraping arms 402 that move in a direction perpendicular to the running direction of the carriage 300, and these scraping arms 402 move the cladding 13 on the front right side and the front left side of the carriage 300, respectively.
This is to push the wheels toward the front of the traveling truck 300. Since the two scraping arms 402 are symmetrical as shown in FIG.
02 will be explained. In FIG. 3, a ball screw 410 is pivotally supported in the main body 401 in a direction perpendicular to the running direction of the traveling carriage 300, and a pair of support rods 411 are also provided below and parallel to the ball screw 410. It is fixed across the left and right sides. An arm driving piece 412 is slidably supported on the support rod 411, and a bolt nut 413 fixed to the arm driving piece 412 is screwed into a ball screw 410.

Furthermore, the main body 401 includes a guard motor 4 for arm traverse.
14 is fixed, and a chain 417 is wound between a sprocket 415 fixed to the rotating shaft and a sprocket 416 fixed to the ball screw 410,
The chain 41 is controlled by the geared motor 414 for arm traverse.
The ball screw 410 is driven to rotate forward and backward through the arm 7, thereby moving the arm driving piece 412 left and right.

Note that 418 is a stopper that restricts movement of the arm driving piece 412.

On the other hand, the lower part of the arm driving piece 412 projects outside the main body 401 through a gap formed in the left-right direction on the bottom wall of the main body 401, and the scraping arm 402 is fixed to the lower end. Penetrating main body 40
A brush (not shown) is attached to the gap in the bottom wall so as to close the gap, and prevents foreign matter from entering the main body 401 through the gap while allowing movement of the arm driving piece 412. Further, the bottom wall of the main body 401 is sloped downward toward the gap, so that water that has entered the main body 401 flows out through the gap.

A rough gathering spatula 423 and a finishing spatula 424 for scraping the cladding 13 are attached to the tip of the scraping arm 402. These spatulas 423, 424 are made of hard rubber, for example, and the finishing spatula 424 is similar to the roughing spatula 4.
23 and is pressed more strongly against the floor surface.

Further, although not shown, the other scraping arm 402 is also provided with a similar drive mechanism.

In this way, in the rad raking mechanism 400, from the state in which both the raking arms 402 shown by solid lines in FIG.
is driven to pull both scraping arms 402 toward the center as shown by the imaginary lines in FIG. A certain cladding 13 is each scraped to the front center of the traveling carriage 300 by both scraping arms 402. Next, the swinging motor 408 is driven to rotate the main body 401 upward to move the tips of the spatulas 423 and 424 away from the floor surface. Next, the geared motor 414 for arm traversal is driven, the ball screw 410 is rotated in the opposite direction to that described above to extend the scraping arm 402 to the side, and then the swinging motor 408 is driven again to change the rotation position of the main body 401. put it back,
The tips of the spatulas 423 and 424 are brought into contact with the floor surface, and the above-described operation is then repeated. In addition, the connecting rod 40 into which the pin 405 is inserted
Since the hole 7 is an elongated hole, the main body 401 can rotate slightly in this state. Therefore, the weight of the main body 401 is applied to the spatulas 423, 424 and presses them against the floor, while the spatula 423 , 424 and unevenness on the floor surface can be absorbed by the rotation of the .

Further, a touch sensor for detecting obstacles is attached to the peripheral edge of the tip of the scraping arm 402. For example, as shown in FIG. 4, the touch sensor includes a pair of strip-shaped conductor foils 430°4 that are normally held in a non-contact state inside an insulating coating 425 through insulators 426°427, 428, and 429.
31 is provided, and by pressing a protrusion formed on the insulating coating 425, the conductor foils 430 and 431 are brought into contact with each other, and conduction is established between the two. By attaching this touch sensor to the peripheral edge of the distal end of the scraping arm 402, it becomes possible to detect an obstacle if it exists and to control the movement of the scraping arm 402 accordingly.

5 and 6 show an example of the crud collection mechanism, with FIG. 5 being a sectional view seen from the side, and FIG. 6 being a partially cutaway front view thereof. As shown in FIGS. 5 and 6, the crud collection mechanism 500 is built into the traveling truck 300 and is located behind the clad raking mechanism 400 described above. The crud collecting mechanism 500 is composed of the collecting device 551 and the storage box 552 as described above. The collection device 551 includes a drive shaft 554 supported by a frame 553 in a direction perpendicular to the traveling direction of the traveling trolley 300.
A sprocket 556 is fixed to each driven shaft 555, and a chain conveyor ss7*s [ke,
A plurality of spatulas 558 are erected on the chain conveyor 557 at appropriate intervals. The drive shaft 554 is driven by a drive motor (not shown), so that the chain conveyor 557 circulates in the direction shown by the arrow in FIG. The chain conveyor 557 rises diagonally backward at the lower side thereof. Furthermore, below the chain conveyor 557,
A slanted plate 559 is provided on which the tip of the spatula 558 comes into contact, and a pair of side plates 5 are provided at both ends of the spatula 558.
A scraper 561 made of hard rubber that contacts the floor is attached to the lower end of the inclined plate 559, while a storage box 55 is provided adjacent to the upper end of the inclined plate 559.
2 is arranged.

Further, a brush guide 562 is attached to the lower end of the side plate 560, the tip of which touches the floor surface. On the other hand, the storage box 552 can be easily attached to and removed from the traveling carriage 3''00 from the outside, and a bag-shaped storage bag (not shown) is attached to the inside.

In the rad collection mechanism 500 as described above, by driving the chain conveyor 557 in circulation and running the traveling carriage 300, the cladding 13 collected in front of the traveling carriage 300 by the above-mentioned scraping mechanism 400 is successively placed on the inclined plate 559. and is sent into the storage box 552 and collected in the storage bag.

In the above-described embodiment, the entire body 401 of the scraping mechanism 400 is rotated in order to separate the spatula from the floor surface when the scraping arm 402 extends outward.
It is also possible to have a structure in which only the spatula portion can be moved up and down instead of rotating the entire 01.

Next, an example will be explained.

Figures 7 to 10 show another Q embodiment of the present invention in which only the spatula part can be moved up and down. FIG. 9 is a partially cut-away front view of the main part when it is raised, FIG. 10 (a) and (bl are the front view and side view of the Hall element mounting bracket part, respectively) It is a diagram.

In this embodiment, the main body 401 of the clad scraping mechanism 400 is fixed to the front part of the traveling truck 300. In addition, a drive device for the arm driving piece 412 (having the same configuration as the previous embodiment, a scraping arm 402 is fixed to the lower end of the arm driving piece 412. The left and right scraping arms 402 are similar to each other. Since it has a configuration, one of the scraping arms 402 will be explained here as well.
In Figure 0, a frame 433 is rotatably supported by a support shaft 432 at the tip of the scraping arm 402, and the frame 433 is configured to direct a spatula 444 downward by a spring 434 wound around the support shaft 432. is energized by The range of rotation of the frame 433 is restricted by the bolts 4' 35, 436 attached to the frame 433 coming into contact with the back surface of the scraping arm 402.

