WO2008065742A2 - 物体表面に密着し移動可能な装置 - Google Patents
物体表面に密着し移動可能な装置 Download PDFInfo
- Publication number
- WO2008065742A2 WO2008065742A2 PCT/JP2007/001239 JP2007001239W WO2008065742A2 WO 2008065742 A2 WO2008065742 A2 WO 2008065742A2 JP 2007001239 W JP2007001239 W JP 2007001239W WO 2008065742 A2 WO2008065742 A2 WO 2008065742A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- pressure
- region
- object surface
- gas
- fluid
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
- B24C3/062—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable for vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/06—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable
- B24C3/065—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other movable; portable with suction means for the abrasive and the waste material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
- B24C9/003—Removing abrasive powder out of the blasting machine
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Definitions
- the present invention relates to an apparatus capable of moving in close contact with an object surface, which is in close contact with the object surface in a liquid and can move along the object surface.
- the present invention relates to an apparatus capable of moving in close contact with an object surface, comprising a gas region that brings the object surface into contact with gas only, and a device that acts on the object surface in the gas region.
- the present invention relates to a device that can move in close contact with the surface of an object, comprising a gas region filled with an inert gas in the gas region of the above device.
- the present invention also relates to an apparatus capable of moving in close contact with an object surface, which is in close contact with the object surface in the gas and can move along the object surface.
- the present invention relates to an apparatus capable of moving in close contact with an object surface, comprising a gas region that brings the object surface into contact with gas only, and a device that acts on the object surface in the gas region.
- the present invention relates to a device that can move in close contact with the surface of an object, comprising a gas region filled with an inert gas in the gas region of the above device.
- an arc spray apparatus can be considered first.
- the arc spraying device is one of various thermal spray devices.
- a thermal spray apparatus is an apparatus that forms a coating on the surface of an object by melting, atomizing, and spraying a wire or particle as a molten material such as metal.
- a thermal spray device one or two wires or powders can be used for the feed material, and heating is by an arc or combustion flame.
- the device that acts on the object surface mounted on the device of the present invention is a device that adheres a molten material, such as a welding device, a plastic sheet affixing device, a paint, Adhesive spraying device or object
- a molten material such as a welding device, a plastic sheet affixing device, a paint, Adhesive spraying device or object
- Various apparatuses such as an apparatus for performing heat treatment on the surface can be applied.
- the surface of the object to be acted on is in contact with the gas, so that it exhibits superior effects compared to the case of contact with the liquid.
- the surface of the object to be acted on is in contact with a gas composed of an inert gas, so that further excellent effects are exhibited.
- the following apparatus can be given as an example.
- Such a device includes a main casing, a wheel as a moving means attached to the main casing, a seal member connected to the main casing and having a free end thereof brought into contact with an object surface, and the main casing. And a negative pressure generating means for discharging the fluid inside the negative pressure region defined by the seal and the object surface to the outside.
- the negative pressure generating means when the negative pressure generating means is energized, the fluid inside the negative pressure region is discharged to the outside, and the fluid pressure acting on the main casing due to the fluid pressure difference inside and outside the negative pressure region is Is transmitted to the surface of the object, and the fluid pressure causes the device to be adsorbed on the surface of the object.
- the device moves along the object surface by the action of the wheel.
- a driving means such as an electric motor in the attracted state
- the device moves along the object surface by the action of the wheel.
- a working device such as an abrasive material injection means for injecting an abrasive material toward the object surface inside the negative pressure region, and various operations on the object surface can be remotely controlled.
- Such an apparatus includes two gas regions that bring the object surface into contact with gas only, and a device that acts on the object surface in the gas region.
- a main casing having at least an outer casing and an inner casing; and a part of the main casing that is attached to an opening of the outer casing is brought into contact with the object surface.
- the inner seal member cooperate with the object surface to define the first region, and at least the inner casing and the inner seal member cooperate with the object surface to regulate the first region. It is provided with a second region which is.
- Such a device covers the surface of the object with an area filled with liquid, and the area can move, and the liquid can be sucked and collected from the surface of the object. With this, ultrasonic flaw detection and ultrasonic cleaning of the object surface can be performed.
- the surface A is a boundary surface between the object surface and the first region.
- Surface B is the boundary surface between the object surface and the second region, and the outer seal member is the part that defines the outer boundary line of surface A, and the inner part is the part that defines the inner boundary line of surface A.
- a sealing member is provided, the first region is connected to means for sucking gas, the second region is connected to means for supplying liquid, and the first region is under the gas surrounding the device. The liquid that is located on the flow side and downstream of the second region and has flowed away from the second region is sucked and transferred to the suction means through the first region.
- Patent Document 1 Japanese Patent Publication No. 6 0-2 6 7 5 2
- Patent Document 2 Patent Publication 2 0 0 3-2 8 5 7 8 2
- Patent Document 3 Patent Publication 2 0 0 4-1 5 1 0 1 2
- the first problem is that the surface of the object under the surface of the liquid is sprayed with, for example, compressed air using compressed air to form a rough surface.
- suction collection using an air flow to the collection container installed in the area it is forbidden for liquid to enter the spraying area of the abrasive.
- a device such as a thermal spray device, a device that adheres molten material such as a welding device, a plastic sheet application device, a paint or adhesive spray device, or a device that heat-treats the object surface was used.
- Work dislikes the penetration of liquid into areas that act on the surface of the object.
- the surface of the object to be acted on is in contact with the gas, so that it exhibits superior effects compared to the case of being in contact with the liquid.
- the pressure of the gas in the first region of the device is higher than the pressure of the liquid surrounding the device, a part of the gas in the first region forms a gap between the outer seal member and the object surface. And flows out of the device.
