WO2008072364A1

WO2008072364A1 - Device capable of moving while being in intimate contact with object surface

Info

Publication number: WO2008072364A1
Application number: PCT/JP2007/001240
Authority: WO
Inventors: Fukashi Urakami
Original assignee: Uragami Fukashi
Priority date: 2006-11-20
Filing date: 2007-11-14
Publication date: 2008-06-19
Also published as: JP2008127622A

Abstract

A device capable of moving while being in intimate contact with the surface of an object present in fluid, the device having a main casing provided with an outer casing and an inner casing; an outer seal member attached to an opening of the outer casing and a portion of which is in contact with the object surface; an inner seal member attached to an opening of the inner casing and a portion of which is in contact with the object surface; and means capable of maintaining the distance between the casing and the object surface at a desired value and moving along the object surface. The outer casing, the outer seal member, and the inner seal member define a first region in cooperation with the object surface, and the inner casing and the inner seal member define a second region in cooperation with the object surface. The pressure of fluid in the first region is kept higher than the pressure of fluid surrounding the device, the pressure of fluid in the second region is set lower than the pressure of the fluid in the first region, and the device also has means for causing an inert gas to flow into the second region.

Description

Specification

Device that can move in close contact with the object surface

Technical field

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.

As an apparatus that acts on the object surface provided in the apparatus of the present invention, an arc spray apparatus can be considered first. However, it is not limited to arc spraying equipment. The arc spraying device is one of various thermal spray devices. In general, 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. In 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.

In addition to the thermal spray device, 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 Various apparatuses such as an apparatus for performing heat treatment on the surface can be applied. In these devices, 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.

In these devices, 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.

Background art

As an apparatus that adsorbs to the object surface and moves along the object surface by generating a negative pressure inside, the following apparatus can be given as an example.

As an apparatus that can be adsorbed and moved on various inclined or substantially vertical object surfaces such as ships, buildings, etc., for example, Japanese Patent Publication No. 6-0-2 6 75 2 (US Pat. No. 4, 0 9 5) , 3 78 specification and drawings).

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. In such a device, 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. In addition, when the wheel is driven to rotate by 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. In addition, such a device is equipped with 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. Next, while adhering to the object surface in the liquid and moving along the object surface, the Examples of apparatuses that act on the surface of an object include the following apparatuses proposed by the present inventor in Japanese Patent Publication No. 2 0 0 3-2 8 5 78 2.

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.

The structure of such a device is described as follows: 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. An outer seal member; and an inner seal member which is attached to an opening of the inner casing and a part of which is brought into contact with the object surface; and the distance between the main casing and the object surface is maintained at an arbitrary distance. And an apparatus capable of moving along the object surface while being in close contact with the object surface in the liquid, comprising at least the outer casing and the outer seal member. And 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.

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

Disclosure of the invention

Problems to be solved by the invention

When the apparatus described in the above-mentioned Japanese Patent Publication No. 6 _ 2 6 7 5 2 is used under a liquid level, there are the following problems to be solved.

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. In the case of 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. In addition, there are various tasks that dislike the penetration of liquid into the area that acts on the surface of the object, as with the abrasive spraying operation. For example, a thermal spray device, a welding device such as a welding device, a plastic sheet application device, a paint or adhesive spray Work using equipment such as equipment or equipment that heat-treats the object's surface is reluctant to penetrate liquids into areas that act on the object's surface. In these devices, 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.

In an apparatus that performs the work that dislikes the intrusion of liquid into an area that acts on the surface of the object as described above, it is necessary that the apparatus does not intrude liquid and has an area filled with gas. is there.

As a second problem, as described above, when the device under the liquid surface has a region filled with gas, the liquid pressure increases as the depth increases, so even if the liquid 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 hydraulic pressure becomes constant. If the fluid pressure is much greater than the pressure in the region filled with the gas, the fluid will press the region filled with the gas very strongly against the object surface, so the device moves along the object surface. It requires a great deal of power to do.

When jetting compressed gas to a region filled with the gas, such as spraying a polishing material, the differential pressure between the pressure of the region filled with the gas and the pressure of the compressed gas should be constant. It is necessary to control the pressure of the compressed gas. If the pressure difference between the pressure in the region filled with the gas and the pressure of the compressed gas decreases, the flow rate of the compressed gas decreases. Therefore, when the compressed gas is used to act on the object surface, Becomes incomplete.

In addition, when a wire energized to an area filled with the gas, such as spraying of a thermal spray material, is transferred through the flexible condition vessel, the pressure of the liquid outside the flexible conduit and the pressure of the gas inside It is necessary to control the gas pressure inside the flexible conduit so that the differential pressure with respect to the pressure becomes constant. If the pressure of the liquid outside the flexible condition is larger than the pressure of the gas inside, the liquid may enter the flexible condition and the electrical insulation may be destroyed.