The base ends of a pair of parallel links 437, 438 are pivotally attached to the frame 433 in the front and rear, and a piece 439 is pivotally attached to the tips of the links 437, 438.
Further, a mounting arm 440 is fixed to the front and rear bridges 439 by extending them therebetween. Also, the mounting arm 440 has pin 4.
41 is implanted, and a mounting bracket 442 is attached to the pin 441 so as to be rotatable within a predetermined angular range.
A hard rubber spatula 44 is attached to 2 via a spatula mounting plate 443.
4 is installed. Therefore, when the links 437 and 438 are rotated, the piece 439 moves up and down while maintaining the same posture, thereby causing the spatula 444 to move up and down.

Further, a rotating shaft 445 is pivotally supported on the frame 433, and swinging arms 446 are fixed to both ends of the rotating shaft 445, and pins 447 are implanted at the tips of the swinging arms 446, respectively. It is fitted between links 437 and 438. Further, a spatula up/down motor 448 is fixed to the frame 433, and its drive shaft is connected to the reduction gear device 44.
The rotary shaft 445 is connected to this rotary shaft 445 through a shaft 9, and the rotary shaft 445 is rotatably driven by a spatula up/down motor 448.
thereby linking 437, 438 via pin 447.
is designed to rotate up and down.

On the other hand, a magnet 450 is fixed to one end of the link 437, and a Hall element 451 that faces the magnet 450 and detects the position at the upper and lower rotation limit positions of the link 437 is attached via a Hall element mounting bracket 452. and is attached to the frame 433. In the rad raking mechanism 400, when the raking arms 402 are extended to the sides, as shown in FIG. Keep it off the floor. In this state, both scraping arms 402 are extended to the side, and then the spatula 444 is moved by the spatula up and down motor 448.
lower it so that it touches the floor. At this time, the spatula 444' is pressed against the floor surface by the spring force of the spring 434 that urges the frame 433, and since the spatula 444 is attached to the pin 441 so as to be slightly rotatable, the spatula 444'
can sufficiently cope with irregularities, inclinations, and undulations of the floor surface, and wear of the spatula 444 can also be absorbed by the rotation of the frame 433.

Next, when both scraping arms 402 are pulled toward the center, the spatulas 444 scrape the floor surface, and the cladding 13 on the floor on the right front side and the left front side of the traveling truck 300 is moved by both scraping arms 402 to the traveling truck. 300 is pulled towards the center of the front.

When a mechanism for moving only the spatula 444 up and down as in this embodiment is provided, the main body 40 of the clad scraping mechanism 400
1 can be fixed to the traveling trolley 300, making it possible to have a robust structure.

FIG. 11 is a front view of the essential parts of a clad scraping mechanism according to another embodiment of the present invention, in which a rotating brush is attached to the scraping arm instead of a spatula. In this embodiment, as shown in FIG. 11, a rotating wire brush 453 is pivotally supported at the tips of both scraping arms 402, and a brush motor 454 is fixed within the same tip.
54 and a rotating wire brush 453 are connected by a chain 455 so that the rotating wire brush 453 is rotationally driven by a brush motor 454. In addition, at the lower center of the main body 401 located between the left and right rotating wire brushes 453,
A barrier wall that slopes toward the center (according to
456 is fixed. The drive device for the arm drive corner piece 412 has the same configuration as in the previous embodiment, and the main body 401 is attached to the traveling carriage 300 so as to be vertically movable and is provided with the drive device.

In this way, the rad scraping mechanism 400 drives the brush motor 454 to move the rotating wire brush 453 to the first
The cladding 13 is scraped by pulling both scraping arms 402 toward the center while rotating at high speed in the direction indicated by the arrow in FIG. That is, in this embodiment, the rotation of the rotating wire brushes 453 on both sides generates a water flow containing the cladding 13 toward the center, and the water flow changes direction toward the cladding collection mechanism 500 when it hits the barrier wall 456. , effectively collected. Furthermore, the rotating wire brush 453 also has the effect of polishing the floor surface.

12 and 13 show another example of the clad scraping mechanism, and FIG. 12 is a partial cross-sectional front view of the main part, and
FIG. 3 is a sectional view taken along line AA in FIG. 12. The clad scraping mechanism 400 has two scraping arms 402 that are arranged symmetrically and move in a direction perpendicular to the traveling direction of the traveling carriage 300, and these scraping arms 402 move on the right front side and on the right front side of the traveling carriage 300, respectively. This is to sweep the cladding 13 on the left front side toward the front of the traveling truck 300.

The main body 401 of the clad scraping mechanism 400 is the traveling trolley 3
It is supported by the front part of 00 so as to be able to move up and down, and is driven up and down at a required angle by a drive device (not shown).

Inside the main body 401, a pair of arm drive square pieces 412 are installed.
In the figure, it is supported slidably in the left and right directions, that is, in the direction perpendicular to the traveling direction of the traveling trolley 300, and
Each arm drive corner piece 412 is driven by a drive device (not shown) built into the main body 401 to move left and right. The lower part of the arm drive corner piece 412 is the 12th
As shown in FIGS. 13 and 13, a scraping arm 402 is fixed to the bottom end of the main body 401, which protrudes outside the main body 401 through a gap formed in the left-right direction on the bottom wall of the main body 401, and extends in the left-right direction. A brush (not shown) is attached to the gap in the bottom wall of the main body 401 through which the arm drive corner piece 412 passes, so as to close it, and prevents foreign matter from entering the main body 401 through the gap while allowing movement of the arm drive corner piece 412. Preventing intrusion. Further, the bottom wall of the main body 401 is an inclined surface that descends toward the gap, so that water that has entered the main body 401 flows out through the gap. Furthermore, rollers 461 are attached to the lower surface of the main body 401, with which the scraping arms 402 respectively abut.

Two scraping fittings 463 are fixed to the tips of both scraping arms 402 via fittings 462, respectively.

A support shaft 464 is fixed to the center of the L-shaped fitting 463, and a swinging arm 465 is pivotally supported on the support shaft 464. As shown in FIG. The pin 466 is inserted through the L-shaped fitting 463, and a spring 46 is inserted therein to urge the swinging arm 465 downward.
7 is installed. Furthermore, a spatula 46 made of hard rubber is connected to this swing arm 465 via a spatula mounting bracket 468.
9 is fixed. Note that 470 is a collar and 471 is a bearing bush.

In this way, in the rad raking mechanism 400, from the state in which the raking arms 402 shown by solid lines in FIG. 2 extend to the left and right sides, the arm driving device moves the raking arms 402 as shown by imaginary lines in FIG. 2. Pull it to the center and scrape the floor with the spatula 469 to remove the running platform] 1 [30
Cladding 13 on the floor on the right front side and left front side of 0
are gathered to the front center of the traveling carriage 300 by both scraping arms 402, respectively. At this time, the swinging arm 465 supporting the spatula 469 is attached to the support shaft 463 on the L-shaped fitting 463.
4, the spatula 469 swings to follow the irregularities, inclinations, and undulations of the floor surface, making it possible to reliably scrape up the cladding 13. Next, the main body 401 is rotated upward to separate the tip of the spatula 469 from the floor surface. When the spatula 469 is released from the floor surface, the swing arm 465 is kept in a horizontal state by being pressed at both ends by the spring 467. Next, with the spatula 469 off the floor, the scraping arm 402 is extended to the side, and then the main body 401 is rotated downward and the spatula 46
9 is brought into contact with the floor surface, and the above-mentioned operation is repeated thereafter.