- the gas flowing out from the first region contains toxic substances such as deteriorated paint particles containing heavy metals such as lead, the problem of environmental pollution caused by such a device occurs.
- the thermal spray device cannot be applied as a device that acts on the object surface in the second region.
- various devices such as a device for attaching a molten material, such as a welding device, a plastic sheet pasting device, a paint or adhesive spraying device, or a device for heat-treating an object surface cannot be applied.
- the surface of the object to be acted on is in contact with a gas composed of an inert gas, and thus exhibits an excellent effect.
- Patent Publication 2 0 0 4- Since the second region of the device disclosed in the 1 5 1 0 1 2 publication is filled with liquid, the second region cannot be equipped with a device that acts on the object surface as described above. .
- the technical solutions of the present invention are as follows. First, regarding the first problem related to the device disclosed in Japanese Patent Publication No. 60_26752, the technical solution is to move in close contact with the object surface below the liquid surface, which has an area filled with gas. Is to provide a simple device.
- the pressure of the gas in the first region of the device is set to be lower than the pressure of the liquid surrounding the device, so that a part of the gas in the first region becomes a gap between the outer seal member and the object surface. It is an object of the present invention to provide an apparatus that can move in close contact with an object surface under a liquid surface that has a gas-filled region and that does not flow out of the apparatus through the apparatus.
- a device for adhering a molten material such as a thermal spray device or a welding device, plastic
- An object surface in a gas having a gas-filled area that can be equipped with various devices such as a sheet sticking device, a paint or adhesive spraying device, or a device that heat-treats the object surface. It is to provide a device that is in close contact with and movable.
- a main casing having at least an outer casing and an inner casing; an outer seal member attached to an opening of the outer casing and a part of which is in contact with an object surface; An inner sealing member that is attached to the opening of the casing and a part of which is brought into contact with the object surface; means for maintaining the distance between the main casing and the object surface at an arbitrary distance and moving along the object surface; An apparatus capable of moving along the object surface while being in close contact with the object surface in the liquid, wherein at least the outer casing, the outer seal member, and the inner seal member are disposed on the object surface.
- the first region is defined by cooperation, and at least the inner casing and the inner seal member have the second region defined by cooperation with the object surface.
- the pressure of the fluid in the first region is maintained at a pressure lower than the pressure of the fluid surrounding the device, and the pressure of the fluid in the second region is present in the first region.
- a device capable of moving in close contact with the surface of an object is provided, characterized in that the pressure is maintained at a pressure higher than the pressure of the fluid.
- the outer seal member has a shape that is pressed against the object surface by a differential pressure between the pressure of the fluid surrounding the apparatus and the pressure of the fluid in the first region.
- the object according to claim 1, comprising a shape that is pressed against the surface of the object by a differential pressure between the pressure of the fluid in the second region and the pressure of the fluid in the first region.
- a device is provided that is in close contact with the surface and is movable.
- a main casing having at least an outer casing and an inner casing; an outer seal member attached to an opening of the outer casing and a part of which is in contact with an object surface; An inner sealing member that is attached to the opening of the casing and a part of which is brought into contact with the object surface; means for maintaining the distance between the main casing and the object surface at an arbitrary distance and moving along the object surface; An apparatus capable of moving along the object surface while being in close contact with the object surface in the gas, wherein at least the outer casing, the outer sealing member, and the inner sealing member are disposed on the object surface.
- the first region is defined by cooperation, and at least the inner casing and the inner seal member have the second region defined by cooperation with the object surface.
- the pressure of the fluid in the first region is maintained at a pressure lower than the pressure of the fluid surrounding the device, and the pressure of the gas in the second region is present in the first region.
- a device capable of moving in close contact with the surface of an object is provided, characterized in that the pressure is maintained at a pressure higher than the pressure of the fluid.
- the outer seal member has a shape that is pressed against the object surface by a differential pressure between the pressure of the fluid surrounding the apparatus and the pressure of the fluid in the first region.
- the object according to claim 2 further comprising a shape that is pressed against the object surface by a differential pressure between the pressure of the fluid in the second region and the pressure of the fluid in the first region.
- a device is provided that is in close contact with the surface and is movable.
- the gas pressure in the first region is maintained at a pressure lower than the pressure of the liquid surrounding the device, and the gas pressure in the second region is maintained in the first region. Since the pressure of the gas in the second region is maintained at a pressure lower than the pressure of the liquid surrounding the device, the pressure of the gas in the second region is maintained at a pressure higher than the pressure of the gas in the second region. Adheres to the surface of the object and prevents liquid outside the device from entering the second area.
- gas is sent from the outside of the device to the second region via the gas pressure control mechanism and the flexible hose, while the first region has a loop-type vacuum via the flexible hose.
- the negative pressure generating means such as a pump is connected, the liquid outside the device that has flowed into the first region through the gap between the outer seal member and the object surface is between the inner seal member and the object surface. After flowing into the first area through the gap, it rides on the gas flow through the flexible hose to the negative pressure generating means, and then sucked and transferred to the negative pressure generating means.
- the device moves along the object surface while maintaining close contact with the object surface in the liquid by means of maintaining the distance between the main casing and the object surface at an arbitrary distance and moving along the object surface. .
- the pressure of the liquid surrounding the device increases as the depth increases, the pressure of the liquid is filled with the gas so that the differential pressure between the pressure of the liquid and the pressure of the region filled with the gas becomes constant.
- the area pressure is controlled.
- the pressure of the compressed gas is controlled so that the differential pressure between the pressure of the region filled with the gas and the pressure of the compressed gas becomes constant. Is done.