Next, the apparatus disclosed in Japanese Patent Publication No. 2 0 0 3-2 8 5 7 8 2 There are problems to be solved.

In the case where the above apparatus is equipped with an apparatus for applying a molten material, such as a thermal spray apparatus or a welding apparatus, as an apparatus that acts on the surface of an object, an important function to be provided is is there.

When oxides are formed in the molten metal, the properties of the metal deteriorate, but it is important to reduce the amount of oxygen in the molten metal in order to improve the toughness of the molten metal. In other words, the region that acts on the object surface should be filled with inert gas in order to reduce the amount of oxygen. For example, high quality welding such as carbon dioxide welding is performed in a space covered with inert gas.

Therefore, the technical solutions of the present invention are as follows.

First, regarding the first problem related to the apparatus disclosed in Japanese Patent Publication No. Sho 60-2 6 7 52, the technical solution is to adhere to the surface of an object having a region filled with gas. It is to provide a movable device.

Regarding the second problem, the technical solution is that the gas pressure is such that the differential pressure between the pressure in the region filled with gas and the fluid pressure remains constant even if the fluid pressure of the liquid surrounding the device increases. Is to control the pressure in the region filled with. Further, when the compressed gas is ejected to the region filled with gas, the pressure of the compressed gas is controlled so that the differential pressure between the pressure of the region filled with gas and the pressure of the compressed gas becomes constant. It is to be. In addition, when a wire that is energized to an area filled with gas is transported through a flexible conduit, the differential pressure between the liquid pressure outside the flexible conduit and the internal gas pressure is constant. Next, by controlling the pressure of the gas inside the flexible conditioner, the problem relating to the device disclosed in Japanese Patent Publication No. 2 0 0 3-2 8 5 7 8 2 Technical solution issues

In the case where a device that applies a molten material, such as a thermal spray device or a welding device, is provided as a device that acts on the object surface, the region that acts on the object surface reduces the amount of oxygen. To fill with inert gas is important.

As described above, in the apparatus that can move in close contact with the object surface, the problems of the prior art have been pointed out and the problems to be solved by the present invention have been described.

Means for solving the problem

First, the above technical solutions related to the device disclosed in Japanese Patent Publication No. 6 0-2 6 7 52 and the device disclosed in Japanese Patent Publication No. 2 0 0 3-2 8 5 7 8 2 In order to achieve the above technical problem to be solved, according to the first invention of the present invention, as described in claim 1 of the claims,

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 an object surface while adhering to the object surface in fluid, 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 higher than the pressure of the fluid surrounding the device, and the pressure of the fluid in the second region is the fluid in the first region. And a device capable of moving in close contact with the surface of the object, characterized by comprising a means for allowing an inert gas to flow into the second region. .

In addition, as described in claim 2 of the claims,

The apparatus capable of contacting and moving on the object surface according to claim 1, further comprising means for allowing an inert gas to flow into the first region.

In addition, as described in claim 3 of the claims,

The outer seal member is adapted to provide fluid pressure in the first region and fluid surrounding the device. The inner seal member has a shape that is pressed against the surface of the object by a differential pressure with respect to the pressure, and the inner seal member has a difference between the pressure of the fluid in the first region and the pressure of the fluid in the second region. 3. A device capable of being brought into close contact with an object surface according to claim 1 or 2, characterized by having a shape that is pressed against the object surface by pressure.

Furthermore, there is provided an apparatus that can move in close contact with the surface of an object as described in claims 4 to 9 of the claims, but the contents are the same as the contents of the claims. Since there are, description is abbreviate | omitted below.

In the device of the present invention, the pressure of the gas in the first region is maintained at a pressure higher than the fluid pressure of the liquid surrounding the device, so that the liquid is prevented from entering the second region. Since the gas pressure in the two regions is maintained at a pressure lower than the fluid pressure of the liquid surrounding the device, the device is brought into close contact with the object surface by the action of negative pressure. In addition, 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 scaling and the object surface at an arbitrary distance and moving along the object surface. .

Further, as the depth of the liquid increases, the pressure of the liquid surrounding the device increases, so that the pressure in the area filled with gas is constant so that the differential pressure between the pressure and the liquid pressure is constant. The pressure is controlled.

In addition, when the compressed gas is ejected to the region filled with gas, 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.

In addition, when a wire that is energized to a region filled with gas is transferred through the flexible condition, the pressure difference between the liquid pressure outside the flexible condition and the gas pressure inside becomes constant. Thus, the pressure of the gas inside the flexible conduit is controlled.