14 and 15 show still another embodiment of the clad scraping mechanism of the present invention, FIG. 14 is a partially sectional front view of the main part thereof, and FIG. 15 is a sectional view taken along line B-B in FIG. 14. be.

In this embodiment, the two spatulas of each scraping arm are attached to be swingable, and each is biased by a spring to press against the floor surface, so that the spatulas can follow irregularities, inclinations, undulations, etc. of the floor surface. It is an enhanced version of Figure 14, 1st
As shown in FIG. 5, a fitting 472 is fixed to the tip of the scraping arm 402, and a pin 473 is attached to the fitting 472.
The first arm 474 is swingably attached to the first arm 474, and the second arm 476 is also swingably attached to the tip of the first arm 474 by a pin 475. At the distal ends of the first arm 474 and the second arm 476, L-shaped fittings 463 are provided, respectively, as in the previous embodiment.
is fixed, and a swinging arm 465 is pivotally supported by a support shaft 464 fixed to the center of the L-forming fitting 463, and a spatula 469 is attached to the swinging arm 465 via a spatula mounting fitting 468. There is. A first spring 477 is stretched between the first arm 474 and the mounting bracket 472 and urges the spatula 469 to press against the floor, while the scraping arm 402 of the first arm 474 On the opposing surface, there are protrusions 478°479 on both sides holding a pin 473.
are formed, and the rotation angle range of the first arm 474 with respect to the scraping arm 402 is regulated by the protrusions 478 and 479 protruding from the scraping arm 402. Similarly, a second spring 480 is suspended between the second arm 476 and the first arm 474, so that the second arm 476 is connected to the first arm 474 with respect to its spatula 4.
69 against the floor surface, while a pin 4 is provided on the surface of the second arm 476 facing the first arm 474.
Protrusions 481 and 482 are formed on both sides sandwiching 75, and when these protrusions 481 and 482 come into contact with the first arm 474, the rotation angle range of the second arm 476 with respect to the first arm 474 is restricted. It has become so.

In this way, the clad raking mechanism 400 pulls the raking arm 402 toward the center to remove the clad 1 on the floor.
3, the spatula 469ζ can swing around the support shaft 464, and each spatula 469 can individually swing up and down around the pins 473, 475, etc., so it can avoid irregularities, inclinations, undulations, etc. on the floor surface. It becomes possible to more reliably gather the cladding 13 in accordance with the following.

In the description of the embodiment described above, two scraping arms 402 are used.
Although an example is described in which the raking mechanism of the present invention has only one raking arm, it is also possible to use only one raking arm. FIG. 16 is a perspective view of the main body of the apparatus according to another embodiment of the present invention, which is equipped with a clad raking mechanism having only one raking arm. In this embodiment, in addition to the drive device for moving the scraping arm 402 in the left-right direction similar to the previous embodiment, a swing drive device for rotating the scraping arm 402 by 180 degrees is provided. That is, FIGS. 17 to 19 show the clad scraping mechanism, with FIG. 17 being a sectional view seen from the front, FIG. 18 being a partially cutaway side view, and FIG. 19 showing its rotation. It is a side view for explaining. As shown in FIGS. 17 to 19, a main body 401 of the clad scraping mechanism 400 is supported by a support shaft 404 via a bracket 403 protruding from the rear surface of the cladding mechanism 400 to be vertically movable at the front part of the traveling truck 300. Ru.

A clasp 406 with a pin 405 fixed to the top surface of the main body 401
is attached, and its pin 405 fits into an elongated hole drilled at one end of the connecting rod 407, while the other end of the connecting rod 407 is connected to a crank circle that is rotationally driven by a swinging motor 408 attached to the traveling truck 300. It is pivotally attached to a plate 409, and by rotating the crank disk 409, the entire main body 401 swings up and down about a support shaft 404 (see FIG. 19).

A ball screw 410 is pivotally supported in the main body 401 so as to extend from side to side ζ, that is, in a direction perpendicular to the running direction of the traveling trolley 300, and below the ball screw 410, a pair of support rods 411 are also extended from side to side in parallel thereto. Fixed. An arm drive square piece 412 is slidably supported on the support rod 411, and a bolt nut 41 fixed to the arm drive square piece 412 is attached to the support rod 411.
3 is screwed into ball screw 410. Furthermore, the main body 4
A geared motor 414 for arm traversing is fixed to 01, and a chain 417 is wound between a sprocket 415 fixed to its rotation shaft and a sprocket 416 fixed to the ball screw 410. As a result, the ball screw 410 is driven to rotate in forward and reverse directions via the chain 417, thereby causing the arm drive corner piece 412 to move left and right. still,
418 is a stopper that restricts movement of the arm drive corner piece 412.

On the other hand, the arm drive angle piece 412 has an arm shaft 4 in the vertical direction.
19 is pivotally supported, and the lower part of the arm shaft 419 projects outside the main body 401 through a gap formed in the left-right direction in the bottom wall of the main body 401, and the scraping arm 402 is fixed to the lower end thereof. Further, an arm rotation layer geared motor 420 is fixed to the arm drive angle piece 412, and the arm rotation layer geared motor 420 is connected to an arm shaft 419 via a reduction gear device 421. The scraping arm 402 is driven to rotate, thereby causing the scraping arm 402 to rotate. A brush 422 is attached to close the gap in the bottom wall of the main body 401 through which the arm shaft 419 passes, and prevents foreign matter from entering the main body 401 through the gap while allowing movement of the arm shaft 419. are doing. Also main body 4
The bottom wall of 01 is sloped downward toward the gap, so that water that has entered the main body 401 flows out through the gap.

A rough gathering spatula 423 and a finishing spatula 424 for scraping up the cladding 3 are attached to the tip of the scraping arm 402. These spatulas 423, 424 are made of hard rubber, for example, and the finishing spatula 424 is similar to the roughing spatula 4.
It is located on the outside of 23 and is more strongly pressed against the floor surface.

The operation of the rad scraping mechanism 400 will now be described. Now, as shown in FIG. 19, a state in which the scraping arm 402 is extended to the right side toward the front in the traveling direction of the traveling carriage 300 will be explained. First, from this state, the arm traversing guard motor 414 is driven. The scraping arm 402 is pulled toward the center as shown in FIG. 19, and in this process, the spatulas 423 and 424 are used to scrape the floor surface to move the cladding 13 on the floor on the front right side of the traveling vehicle 300 to the front of the traveling vehicle 300. (Fig. 17 shows the state at this time). Next, the swing motor 408 is driven to rotate the main body 401 clockwise as shown by the imaginary line in Fig. 19. Te spatula 42g,
424. Move the tip away from the floor. Then, in this state, the geared motor 420 for arm rotation is driven to move the scraping arm 402 as shown by ■ and ■ in FIG.
When it is turned 180 degrees, the scraping arm 402 extends to the left. Next, the swinging motor 408 is driven again to return the rotating position of the main body 401 to its original position, and the tips of the spatulas 423 and 424 are brought into contact with the floor surface. In addition, since the hole of the connecting rod 407 into which the pin 405 is inserted is long, the main body 401 can rotate slightly around the support shaft 404 in this state, so that the weight of the main body 401 is transferred to the spatulas 423 and 42.
4 and press it onto the floor while the spatula 423.
424 wear and unevenness on the floor surface can be absorbed by the rotation of the and.