- the pressure of the gas in the first region is maintained at a pressure lower than the pressure of the gas surrounding the device, and the pressure of the gas in the second region is the pressure of the gas in the first region. Since the pressure of the gas in the second region is maintained at a pressure lower than the pressure of the gas surrounding the device, the device moves to the object surface due to the negative pressure. In addition, the gas outside the device is prevented from entering the second region.
- Gas is sent from the outside of the device to the second area via the gas pressure control mechanism and the flexible hose, while in the first area, the flexible area is Since a negative pressure generating means such as a loop type vacuum pump is connected through a gas source, the gas outside the device that has flowed into the first region through the gap between the outer seal member and the object surface is the inner seal. After flowing into the first region through the gap between the member and the object surface, the gas flows through the flexible hose to the negative pressure generating means, and then sucked and transferred to the negative pressure generating means.
- a negative pressure generating means such as a loop type vacuum pump
- the device moves along the object surface while maintaining close contact with the object surface in the liquid by means of maintaining the distance between the main casing and the object surface at an arbitrary distance and moving along the object surface. .
- the present invention provides the following effects.
- abrasive material is sprayed onto the object surface under the liquid level using compressed air, a rough surface is formed on the object surface, and then the used abrasive is installed on land.
- suction recovery using an air flow liquid intrusion into the abrasive spray area is prohibited.
- use equipment such as a thermal spraying device, a device that attaches molten material such as a welding device, a plastic sheet application device, a paint or adhesive spraying device, or a device that heat-treats the surface of an object. The work that is done is reluctant to intrude into the area that acts on the surface of the object.
- the apparatus includes a mechanism for preventing liquid from entering the region where the action is applied to the object surface.
- the surface of the object to be acted on is in contact with the gas, so that it exhibits superior operational effects compared to the case of contact with the liquid. Also, in some of these devices, the object surface to be acted on is oxygen-enriched By contacting a gas composed of a low-grade inert gas, it exhibits even better effects.
- melting work is carried out in a gas consisting of an inert gas, so that oxidation of the molten material is suppressed, so there is an advantage in improving quality. .
- the liquid pressure increases as the depth increases. Even if the pressure increases, it is necessary to control the pressure in the region filled with the gas so that the differential pressure between the pressure in the region filled with the gas and the fluid pressure becomes constant. If the fluid pressure is much greater than the pressure in the area filled with the gas, the fluid pressure will push the area filled with the gas very strongly against the object surface, so the device will move along the object surface. It requires a great deal of power to do. In the device of the present invention, even if the liquid pressure increases as the depth increases, the pressure in the region filled with the gas is such that the pressure difference between the region filled with the gas and the fluid pressure is constant. The pressure was controlled.
- the pressure of the compressed gas is controlled so that the differential pressure between the pressure in the region filled with gas and the pressure of the compressed gas becomes constant.
- the apparatus shown in the figure has a main casing.
- the main casing is made of a rigid material, and has a cylindrical partition 21 on the outer peripheral side, a cylindrical partition 22 on the inner peripheral side, and a disk-like side on the rear side. / 1 Tissue 2 3
- the cylindrical partition 22 on the inner peripheral side is formed of a cylindrical part having an opening at the part facing the object surface 1 and an annular disk part welded to the outer peripheral edge of the opening of the cylindrical part. .
- the cylindrical partition 21 on the outer peripheral side is formed of a cylindrical part having an opening at a part facing the object surface 1 and an annular disk part welded to the outer peripheral edge of the opening of the cylindrical part.
- a traveling frame 4 made of a pair of rigid materials each having two wheels 41 is fixed to opposite side surfaces of the cylindrical portion of the cylindrical partition 21 on the outer peripheral side.
- An outer sealing member 3 1 made of a relatively flexible material such as polyurethane rubber or plastic is attached to the annular disk portion of the cylindrical partition 21 on the outer peripheral side by a port or nut.
- the outer seal member 31 has a generally annular shape as a whole, and has a free end extending along the object surface 1 to the outside of the apparatus. Due to this shape, the outer seal member 3 1 becomes the outer seal member 3
- the outer seal member 31 has a so-called self-sealing shape.
- An inner sealing member 3 2 made of a relatively flexible material such as polyurethane rubber or plastic is attached to the annular disk portion of the cylindrical partition 22 on the inner peripheral side with a port and a nut.
- the inner seal member 32 has a substantially annular shape as a whole, and its free end extends along the object surface 1 to the inside of the device. Due to this shape, the inner seal member 3 2 becomes the inner seal member 3
- the shape of the inner seal member 32 is a so-called self-seal shape.
- the outer cylindrical partition 2 1, the inner cylindrical partition 2 2, the outer sealing member 3 1, the inner sealing member 3 2, and the rear disk partition 2 3 cooperate with the object surface 1 to form a ring
- the first area 1 1 is defined.
- the cylindrical / one-section 2 2 on the inner peripheral side, the inner seal member 3 2, and the disk-shaped / one-section 2 3 on the back side define the second region 1 2 in cooperation with the object surface 1. Yes.
- an arc spray gun 8 2 for spraying the object surface 1 inside the second region 1 2 is attached to the disk-like partition 2 3 on the back side. ing.
- wires 8 2 1 Two thermal spray wires 8 2 1 (hereinafter referred to as wires 8 2 1) made of a metal such as zinc or aluminum are formed by a flexible feeder using a wire feeding device (not shown) equipped with a wire reel. It is fed to the arc spray gun 8 2 through it 8 2 8 (flexible conduit), and inside the arc spray gun 8 2, the wire 8 2 1 is fed to the wire nozzle 8 2 2 .
- An energization terminal for energizing alternating current or direct current is provided in a part of the wire nozzle 8 2 2 (not shown), and each wire 8 2 1 is energized via the wire nozzle 8 2 2.
- the wire 8 2 1 crosses the place where it exits the wire nozzle 8 2 2 and generates an arc. At this time, the wire 8 2 1 is instantaneously heated and melted by the arc heat to become fine particles, and due to the action of a compressed gas such as compressed air ejected from the gas nozzle 8 2 3 between the two wire nozzles 8 2 2. It atomizes (sprays) and scatters while cooling and collides with the object surface 1 to form a metal spray coating.
- a compressed gas such as compressed air ejected from the gas nozzle 8 2 3 between the two wire nozzles 8 2 2. It atomizes (sprays) and scatters while cooling and collides with the object surface 1 to form a metal spray coating.
- the compressed air inlets 8 2 9 provided at the respective upstream ends of the two flexible conduits 8 2 8 connected to the arc spray gun 8 2 are provided inside the flexible conduit 8 2 8 and the flexible conduit 8 2 8.
- a flow rate adjusting valve (not shown) and an air compressor (not shown).
- the internal pressure of the arc spray gun 8 2 is maintained at the same pressure as the pressure in the first region 1 1, or the internal pressure of the arc spray gun 8 2 is maintained higher than the pressure in the first region 1 1.
- Ru As shown, a relief valve (not shown) is provided.
- the arc current is generally several hundred amperes.
- the members such as the gun casing 8 2 6 which comes into contact with the wire 8 2 1 and the wire nozzle 8 2 2 are formed of an electrically insulating material such as hard plastic.
- the type of wire feeding mechanism (not shown) or the arrangement of the wire feeding device (not shown) is not critical to the present invention, and other suitable normal or other desired mechanisms may be used . Further, the wire feeding mechanism can also be disposed inside the arc spray gun 82 as is well known.
- the apparatus that acts on the object surface 1 mounted on the apparatus of the present invention is not limited to the arc spraying apparatus.
- the arc spraying device is one of various thermal spray devices.
- a thermal spray apparatus is an apparatus that forms a coating on the surface of an object by melting and atomizing a wire or particle as a molten material such as metal and spraying it.
- a thermal spray device one or two wires or powders can be used for the feed material, and heating is by arc or combustion flame.
- a device for adhering molten material such as a welding device, a plastic sheet pasting device, a paint
- a spraying device for adhesives such as a welding device, a plastic sheet pasting device, a paint
- a spraying device for abrasives such as a spraying device for abrasives
- a device for heat-treating an object surface can be applied.
- the surface of the object to be acted on is in contact with the gas, so that it exhibits superior effects compared to the case of being in contact with the liquid.
- the surface of the object to be acted on is in contact with a gas composed of an inert gas having a low oxygen concentration, so that a further excellent effect is exhibited.
- a gas composed of an inert gas having a low oxygen concentration so that a further excellent effect is exhibited.
- melting work is carried out in a gas consisting of an inert gas, so that oxidation of the molten material is suppressed, so there is an advantage in improving quality. .
- connection joint 2 1 1 that is welded to the disk-like partition 2 3 on the back side and communicates with the first region 1 1 is the inlet of the cyclone 9 6 3 that is on the downstream side via the hose 9 6 1
- the outlet of the cyclone 9 6 3 is connected to the upstream valve chamber 9 3 1 of the pressure regulating valve 9 2 b and the connecting joint 9 2 2 of the pressure regulating valve 9 2 b, and the downstream valve chamber 9 3 2 of the pressure regulating valve 9 2 b
- the connection joint 9 2 3 is connected to the inlet of the vacuum pump 9 6 located further downstream via a hose 9 6 2.
- the Roots type vacuum pump 96 has a sufficient suction air volume and sufficient suction pressure, and an excessive vacuum was generated so that the roots type vacuum pump 96 could not be burned out due to the generation of an excessive vacuum.
- a vacuum breaker 8 63 having a function of automatically sucking outside air and lowering the degree of vacuum is provided at the inlet of the roots type vacuum pump 9 6.
- the maximum suction pressure of the vacuum pump 96 used is assumed to be about 0.35 kgf / cm @ 2 in absolute pressure.
- the pressure value is about 0.6 2 because pressure loss occurs when the gas is sucked and transferred through the hose 9 61.
- a rotary feeder 9 6 4 for discharging the material collected inside the cyclone 9 6 3 to the outside is attached to the lower part of the cyclone 9 6 3.
- connection joint 2 2 1 that is welded to the disk-like partition 2 3 on the back side and communicates with the second region 1 2 is downstream of the pressure regulating valve 9 2 that is on the upstream side via the hose 9 5 2 Connected to the connecting joint 9 2 3 of the side valve chamber 9 3 2 and connected to the upstream valve chamber 9 3 of the pressure regulating valve 9 2 9 2 2 is variable further upstream via the hose 9 5 1 Connected to the outlet of the displacement gas supply pump 95.
- the inlet of the gas supply pump 9 5 is open to the atmosphere to take in the atmosphere, or a device that generates an inert gas having a low oxygen concentration such as exhaust gas discharged from a diesel engine 9 7 It is connected to.
- the maximum discharge pressure of the gas supply pump 95 used is about 12 kgf / cm 2 in absolute pressure.
- P c kgf / cm2 the absolute pressure in the upstream valve chamber 9 3 1: P c kgf / cm2
- the value of P c is generated because a considerable pressure loss occurs when the gas is transferred through the hose 9 5 1 with a small diameter. Is assumed to be about 4.
- the casing 9 2 1 of the pressure regulating valve 9 2 is roughly divided into two chambers, a valve plate storage chamber and a valve plate drive chamber. Inside the valve plate storage chamber, the disc-shaped valve plate 9 2 7 is lowered by the drive rod 9 2 6 to close the valve hole 9 3 1 having a diameter of D a cm, and is raised to the valve hole 9 3 Open 1.