Furthermore, with the scraping arm 402 extending to the left and the spatulas 423 and 424 in contact with the floor surface, the arm traverse guard motor 414 is driven to rotate the ball screw 410 in the opposite direction to that shown in FIG. Pull the arm 402 toward the center as shown in . At this time, the spatulas 423, 424+ scrape the floor surface to push the cladding 13 on the floor on the left front side of the traveling vehicle 300 toward the front center of the traveling vehicle 300. Finally, after driving the swing motor 408 to rotate the main body 401 and lift the spatulas 423 and 424 from the floor, the arm swing guard motor 4
20, move the scraping arm 402 in the opposite direction to the above 18
When it is rotated by 0° and the spatulas 423, 424 of the scraping arm 402 are brought into contact with the floor surface by the swinging motor 408, it returns to the initial state shown by ■ in FIG.

In the above example, in order to separate the spatulas 423 and 424 from the floor surface when the scraping arm 402 rotates, the main body 401
Although the entire body is rotated, a mechanism for vertically moving only the spatulas 423, 424 or scraping arm 402 may be provided. In addition, by attaching the spatulas 423 and 424 to the scraping arm 402 so as to be able to swing up and down and pressing them toward the floor surface with a spring, the spatulas 423 and 424 can be further prevented from unevenness, inclination, and undulation of the floor surface.
4 can be adapted. Furthermore, instead of using the spatulas 423 and 424 on the scraping arm 402, a rotating brush may be attached to the tip.

The clad collection mechanism 500 is a clad scraping mechanism 40
As shown in FIGS. 20 and 21, the frame 501 attached to the traveling bogie 100 and A drive shaft 503 that extends in orthogonal directions and is rotatably provided, and has three sprockets 502 fixed to it, and a drive shaft 503 that is parallel to and rotatably provided with the drive shaft 503 on an intermediate frame 511, which will be described later, and corresponds to the sprocket 502. 3 sprockets 504
A driven shaft 505 to which is fixed, three chains 506 each hooked between the sprocket 502 and the sprocket 504, and a large number of chains 506 extending in a direction perpendicular to the chains 506 and spaced at regular intervals along the chains 506. Each chain 50 is arranged and connected via a fixture 507.
A rubber spatula 508 fixed to 6 and a chain 506
The guide plate 510 has a U-shaped cross section and surrounds the lower half of a conveyor type rotating body 509 consisting of a spatula 508 and a spatula 508.

Also, both sides of the rotating body 509, the drive shaft 503 and the driven shaft 5
05 is provided with an intermediate frame 511 attached to both shafts 503 and 505 via bearings.
The chain guides 512 attached to the intermediate frame 511 are in sliding contact with the respective chains 506, so that the inward deformation of the rotating body 509 is restricted and its shape is maintained. A and both side plates 510b are attached to the spatula 50.
It is maintained in a state in which it is in close sliding contact with the tip and both side ends of 8.

Therefore, the drive sprocket 513 attached to the drive shaft 503 is moved by the chain 55 by a drive motor (not shown).
0, the drive shaft 503 is rotated, and the rotating body 509 is rotated in the direction of the arrow in FIG. The cladding storage box 514 is scraped up as if it were taken off, is transported upward within the guide plate 510 as the spatula 508 moves, and is disposed at the rear of the rotating body 509.
sent inside. In addition, in this way, the storage box 5
Clad sent inside 14; Maoto's storage box 5
The storage bag is stored in a storage bag (not shown) set in the storage bag 14, and the storage bag is discarded together with the storage bag. Further, the rotational speed of the rotating body 509 is set to be higher than the traveling speed of the traveling carriage 100, so that the traveling carriage 100 can be rotated as described later.
Crud can be collected while driving the 00.

Here, a chain 506 is attached not only to both ends of the spatula 508 but also to the center thereof to maintain the shape of the rotating body 509 and allow the flexible spatula 508 to slide in close contact with the guide plate 510. To do this, clad spatula 5
08 and the guide plate 510, it is transported to the storage box 514 without falling. In addition, the guide plate 510
A scooper 5 made of plate-shaped rubber that slides into contact with the floor surface F is attached to the lower end of the
15 is attached, and the spatula 508 is used to collect dust from the cladding scraped up by the spatula 508.
5 can be collected. Both the scooper 515 and the spatula 508 may be made of a flexible material other than rubber, and the spatula 508 is used for scooping the cladding, and the scooper 515 is used for the running of the device body 100. In order to avoid any problems, it is sufficient that each material has an appropriate degree of flexibility.

According to the floor cleaning device having the above configuration, the traveling cart 300 is moved within the hot well 11 by remote control, and the cladding mechanism 400 and the cladding collecting mechanism 500 are
The raking mechanism 40 can be operated while moving from place to place as the main body 100 moves to the left in FIG.
By rotating the rotating body 509 in the direction of the arrow in the figure, the crud collected by the crud is efficiently collected by the crud collecting mechanism 500, and the entire floor surface in the hot well 1 can be cleaned. In addition, as the traveling cart 300 travels, the control cable 10 is automatically paid out or wound up by the control cable automatic feeding/winding unit 600, thereby preventing excessive tension or slack in the control cable 10. ing.

22 to 25 are drawings showing a crud collection mechanism according to another embodiment of the present invention.

Since the scooper 515 has flexibility, even if there is a minute protrusion on the floor F, the movement of the main body 100 will not be hindered. The device body 100 is provided at the lower end of the guide plate 510 through the
We are trying to maintain the running performance of the vehicle.

That is, a movable frame 520 having a substantially U-shaped shape surrounding the outside of the guide plate 510 is rotatably attached to the intermediate frame 511 via a pivot 521, and this movable frame 520 is interposed between one end of the movable frame 520 and the intermediate frame 511. A scooper 515 is attached to the movable frame 520, which is always urged to press against the lower side of the floor by a tension coil spring 522 installed therein.

Therefore, under normal conditions, the scooper 515 spring 5
22 to effectively collect the crud on the floor F, while if there is a relatively large protrusion on the floor F, the movable frame 520 rotates against the spring 522, and the main body of the device Maintain a running performance of 100. Incidentally, as shown in FIG. 8, the scooper 515 is fixed to a presser metal fitting 524 with a rivet 523, and is removably attached to the movable frame 520 via the presser metal fitting 524 with a bolt 525. Maintenance for wear and the like of 515 is easier to perform. In addition, as in this embodiment, the movable frame 520
In the case where the scooper 515 is provided through the holder, the scooper 515 may be made of metal or other non-flexible material. Reference numerals 526 in the drawing indicate guide brushes provided at the lower ends of both side plates 510b of the guide plate 510, and these guide brushes 526 hold the crud scraped together by the arm 402, allowing collection by the spatula 508 and scooper 515. It's doing well.

Here, in the crud collection work, the rotational speed of the rotating body 509, that is, the feeding speed of the spatula 508 is
Although it is necessary to set the traveling speed faster than the traveling speed of the spatula 508, if the device body 100 is simply traveling without performing collection work, the traveling speed of the device body 100 and the feeding speed of the spatula 508 can be set to the same speed. B and Z do not interfere with the running of the device main body 100 due to contact with the floor surface F. However, under actual conditions of use, the apparatus main body 100 may be run at a higher speed than during crud collection work in order to have the apparatus main body 100 perform only inspection work inside the hot well 11 without performing cleaning work, or Device body 100
It may cause you to retreat. For this reason, the rotating body 50
Although it is necessary to provide a mechanism to control the rotational speed and rotational direction each time according to the running state of the apparatus main body 100, such a control mechanism has the drawbacks of being extremely complicated and increasing cost.

FIGS. 26 and 27 are drawings showing a crud collecting mechanism according to an embodiment that takes the above circumstances into consideration.

In this embodiment, the rotating body 509 can be moved up and down, thereby improving the running performance of the device main body 100 in various ways.A motor 530 is provided on the frame 501, and an eccentric connecting piece is attached to the output shaft of the motor 530. On the other hand, a connecting rod 532 rotatably attached to the intermediate frame 511 is fitted into the connecting piece 531.

Therefore, when the motor 530 is operated and the connecting piece 531 is rotated half a turn, the intermediate frame 511 is pulled up by the connecting rod 532 around the drive shaft 503, and the spatula 5
08 is placed in a state separated from the floor surface F. That is, by keeping the spatula 508 in a non-contact state with the floor surface F, the device main body 100 can run at high speed and retreat without any trouble, so there is no need to provide a separate complicated and costly control device. .

In addition, when the rotating body 509 is not pulled upward as described above, the spatula 508 is pressed against the floor surface F by the weight of the rotating body 509, the intermediate frame 511, etc., and is in a state where cleaning work can be performed well. but frame 5 as shown
If a tension coil spring 535 is interposed between 01 and the guide plate 510 to urge the rotary body 509 toward the floor surface F, the spatula 508 will be in close contact with the floor surface F during cleaning work. It will be better. Furthermore, since the connecting rod 532 is engaged with the connecting piece 531 through the elongated hole 532a, it is possible to run over protrusions such as cladding deposits without operating the motor 530. It has become.

In each of the above embodiments, the rotating body 509 is of a conveyor type, and the collected crud is conveyed to a relatively high position so that the crud storage box 514 can have a sufficient depth. Alternatively, the rotating body 509 may be a roller type with a number of flexible spatulas 508 arranged around the periphery. When the rotating body 509 is a one-roller type, a sprocket 541 is attached to the rotating shaft 540 which is the center of the rotating body 509, and the drive motor 542 and this sprocket 541 are connected by a chain 543.
The drive motor 542 rotates the rotating body 509 in the direction of the arrow in the figure, and the spatula 508 scrapes up the clarad and stores it in the storage box 514.

In addition, when the rotating body 509 is a one-roller type, the clad storage box 514 is
When the is positioned at the rear, as shown in Fig. 29,
A rotationally driven brush 544 may be provided between the rotating body 509 and the clad storage box 514, and the brush 544 may transfer the cladding collected by the rotating body 509 to the clad storage box 514. Regardless of the roller type or conveyor type, if the radius of curvature of the curved portion of the rotating body 509 becomes large, as shown in FIG. If the brush 545 is used to sweep the front cladding toward the rotating body 509, the rotating body 5
The collection work can be carried out efficiently without leaving the front cladding of the 09 behind.

In addition, since the rotating body 509 is provided with the spatula 508 as described above, the crud deposited under the water surface can be removed by the spatula 508.
08 can be scooped and collected, but if a floor surface polishing function is required rather than such a collecting function, a rotating body with a hard brush around it may be used.

If it is desired to have both such a collection function and a polishing function, a rotating body 509 having spatulas 508 and hard brushes arranged alternately around the periphery may be used.

FIGS. 30 to 32 are drawings showing a crud collecting mechanism according to still another embodiment of the present invention.

In addition, there is a floor surface F between the lower end of the guide plate 510 and the bottom of the floor surface.
A small gap is provided to maintain the running performance of the device main body 100 against the unevenness above, and brushes 570 are provided as clad holding members on both sides of the lower end of the guide plate 510 to close this gap. It is being

These brushes 570 are provided on both side plates 510b of the guide plate 510.
These brushes 570 are screwed and fixed to stud bolts 571 with nuts 572.
By pressing the lower end of the spatula 508 against the floor F, both sides of the spatula 508 partition the floor F. Therefore, when scraping the cladding onto the scooper 515 with the spatula 508, the spatula 508
8 and the scooper 515 from flowing sideways, this crud can be efficiently gathered onto the scooper 515 and stored in the clad storage box 5.
It can be stored within 14.

The brush 570 shown in the above embodiment was set so as to surround the side of the spatula 508 scraping off the cladding, but as shown in FIG. For example, as the device main body 100 moves forward (to the left in FIG. 33), crud can be efficiently collected between the brushes 570, and the collected crud can be reliably prevented from escaping to the side. Therefore, the collection efficiency of crud can be further improved.

=48- Note that in addition to the brush 570, a flexible plate such as a rubber plate can be used as the clad holding member.
Any material may be used as long as it is flexible so as not to impede the running of 00 and can closely contact the floor surface F to prevent the cladding from escaping.

Further, the storage pack 550 drains the cladding transported to the cladding storage box 514 together with pure water so that only the solid cladding can be easily disposed of. For this reason, as shown in FIG. 34, the storage bag 55
0 is preferably in the form of a Shingen bag that can be closed by pulling the flap 551, and the material is preferably nylon so that it can be easily closed even when wet with water.

Further, it is preferable that the bottom 514a of the clad storage box 514 is made of a porous material such as a wire mesh for the above-mentioned drainage properties, and also to reduce the amount of radiation that the worker receives by disposing of the clad in a short time. Therefore, it is preferable to provide the clad storage box 514 so that it can be pulled out from either the left or right side of the apparatus main body 100.

As shown in FIG. 35, the control cable automatic feeding/winding unit 600 includes a winding drum 601, a control cable guide 603 having a guide pulley 602 that presses the control cable 10 against the winding drum 601, an aligning device 604, and a winding drum 601. A pulley 605, a tension detection device 606 that detects whether the control cable 10 is wound too much or loosened too much, a cableless detection device 607 that detects the start and end ends of the control cable 10, a dust removal device 699 that removes crud, etc. attached to the control cable 10, It is comprised of a control cable run-up prevention device 609 that prevents the rear wheels 302 of the traveling truck 300 from running over the control cable 10, and the control cable 1
The feeding and winding of 0 is automatically adjusted to match the running speed of the device main body 100, and the winding drum 601
The rotation speed and rotation timing of the feed pulley 604 and the feed pulley 604 are controlled so that they always rotate synchronously.