- the valve plate 9 2 7 closes the valve hole 9 3 1 1, the valve plate storage chamber is divided into two chambers, an upstream valve chamber 9 3 1 and a downstream valve chamber 9 3 2.
- the upstream valve chamber 9 3 1 and the valve hole 9 3 1 are the same part.
- a circular membrane diaphragm 9 2 9 divides the valve plate drive chamber into two chambers, a pie-mouth pressure chamber 9 3 3 and an upstream pressure chamber 9 3 4.
- the valve plate 9 2 7 closes the valve hole 9 3 1, the diaphragm 9 2 9 pushes down the disc-shaped biston 9 2 8 having a diameter D b cm.
- a drive rod 9 2 6 is fixed to the disc-shaped biston 9 2 8.
- Upstream valve chamber 9 3 1 and upstream pressure chamber 9 3 4 and upstream pressure chamber 9 3 4 connection joint 9 2 5 are connected by a hose, so upstream valve chamber 9 3 1 and upstream pressure chamber 9 The pressure in 3 4 is the same.
- the diameter D a cm of the valve hole 9 3 1 and the diameter D b cm of the biston 9 2 8 have the same dimensions, the force to push the valve plate 9 2 7 upward to open the valve hole 9 3 1 F The force F d that pushes c and biston 9 2 8 downward to close valve hole 9 3 1 is balanced.
- the joint 9 2 4 of the pilot pressure chamber 9 3 3 is connected via a hose 9 4 2 to a pressure reducing valve 9 4 3 with a relief upstream thereof and an air conditioner press 9 4 further upstream thereof. ing.
- the absolute pressure of the pilot pressure chamber 9 3 3 P x kgf / cm2 is set by the pressure reducing valve 9 4 3, but the value of PX should be any positive value greater than 0 Can do. However, if you want the absolute pressure in the pilot pressure chamber 9 3 3 to be lower than the atmospheric pressure (absolute pressure: 1.0 3 3 2 kgf / cm2), the value of ⁇ ⁇ is 1.0 3 3 2 Must also be small.
- Absolute pressure in the pie-mouth pressure chamber 9 3 3 ⁇ X kgf / cm2 generates a force F x that pushes the piston 9 2 8 upward to open the valve hole 9 3 1.
- the absolute pressure in the downstream valve chamber 9 3 2, that is, the second region 1 2: P b kgf / cm2 generates a force F b that pushes the valve plate 9 2 7 downward to close the valve hole 9 3 1
- the diameter D a cm of the valve hole 9 31 and the diameter D b cm of the piston 9 28 are the same dimension. Therefore, the valve plate 9 2 7 is opened when P b ⁇ P X, and the valve plate 9 2 7 is closed when P b> P X.
- the absolute pressure in the second region 12 is Absolute pressure in pilot pressure chamber 9 3 3 to maintain 0.65 kgf / cm2: P x kgf / cm2
- valve plate 9 2 7 is opened when P b ⁇ 0.65, and the valve plate 9 2 7 is closed when P b> 0.65.
- the pressure adjustment valve 9 2 b has the same structure as the pressure adjustment valve 9 2 and will be described with reference to Fig. 4.However, the names of each part of the pressure adjustment valve 9 2 b and the connection of each connecting joint The tip is slightly different from the pressure regulating valve 92.
- the casing 9 2 1 of the pressure regulating valve 9 2 b is roughly divided into two chambers: a valve plate storage chamber and a valve plate drive chamber. Inside the valve plate storage chamber, the disc-shaped valve plate 9 2 7 is lowered by the drive rod 9 2 6 to close the valve hole 9 3 1 having a diameter of D a cm, and is raised to the valve hole 9 3 Open 1. When the valve plate 9 2 7 closes the valve hole 9 3 1, the valve plate storage chamber is divided into two chambers, an upstream valve chamber 9 3 1 and a downstream valve chamber 9 3 2. In the drawing of this embodiment, the upstream valve chamber 9 3 1 and the valve hole 9 3 1 are the same part.
- a circular membrane diaphragm 9 2 9 divides the valve plate drive chamber into two chambers, a pie-mouth pressure chamber 9 3 4 and a downstream pressure chamber 9 3 3.
- the valve plate 9 2 7 closes the valve hole 9 3 1, the diaphragm 9 2 9 pushes down the disc-shaped biston 9 2 8 having a diameter D b cm.
- a drive rod 9 2 6 is fixed to the disc-shaped biston 9 2 8.
- Downstream valve chamber 9 3 2 connection joint 9 2 3 and downstream pressure chamber 9 3 3 connection joint 9 2 4 are connected by a hose, so downstream valve chamber 9 3 2 and downstream pressure chamber 9 The pressure in 3 3 is the same.
- the absolute pressure of the pilot pressure chamber 9 3 4 PX kgf / cm2 is set by the pressure reducing valve 9 4 3 b, but the value of PX should be any positive value greater than or equal to 0 Can do. However, if you want the absolute pressure in the pilot pressure chamber 9 3 3 to be lower than atmospheric pressure (absolute pressure: 1.0 3 3 2 kgf / cm2), the value of ⁇ ⁇ is 1.0 3 3 2 Must be less than
- Absolute pressure in pie-mouth pressure chamber 9 3 4 ⁇ X kgf / cm2 generates a force F d that pushes piston 9 2 8 downward to close valve hole 9 3 1.
- the absolute pressure in the downstream valve chamber 9 3 2 that is, the first region 1 1: P a kgf / cm2 generates a force F b that pushes the valve plate 9 2 7 downward to close the valve hole 9 3 1
- the diameter D a cm of the valve hole 9 31 and the diameter D b cm of the piston 9 28 are the same dimension. Therefore, when P a ⁇ P X, the valve plate 9 2 7 is closed, and when P a> P X, the valve plate 9 2 7 is opened.
- valve plate 9 2 7 is closed when P a ⁇ 0.62 and the valve plate 9 2 7 is opened when P a> 0.62.
- P o _ Pa 0.4 1 3 2 kgf / cm2
- the first area 1 1 is pressed in the direction of the object surface 1, and the pressing force is applied via the four wheels 4 1
- the device is transmitted to the object surface 1 and thus the device is attracted to the object surface 1 and the device moves along the object surface 1 when the wheel 4 1 is driven to rotate by a driving means such as a geared motor (not shown).
- the air or water surrounding the device is caused by the pressure difference between the inside and outside of the first region 11 and the outer seal member. 3 Press the free end of 1 in the direction of the object surface 1 to prevent air or water from flowing into the first region 1 1 as much as possible. However, it is not necessary to prevent all of the air or water flowing into the first region 11 through a slight gap between the free end of the outer seal member 31 and the object surface 1. Rather, allowing a certain amount of air or water to flow in increases the ability to suck and clean the object surface.
- the pressure of the gas in the second region 1 2 presses the free end of the inner seal member 3 2 toward the object surface 1, thereby preventing the gas from flowing into the first region 1 1 as much as possible. .
- valve plate 9 2 7 of the pressure regulating valve 9 2 is opened when the absolute pressure of the second region 12 is P b kgf / cm 2 is P b ⁇ 0.65. Therefore, when the gas supply pump 95 is activated, the supplied gas flows into the second region 12 through the opened valve plate 9 27, and the absolute pressure in the second region 12 is 0. 6 Ascending to 5 kgf / cm2, valve plate 9 2 7 is closed.
- the second region 1 2 Gas flows into the first region 11 through a slight gap between the free end of the inner seal member 3 2 and the object surface 1, so the absolute pressure in the second region 12 is 0.65. It decreases to less than k gf / cm2, so the valve plate 9 2 7 is opened again. Thereafter, the valve plate 9 2 7 is repeatedly opened and closed as described above to maintain the absolute pressure in the second region 12 at a constant value.
- the gas that has flowed from the second region 1 2 into the first region 1 1 passes through a slight gap between the free end of the outer seal member 3 1 and the object surface 1 and flows into the first region 1 1.
- Gas or water is sucked and transferred to cyclone 9 6 3, the water is separated by cyclone 9 6 3, discharged to the outside by rotary feeder 9 6 4, and the water from which water has been removed by cyclone 9 6 3 Is released into the atmosphere via a vacuum pump 96.
- the atmospheric pressure is the first region 11 and the second region.
- the region 1 2 is pressed toward the object surface 1, that is, the first region 1 1 and the second region 1 2 are attracted to the object surface 1.
- the pressing force of the atmosphere is transmitted to the object surface 1 through the four wheels 4 1, and thus the apparatus is attracted to the object surface 1 and the wheel 4 1 is driven by a drive means such as a geared motor (not shown).
- the device moves along the object surface 1 when it is driven to rotate.
- the conditions for opening the valve plate 9 2 7 are:
- the absolute pressure of the pie-mouth pressure chamber 933 the value of ⁇ ⁇ of PX kgf / cm2 and the absolute pressure that is the target pressure setting value of the second region 12: Pb of Pbkgf / cm2 It can be seen that if the values are the same, the pressure in the second region 12 can be easily adjusted to the target pressure regardless of the pressure in the upstream valve chamber 93 1.
- the pressure adjustment valve 92 in Fig. 6 differs from the pressure adjustment valve 92 in Fig. 4 in that the connection joint 924 of the pi-mouth pressure chamber 933 is open to the atmosphere and the piston in the upstream pressure chamber 934 There are only two points: a coil spring 935 that pushes 928 downward.
- F t 1 F b + Fd + F s
- the conditions for opening the valve plate 9 2 7 are:
- F skgf is the pressure setting target value in the second region 12 2
- the pressure regulating valve 9 2 in FIG. 6 has an advantage that the pressure setting of the pilot pressure chamber 9 3 3 is not required compared to the pressure regulating valve 9 2 in FIG. In the apparatus according to the embodiment of the present invention, either pressure regulating valve may be used.
- the second area 1 2 should be maintained at a lower pressure in the second area 1 2. This is advantageous because the amount of gas flowing out to the first region 1 1 is smaller, and the second region 1 2 can be adsorbed to the object surface 1 if the pressure in the second region 1 2 is lower than the atmospheric pressure.
- the pressure of the gas supply pump 9 5 varies depending on the length of the hose 9 51, and the pressure loss of the hose 9 51 is a large value, so that the gas supply pump 95 has a margin. A pump with a large discharge pressure must be selected. Further, when the discharge pressure of the gas supply pump 95 is large, the diameter of the hose 951 can be further reduced. Therefore, a pressure regulating valve having a pressure reducing function is inevitably required on the downstream side of the gas supply pump 95.
- the pressure regulating valve 92 of the apparatus according to the embodiment of the present invention is excellent in that the gas supplied from the gas supply pump 95 can be reduced to a pressure lower than the atmospheric pressure regardless of the discharge pressure of the pump. It has characteristics.
- the pressure regulating valve 92 and the pressure regulating valve 9 2 b of the apparatus according to the embodiment of the present invention are arranged so that the apparatus of the present invention is in close contact with the object surface under the liquid level and moves along the surface. Even if the pressure of the liquid increases as the depth increases, the pressure of the region filled with gas so that the differential pressure between the pressure of the region filled with gas and the pressure of the liquid becomes constant. Is to control.