A motor 610 is built into the hollow shaft of the winding drum 601, and the winding drum 601 is driven and rotated by the motor 610 to wind up and unwind the control cable 10. Also, inside the hollow shaft of the winding drum 601, there is a slip ring for power supply, and an optical rotary for signal and image transmission.
A built-in joint allows for smooth connection of rotating parts. In the control cable guide 603, two guide pulleys 602 are provided on the mounting plate 611.
11 is tiltably supported at the tip of a guide arm 612. The guide arm 612 is a guide 61 that is attached to the alignment device 604 and moves in the width direction of the winding drum 601.
3 via a fulcrum pin 612a, and on the opposite side of the guide pulley 602 with the fulcrum pin 612a of the guide arm 612 in between, an alignment device 604 is supported by a spring 614.
biased toward the side. In other words, the guide pulley 602 is always pressed against the winding drum 601 by the spring 614. Note that the control cable guide 603 is
As shown in FIG. 6, one guide pulley 602 may be provided directly on the guide arm 612. Also, the third
As shown in FIG. 7, the fulcrum pin 61 of the guide arm 612
A cam 61 is placed between the guide pulley 602 and the opposite side of the guide pulley 602.
A push-up mechanism 61 equipped with a push bar 616 tilted by 5
7 is provided, and when the control cable 10 is paid out, the guide arm 612 is pressed against the pusher bar 61 against the force of the spring 614.
6 and press it against the winding drum 60 of the guide pulley 602.
1 may be released, and the control cable 10 may be smoothly drawn out.

As the push-up mechanism 617, the guide arm 6 is directly moved by a cam.
It is also possible to employ a mechanism for pressing 12.

The alignment device 604 reciprocates the cable guide 603 in the width direction of the take-up driver 5 601 according to the winding state of the control cable 10, and the rotation of the take-up driver 601 causes a chain 608, which is a power transmission means, to move. transmitted through.

As shown in FIG. 38 showing the mechanism concept, the alignment device 604 is wound around two sprockets 619 and 620, and the second sprocket 619, 620, and supports the elongated hole 613a of the guide 613 via a roller 621. It is composed of a guide chain 622 which is an endless track, and a winding drum 60
1 rotation is transmitted to the sprocket 620 via the worm 623 and the worm wheel 624. At this time, the diameter of the sprocket 619°620 is the control cable 1.
The diameter is equivalent to the circumferential length six times the zero feed pitch P. Incidentally, the diameter of the stepped circle of the sprockets 619, 620 is not necessarily limited to a diameter corresponding to a circumferential length six times the feed pitch P, but can be changed to eight times, four times, etc. as necessary. The guide 613 supported by the guide chain 622 due to the rotation of the sprockets 619 and 620 is rotated by the sprocket 61.
It moves back and forth between 9,620. The control cable 10 is supported by a guide 613 and is wound around the winding drum 601 while moving in the width direction of the winding drum 601 as the sprockets 619 and 620 rotate. As shown in FIG. 39, when the winding drum 601 is overlappingly wound at the end position (from B to C in FIG. 39), the o-ra 621 is connected to the sprocket
20 from the B position to the C position, the roller 621 moves through the long hole 603a of the cable guide 603. Therefore, at the end position of the winding drum 601, the cable guide 6
03ζ, and the control cable 10 is connected to the winding drum 60.
At the end position 1, the windings are surely overlapped. As shown in FIG. 40, the alignment device 604 has four sprockets 625, 626, 627.
．． The guide chain 622 may be wound around the guide chain 628. By using four sprockets in this manner, the diameters of the sprockets 625 to 628 can be made small, and various feed pitches P of the control cable 10 can be accommodated. Also, if four sprockets are used, the control cable can be run in three stages at the end of the winding drum 601.
It is also possible to wind it up in four layers.

The feeding pulley 605 is driven and rotated by the motor 643 to feed and wind up the control cable 10 . The delivery pulley 605 can be turned around an axis perpendicular to the plane of movement of the device main body 100, and the delivery pulley 605 can be turned in accordance with the movement of the cable guide 603 by the alignment device 604.

The tension detection device 606 detects whether the control cable 10 is too wound or too loose, and feeds this back to the on-vehicle control unit 1000 to control the winding drum 601 and the feeding pulley 60.
Adjust the rotation speed in step 5. As shown in FIG. 35, the tension detection device 606 includes a guide plate 629, which is a lever that tilts around the central axis of rotation of the delivery pulley 605.
are supported by this guide plate 629, their respective rotation centers are located on the concentric circumference, and the feeding pulley 605
Three tension pulleys 630 rotate in the same plane as the control cable 10 to bend the control cable 10, and when the control cable 10 is loosened, the control cable 10 is bent by the biasing force of a spring 631. When the guide plate 629 tilts downward by more than a predetermined value, the limit switch 640 detects this. On the other hand, when more tension than necessary is applied to the control cable, the guide plate 629 tilts upward against the bias of the spring 631, and when it tilts upward beyond a predetermined value, this is detected by the limit switch 641. limit switch 64
0,641 detects an excessive tilting of the guide chain 629, the detection signal is fed back to the on-vehicle control unit 1000, and the rotational speed of the winding drum 601 and delivery pulley 605 is controlled by the control cable 10 at a predetermined pull = 56- The tension is controlled so that the guide plate 629 does not tilt more than necessary.

Note that the number of tension pulleys 630 is not limited to three.

The cableless detection device 607 detects the end of unwinding when the cable 10 is unwinding, and the end of winding when winding the cable 10, and feeds back each end to the on-vehicle control unit 1000 to control the rotation of the winding drum 601 and the unwinding pulley 605. At the same time, the running of the device main body 100 is also stopped. As shown in FIG. 35, the cableless detection device 607 includes a small pulley 632 that is provided on the guide plate 629 and moves toward and away from the feeding pulley 605, and a small pulley 632 that constantly urges the small pulley 632 toward the feeding pulley 605. A spring 650 serving as a pulley biasing means and a feeding pulley 605 of the small pulley 632
A cableless sensor 642, which is a cableless detection means for detecting a recoil movement from the control cable 10, and a diameter increasing member 633 (
(see Fig. 41). The cableless detection device 607 detects a diameter member 633 provided at the end of the control cable 10 when the control cable 10 is fed out.
is the small pulley 632 and the feeding boo! When passing between J605, the small pulley 632 moves away from the feeding pulley 605 against the spring force of the spring 650, and the cableless sensor 642 detects this movement of the small pulley 632 away from the feed-out pulley 605. When the control cable 10 is wound up, when the diameter increasing member 633 provided at the end of the winding of the control cable 10 passes between the small pulley 632 and the feeding pulley 605, the small pulley 632 resists the spring force of the spring 650. The recoil movement of the small pulley 632 is detected by the cableless sensor 642. Cableless sensor 642
When detecting the recoil movement of the small pulley, the detection signal is fed back to the on-vehicle control unit 1000, and the rotation of the winding drum 601 and the feeding pulley 605 is stopped, and the main body 10 of the device is stopped.
0 stops running.