- the pilot pressure is output by pressure reducing valve 9 4 3 with relief and pressure reducing valve 9 4 3 b with relief Is done.
- Relief pressure reducing valve 9 4 3 and relief pressure reducing valve 9 4 3 b If a pressure sensor using a proportional control type pressure reducing valve and outputting a current or voltage proportional to depth is provided in the apparatus of the present invention, the pressure reducing valve can output pilot pressure proportional to depth. .
- the fluid pressure is much greater than the pressure in the area filled with the gas, the fluid pressure will push the area filled with the gas very strongly against the object surface, so the device will move along the object surface. It requires a great deal of power to do.
- a differential pressure regulating valve 820 is installed between the connecting joint 221 and the connecting joint 21 1.
- the differential pressure regulating valve 820 is a well-known valve that is generally well known.
- the casing 821 of the differential pressure regulating valve 820 can be broadly divided into a valve plate storage chamber (831 And 832) and valve plate drive chamber 834.
- the valve plate storage chamber and the valve plate drive chamber are in the same region with the same pressure because they communicate with each other through holes.
- the disk-shaped valve plate 827 is lowered by the action of the compression coil spring 835 and the drive rod 826 to block the valve hole 831.
- the valve plate storage chamber is divided into two chambers, an upstream valve chamber 831 and a downstream valve chamber 832.
- the upstream valve chamber 831 and the valve hole 831 are the same part.
- valve plate 827 effective diameter Dacm downstream valve chamber
- the force that pushes the valve plate 827 downward in 832 is F a kgf
- the force that pushes the valve plate 827 upward in the upstream valve chamber 831 is F bkgf
- the force that the coil spring 835 pushes the valve plate 8 27 downward is F s kgf
- the conditions for opening the valve plate 827 are:
- F skgf is the pressure setting target value for the first area 1 1
- Absolute pressure Pakgf / cm2
- the pressure in the second region 12 is set to an arbitrary pressure, the pressure in the first region 11 can be easily adjusted to the target pressure.
- the value of Pa in the first region 1 1 is about 0.62 and the absolute value in the second region 1 2 is P b
- the valve plate 827 is open when P a ⁇ 0.62, and the valve plate 827 is closed when P a> 0.65.
- the differential pressure adjustment valve 820 Easily preset the differential pressure adjustment valve 820. That is, for example, the absolute pressure in the first region 1 1 decreases to 0.62 kgf / cm2 or less due to the pressure loss increasing as the gap between the outer seal member 31 and the object surface 1 becomes smaller.
- the valve plate 827 is opened and gas moves from the second region 12 to the first region 11. Therefore, the absolute pressure in the first region 11 is maintained at 0.62 kgf / cm2.
- the technical problem to be solved by the first invention of the present invention is that the gas pressure in the first region of such a device is Force is made lower than the pressure of the liquid surrounding the device, so that part of the gas in the first region does not flow out of the device through the gap between the outer seal member and the object surface. It is an object of the present invention to provide an apparatus that can move in close contact with the surface of an object below a liquid surface that includes a gas-filled region.
- the technical solution of the second invention of the present invention is to provide a thermal spray as a device that fills the second region of the device with a gas and thus acts on the object surface in the second region. It is configured to be equipped with various devices such as a device, a device for adhering a molten material such as a welding device, a plastic sheet affixing device, a paint or adhesive spraying device, or a device for heat treating an object surface, An object of the present invention is to provide a device that can move in close contact with the surface of an object in a gas having a region filled with gas.
- abrasive material is sprayed onto the object surface under the liquid level using compressed air, a rough surface is formed on the object surface, and then the used abrasive is installed on land.
- suction recovery using an air flow liquid intrusion into the abrasive spray area is prohibited.
- use equipment such as a thermal spraying device, a device that attaches molten material such as a welding device, a plastic sheet application device, a paint or adhesive spraying device, or a device that heat-treats the surface of an object. The work that is done is reluctant to intrude into the area that acts on the surface of the object.
- the apparatus includes a mechanism for preventing liquid from entering the region where the action is applied to the object surface.
- the surface of the object to be acted on is in contact with gas.
- the surface of the object to be acted on is composed of an inert gas with a low oxygen concentration. When in contact with gas, it exhibits even better effects.
- melting work is carried out in a gas consisting of an inert gas, so that oxidation of the molten material is suppressed, so there is an advantage in improving quality. .
- the liquid pressure increases as the depth increases. Even if the pressure increases, it is necessary to control the pressure in the region filled with the gas so that the differential pressure between the pressure in the region filled with the gas and the fluid pressure becomes constant. If the fluid pressure is much greater than the pressure in the area filled with the gas, the fluid pressure will push the area filled with the gas very strongly against the object surface, so the device will move along the object surface. It requires a great deal of power to do. In the device of the present invention, even if the liquid pressure increases as the depth increases, the pressure in the region filled with the gas is such that the pressure difference between the region filled with the gas and the fluid pressure is constant. The pressure was controlled.
- the pressure of the compressed gas is controlled so that the differential pressure between the pressure in the region filled with gas and the pressure of the compressed gas becomes constant.
- the apparatus that can move in close contact with the object surface under the liquid level as described above is equipped with various apparatuses that perform various operations on the object surface under the liquid level, and is arranged along the object surface. It can be conveniently used as a device for moving the object. For example, it can be advantageously used as an apparatus for performing a spraying operation or a spraying operation of an abrasive material on the surface of an object under the sea surface of an offshore structure.
- a thermal spray apparatus As an apparatus that acts on the surface of an object mounted on the apparatus of the present invention, a thermal spray apparatus, an apparatus for adhering a molten material such as a welding apparatus, a plastic sheet affixing apparatus, a paint or an adhesive spraying
- Various devices such as a device, a polishing material injection device, or a device that heat-treats the object surface can be applied.
- the surface of the object to be acted on is in contact with a gas, so that it exhibits superior effects compared to the case of contact with a liquid.
- FIG. 1 is a plan view of a preferred embodiment of an apparatus constructed according to the present invention as viewed from the direction of an object surface.
- FIG. 2 is a cross-sectional view of A_A in the apparatus shown in FIG.
- FIG. 3 is a sectional view showing a preferred embodiment of an arc spray gun provided in an apparatus constructed according to the present invention.
- FIG. 4 is a sectional view showing a first example of a preferred embodiment of a pressure regulating valve provided in an apparatus constructed according to the present invention.
- FIG. 5 is a diagram showing the overall system of a preferred embodiment of an apparatus constructed according to the present invention.
- FIG. 6 is a cross-sectional view showing a second example of a preferred embodiment of a pressure regulating valve provided in an apparatus constructed according to the present invention.
- FIG. 7 is a cross-sectional view showing a preferred embodiment of a differential pressure regulating valve that connects the first region 11 and the second region 12 with which the apparatus constructed according to the present invention shown in FIG. 5 is provided.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Cleaning In General (AREA)
- Coating Apparatus (AREA)
- Physical Or Chemical Processes And Apparatus (AREA)
- Sealing Devices (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/312,515 US8127703B2 (en) | 2006-11-16 | 2007-11-14 | Device closely contacting object surface and movable |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006-310322 | 2006-11-16 | ||
JP2006310322A JP2008126319A (ja) | 2006-11-16 | 2006-11-16 | 物体表面に密着し移動可能な装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2008065742A2 true WO2008065742A2 (ja) | 2008-06-05 |
WO2008065742A3 WO2008065742A3 (ja) | 2008-07-31 |
Family
ID=39468375
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2007/001239 WO2008065742A2 (ja) | 2006-11-16 | 2007-11-14 | 物体表面に密着し移動可能な装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8127703B2 (ja) |
JP (1) | JP2008126319A (ja) |
KR (1) | KR20090081005A (ja) |
WO (1) | WO2008065742A2 (ja) |
Families Citing this family (2)
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BR102018008935B1 (pt) * | 2018-05-03 | 2021-09-28 | Petróleo Brasileiro S.A. - Petrobras | Dispositivo de limpeza e polimento de conexões de equipamentos submarinos |
USD931948S1 (en) | 2019-08-27 | 2021-09-28 | E. Mishan & Sons, Inc. | Toy race car |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001219269A (ja) * | 2000-02-07 | 2001-08-14 | Hitachi Ltd | 水中加工装置及びその加工方法 |
JP2003205873A (ja) * | 2002-01-10 | 2003-07-22 | Fukashi Uragami | 吸着移動装置(1) |
JP2003285782A (ja) * | 2002-03-28 | 2003-10-07 | Fukashi Uragami | 液面下の物体表面に密着し移動可能な装置 |
JP2004151012A (ja) * | 2002-10-31 | 2004-05-27 | Fukashi Uragami | 物体表面に沿って移動する装置 |
JP2005058834A (ja) * | 2003-08-18 | 2005-03-10 | Fukashi Uragami | 物体表面に吸着する機能を備えた流体を吸引する装置 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4095378A (en) * | 1975-12-18 | 1978-06-20 | Uragami Fukashi | Device capable of suction-adhering to a wall surface and moving therealong |
JP3026890B2 (ja) | 1992-07-13 | 2000-03-27 | サンデン株式会社 | ショ−ケ−ス |
JP3006412B2 (ja) * | 1994-06-17 | 2000-02-07 | 株式会社日立製作所 | 水中加工装置 |
US5970574A (en) * | 1997-04-24 | 1999-10-26 | Hydrochem Industrial Services, Inc. | Apparatus and method for cleaning surfaces by removing and containing waste |
JP4099846B2 (ja) * | 1998-01-29 | 2008-06-11 | 株式会社Ihi | 水中溶接装置 |
JP2003285732A (ja) | 2002-03-28 | 2003-10-07 | Honda Motor Co Ltd | 車両用ブレーキ装置 |
-
2006
- 2006-11-16 JP JP2006310322A patent/JP2008126319A/ja active Pending
-
2007
- 2007-11-14 US US12/312,515 patent/US8127703B2/en not_active Expired - Fee Related
- 2007-11-14 WO PCT/JP2007/001239 patent/WO2008065742A2/ja active Application Filing
- 2007-11-14 KR KR1020097011594A patent/KR20090081005A/ko not_active Application Discontinuation
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001219269A (ja) * | 2000-02-07 | 2001-08-14 | Hitachi Ltd | 水中加工装置及びその加工方法 |
JP2003205873A (ja) * | 2002-01-10 | 2003-07-22 | Fukashi Uragami | 吸着移動装置(1) |
JP2003285782A (ja) * | 2002-03-28 | 2003-10-07 | Fukashi Uragami | 液面下の物体表面に密着し移動可能な装置 |
JP2004151012A (ja) * | 2002-10-31 | 2004-05-27 | Fukashi Uragami | 物体表面に沿って移動する装置 |
JP2005058834A (ja) * | 2003-08-18 | 2005-03-10 | Fukashi Uragami | 物体表面に吸着する機能を備えた流体を吸引する装置 |
Also Published As
Publication number | Publication date |
---|---|
US20110023768A1 (en) | 2011-02-03 |
JP2008126319A (ja) | 2008-06-05 |
WO2008065742A3 (ja) | 2008-07-31 |
US8127703B2 (en) | 2012-03-06 |
KR20090081005A (ko) | 2009-07-27 |
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