Control cable riding prevention device 609, device main body 10
This is to prevent the rear wheels 302 from riding on the control cable 10 when the vehicle moves backward. Originally, it would be a boom! ] 605 at a position away from the rear wheel 302, the control cable 10 can be hung down at a position away from the device main body 100, but doing so increases the size of the device main body and requires a narrow, maze-like pot. Travel within the well 11 becomes impossible. As shown in FIGS. 35, 42, and 43, the control cable riding prevention device 609 has a motor 634 fixed to the lower part of the feed-out pulley 605 of the traveling truck 300, and an output shaft 635 of the motor 634 having a A proximal end 637 of a fan-shaped protruding arm 636 that extends toward the front and on which the control cable 10 is placed is fixed.

That is, the protruding arm 636 is tilted relative to the traveling carriage 300 by the drive of the motor 634. Projecting arm 63
A magnet 638 is attached to the base end 637 of 6,
At the upper and lower tilting ends of the protruding arm 636, a Hall element 63 is provided on the side of the traveling carriage 300 that faces the magnet 638.
9 is provided, and the magnet 63 is connected by the Hall element 639.
8, the vertical tilt end of the protruding arm 636 is detected.

The control cable riding prevention device 609 is configured such that the control cable 10 hangs apart from the device main body 100, such as one in which the protruding arm 636 carries the control cable 10 and moves horizontally to the rear side. However, it is not limited to the above example. In the control cable riding prevention device 609, when the main body 100 moves backward, the motor 634 is driven and the protruding arm 636 tilts upward until the Hall element 639 detects the magnet 638 (as shown in Figs. 35.42 and 43). (shown in solid line) The control cable 10 hangs away from the rear wheel 302.

When the main body 100 moves forward, the motor 634 is driven in the opposite direction, and the protruding arm 634 is tilted downward until the Hall element 639 detects the tuna net 638. (Indicated by the dotted chain line.)
The control cable 10 is hung near the device main body 100 to reduce the external dimensions of the device main body 100.

In the above-described floor cleaning device, an operator connects the device main body 1 inside the hot well 11 through the control cable 10 using the operating section 200.
It controls the traveling operation and floor cleaning operation of 00, and automatically performs the cleaning work inside the hot well 11 by remote control. The winding drum 601
When winding the control cable 10 in
Since the control cable 10 is pressed down by the winding drum 601, the control cable 10 is neatly wound around the winding drum 601.

Although this embodiment was applied to cleaning the floor of the main condensate hotwell of a nuclear power plant, it can of course be used to clean other floor surfaces.

The traveling position sensor 900, the control panel 201, and the traveling position display monitor television 204 according to an embodiment of the present invention will be sequentially explained in more detail.

First, the traveling position sensor 900 will be described. As shown in FIG. 44, rear wheels 302, which are driving wheels, receive driving force through a gear box 305 and a drive shaft 306 to rotate. Traveling position sensor 900
A rotary encoder 901 is connected to the drive shaft 306 via two gears 902. Therefore, the rotary encoder 901 outputs a pulse signal in proportion to the rotational speed of the rear wheel 302, that is, in proportion to the moving distance of the apparatus main body 100. Note that there are two rotary encoders 902, each of which is individually provided on the left and right drive shafts 306. On the other hand, as shown in FIG. 45, a gas rate gyro 905 is provided inside the sensor case 903 and is mounted by a metal fitting 904. The gas rate gyro 905 detects the turning angle of the apparatus main body 100, and its detection signal is input to the measurement control board 906. Pulse signals from rotary encoder 901 are also input to this measurement control board 906 . The input signal is
After signal processing is performed on this board 906, the signal is inputted to the control panel 201 of the operation unit 200 through a flat cable 907, a connector 908, and further through the cable 10.

The principle of the gas rate gyro will now be explained with reference to FIG. 46. A gas rate gyro has gas sealed in a case and circulates the gas in a constant-speed laminar flow using a piezo element pump.

If there is no angular velocity on the input axis, the gas flow ejected from the nozzle g! Go straight ahead, cool the two hot wires W and W almost equally, and output V from the bridge circuit. becomes zero. When an angular velocity ω is applied to the input shaft, a Coriolis force acts on the gas flow g, producing an offset 9 proportional to the square of the length L) from the nozzle to the hot wire, as shown in FIG.

As a result, the gas flow hits the hot wire W,
Since the flow velocity hitting W becomes weaker, the resistance balance of the bridge circuit is lost and V. occurs. This V. is amplified by a high-sensitivity amplifier and converted into an angular velocity signal.

Conventional gyros used in ships, aircraft, etc. require mechanical components such as a rotating body to rotate the top at high speed and a gimbal to support this rotating body. It is small and lightweight because it does not use the body.

Next, the operation of the arithmetic unit incorporated in the control panel 201 will be explained. This control panel 201 uses data sent from two rotary encoders 901 and a gas rate gyro 9.
Data sent from 05 is captured every 0.5 seconds.

The reason why the sampling period was set to 0.5 seconds was determined in consideration of the fact that the maximum running speed of the apparatus main body 100 was 4 m/min.

The distance ΔL traveled during the sampling period of 0 and 5 seconds thus determined, and the X coordinate Xi and Y coordinate Yi at the end of the sampling period are calculated as follows.

ΔP=P・−Pri−1 ΔPl−7'li 'l i−1 澹="i−1+ΔL−(9)ω Yi""i−1+ΔL−ゆω However, Pr: Rotary installed on the right rear wheel Number of pulses from the encoder P: Number of pulses from the rotary encoder provided on the left rear wheel a: Pulse distance conversion coefficient Δt: Sampling period (0.5 seconds in this example) ω
: Turning angle l detected by gas rate gyro : Current data i-1 : Use previous data.

Note that gas rate gyros detect angular velocity using resistance differences due to temperature differences, so the output value drifts due to changes in gas temperature. In order to eliminate this drift, it is necessary to accurately measure the temperature of the fluid gas and successively perform zero point correction for the gas temperature at the time of measurement. Also, since the output of the gas rate gyro is angular velocity, it is necessary to integrate it to find the angle. Since the offset of this integrator also causes an error, it is necessary to input a reference input and calibrate it each time it is used. Furthermore, since the gas rate gyro itself has hysteresis, it is also necessary to correct the hysteresis for changes such as clockwise rotation and counterclockwise rotation. Therefore, in order to accurately measure the angle, it is necessary to constantly correct the above points.

However, floor cleaning devices are not used continuously for long periods of time, from tens of hours to several days, as is the case with ships, aircraft, etc., and are stopped every few minutes. Therefore, during this stop, the angle up to that point is memorized, the integrator is reset, the offset is read, and this is used as the zero point to start measurement again from when the floor cleaning device starts moving. In this way, the approximate position of the device main body 100 is determined. If the approximate position and orientation are determined, this is sufficient for the intended use of the device, so by repeating this process to determine the angle, correction processing for various surrounding conditions is omitted. Therefore, calculation processing can be easily performed.

Next, the traveling position display monitor television 204 will be explained. As shown in FIG. 47, the traveling position display monitor television 204 displays an image 100a of the device body 100 and an image 11a of the device body 100 traveling in a superimposed manner on its screen. The display position of the device main body image 100a moves in accordance with the position and orientation calculated by the control panel 201.

If the position calculated by the control panel 201 overlaps with a wall or pillar, as shown by the dotted line 100b in the figure, software calculation processing is performed to shift it to a position where it does not overlap the wall or pillar and display image 100C. . This software calculation process is performed by the control panel 201.

Ho Effects of the Invention As described above in detail with reference to the embodiments, according to the present invention, the raking mechanism scrapes the objects to be collected on the left and right front sides of the traveling vehicle toward the front of the traveling vehicle, and also collects the objects in front of the traveling vehicle. To automatically clean the floor surface over a wide area without changing the direction of the running cart even in a narrow place where the running cart cannot change direction freely since the objects are stored by a collection mechanism. I can do it. Therefore, if the floor cleaning device according to the present invention is used for cleaning the floor of a main condenser hot well of a nuclear power plant, for example, the burden on workers will be significantly reduced and exposure to radiation will be avoided. It becomes possible to improve the efficiency of floor cleaning work.

=68=

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a floor cleaning device in use according to an embodiment of the present invention, and FIG. 2 is a perspective view of the main body of the device. Fig. 3 is a sectional view of an example of the clad scraping mechanism as seen from the front, and Fig. 4 is a sectional view of an example of the touch sensor.
Fig. 4 (fa) is a partial fracture pressure surface view of the same, Fig. 4 (bl is also a cross-sectional view thereof, Fig. 5 and Fig. 6 are an example of the crud collection mechanism, and Fig. 5 is a cross section seen from the side. Fig. 6 is a partially cutaway front view of the same. Figs. Fig. 8 is a partially cutaway front view of the main part of the clad scraping mechanism; Fig. 8 is a partially cutaway front view of the main part when the spatula is raised; Fig. 9 is a partially cutaway pressure surface view of the main part; Fig. 10. (a), (
b) respectively. FIG. 11 is a front view of a main part of a clad scraping mechanism according to another embodiment of the present invention in which a rotating brush is attached to the scraping arm instead of a spatula;
Figure 13 shows an example of the clad scraping mechanism.
Figure 12 is a partially sectional front view of the main part, and Figure 13 is the first
2, FIGS. 14 and 15 show other embodiments of the clad raking mechanism of the present invention, FIG. 14 is a partially sectional front view of the main part thereof, and FIG. B- in the diagram
B sectional view Figure 16 is a perspective view of the main body of the device, Figures 17 to 1
Fig. 9 shows an example of the clad scraping mechanism, Fig. 17 is a sectional view as seen from the front, Fig. 18 is a partially cutaway side view thereof, and Fig. 19 is a diagram for explaining its rotation. 20 is a cross-sectional side view of the crud collection mechanism; FIG. 21 is a sectional view taken along the line C-C in FIG. 20;
2 to 25 relate to another embodiment of the present invention, and FIG.
The figure is a side view of the cladding collection mechanism, Figure 23 is a sectional view taken along the line D-D in Figure 22, Figure 24 is a partially cutaway view showing how the movable frame is installed, and Figure 25 is the installation of the shu-par. 26 and 27 are cross-sectional views showing the state, and FIG. 26 is a side view of the crud collecting mechanism, and FIG. 27 is a cross-sectional view taken along the line EE in FIG. 26. 28 and 29 are respectively a schematic configuration diagram showing an embodiment using a one-roller rotating body, and FIG. 30 is a side view of the cladding collection mechanism;
Fig. 31 is a partially broken pressure surface view, Fig. 32 is a sectional side view thereof, Fig. 33 is a side view of a clad collection mechanism according to another embodiment, and Fig. 34 is a clad storage box and clad storage bag. A perspective view, FIG. 35 is a schematic configuration diagram showing the main parts of the device body, FIG. 36 is a side view of a control cable guide consisting of one guide pulley, FIG. 37 is a side view of a control cable guide having a push-up mechanism, Figure 38 is a conceptual diagram of the alignment device consisting of two sprockets, Figure 39
The figure is a schematic diagram showing the winding state of the control cable, and Figure 40 is a conceptual diagram of the mechanism of the alignment device consisting of four sprockets.
Fig. 41 is a perspective view showing the control cable in the area where the diameter increasing member is provided, Figs. 42 and 43 are plan and side views of the control cable riding prevention device, and Fig. 44 is the configuration showing the rotary encoder installed state. Figure, -71= Figure 45 is a configuration diagram showing the installation state of the gas rate gyro, Figure 46 is a principle diagram showing the principle of the gas rate gyro,
FIG. 47 is an explanatory diagram showing an image displayed on the traveling position display monitor television. In the drawings, 100 is the main body of the apparatus, 200 is the operating section, 300 is the traveling truck, 400 is the clad scraping mechanism, 402 is the scraping arm 1, 500 is the clad collecting mechanism, and 600 is the control cable automatic feeding/winding section. -72= Fig. 4: Touch sensor (b) Cross-sectional view Fig. 5: Cross-sectional view of the cladding collecting mechanism Fig. 9: Partially cutaway view of the main parts of the cladding scraping mechanism Fig. 10: Fig. 16: Perspective view of the main body of the device Partially broken side view of the clad raking mechanism Figure 19 Side view of the clad raking mechanism ' 408 Figure 20 Side view of the clad collecting mechanism 5o4 515
Figure 21: Cross-sectional view taken along the line CC in Figure 20. Figure 22: Side view of the cladding collection mechanism. Figure 23: Cross-sectional view taken along the line D-D in Figure 22. Fig. 25 is a partial cross-sectional view showing the installation state of the sufu-bar Fig. 26 is a side view of the Clara 1ζ collection mechanism Fig. 27 is a sectional view taken along the line E-E in Fig. 26 Fig. 28 is the roller 1 Schematic diagram of a crud collection mechanism using a rotary body Figure 29 Schematic diagram of a crud collection mechanism using a roller type rotor Figure 31 Side view of the crud collection mechanism Figure 31 Partial fracture pressure surface of the crud collection mechanism Figure 32: Cross-sectional view of the cladding collection mechanism Figure 33: Side view of the cladding collection mechanism Brush Figure 36: Side view of a cable guide consisting of one guide pulley Figure 37: Cross-sectional view of the cable guide with a push-up mechanism Fig. 38 Mechanism conceptual diagram of alignment device Fig. 39 Fig. 40 Fig. 41 Fig. Control cable Fig. 42 Plan view of control cable riding prevention device Fig. 43

Claims (1)

[Claims] a self-propelled traveling trolley; a raking mechanism provided at the front of the traveling trolley in the running direction to scrape collected objects on the floor from both left and right sides; a collection mechanism that scoops up and stores objects to be collected in front of the traveling truck; and an automatic control cable payout that is mounted on the traveling truck and automatically feeds out and winds up the control cable as the traveling truck moves. - A floor characterized by comprising a winding section and an operation section for controlling the main body of the device, which is composed of the traveling carriage, the scraping mechanism, the collection mechanism, and the control cable automatic feeding/winding section, via the control cable. Surface cleaning device.