The invention's effect

[0007] The present invention provides the following effects.

The effect of the first invention of the present invention will be described. There are a variety of operations that dislike liquid intrusion into areas that act on the object surface. For example, a thermal spraying device, a device for adhering a molten material such as a welding device, a plastic sheet sticking device, a paint or adhesive spraying device, or a device for applying heat treatment to an object surface was used. The work dislikes the penetration of liquid into the area that acts on the object surface.

In an apparatus that performs the work that dislikes the intrusion of liquid into an area that acts on the surface of the object as described above, it is necessary that the apparatus does not intrude liquid and has an area filled with gas. However, the apparatus according to the present invention includes a mechanism for preventing liquid from entering the region where the action is applied to the object surface.

In these devices, 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, Furthermore, when the surface of the object to be acted is in contact with a gas composed of an inert gas having a low oxygen concentration, a further excellent effect is exhibited.

For example, in thermal spray equipment and welding equipment, 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 further effect of the first invention of the present invention will be described. When the device body under the liquid surface has a region filled with gas, 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 effects common to the first invention and the second invention of the present invention will be described. In the case where a compressed gas is ejected to an area filled with the gas, such as an injection of an abrasive, the area filled with the gas. It is necessary to control the pressure of the compressed gas so that the differential pressure between the pressure of the gas and the pressure of the compressed gas becomes constant. If the pressure difference between the pressure of the region filled with the gas and the pressure of the compressed gas decreases, the flow rate of the compressed gas decreases. Therefore, when the compressed gas is used to act on the object surface, This action is incomplete.

In the apparatus of the present invention, 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.

Example

Hereinafter, preferred embodiments of an apparatus constructed according to the present invention will be described in detail with reference to the accompanying drawings.

The illustrated apparatus is in close contact with the object surface 1 below the liquid level, and moves in the left or right direction in FIG.

The illustrated device has a main casing, which is made of a rigid material,

The disk-shaped disk member 20 0 and the cup-shaped cylindrical member 2 20 welded to the peripheral edge of the circular opening at the center of the disk member 2 200 are configured.

An outer seal member 31 made of a relatively soft material such as polyurethane rubber or plastic is attached to the disk member 20 0 by a port or nut. The outer seal member 31 has a generally annular shape as a whole, and its free end extends along the object surface 1 to the outside of the device. With this shape, the outer seal member 31 is pressed against the object surface 1 by the pressure of the fluid outside the outer seal member 31. That is, the shape of the outer seal member 31 is a so-called self-seal shape.

In addition, on the disk member 200, an inner seal member 3 2 made of a relatively flexible material such as polyurethane rubber or plastic is attached inside the outer seal member 31 with a port and a nut. . The inner seal member 3 2 has the overall shape The shape is substantially circular, 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 Pressed against the object surface 1 by the pressure of the fluid inside the 2. That is, the shape of the inner seal member 32 is a so-called self-seal shape. Disk member 2 0 0, outer seal member 3 1 and inner seal member 3 2 are object surfaces

In cooperation with 1, the first region 1 1 is defined as an annulus.

Further, the cylindrical member 2 20 and the inner seal member 3 2 define the second region 12 in cooperation with the object surface 1.

A connecting pipe member 2 1 1 communicating with the first region 1 1 is welded to the disc member 2 0 0.

A connecting pipe member 2 21 that communicates with the second region 12 2 is welded to the cylindrical member 2 2.

An arc spray gun 8 2 for spraying the object surface 1 inside the second region 12 2 is fixed to the back surface of the cylindrical member 2 20.

The apparatus of the embodiment of the present invention includes four wheels 4 1 (illustrated by phantom lines) inside the main casing. The wheel 41 has a function of maintaining the gap between the main casing and the object surface 1 at a constant distance and receiving the pressing pressure of the surrounding liquid acting in the direction of the object surface 1 against the main casing. If the wheels 41 are connected to driving means such as a geared motor (not shown), the apparatus of the embodiment of the present invention can self-propell along the object surface 1. However, when the device of the embodiment of the present invention is moved along the object surface 1 by a force external to the device, it is necessary to connect the wheel 41 to a driving means such as a geared motor (not shown). No, use as a freely rotating wheel. The mechanism for holding the wheel 41 in the main casing is not important for the present invention, and a known mechanism can be used.

As described above, the apparatus of the embodiment of the present invention includes an arc spraying apparatus including an arc spray gun 82 as an example of an apparatus that acts on the object surface 1. The configuration of the arc spraying device is described below. As can be seen in Figure 4 and Figure 6,

Two thermal spray wires 8 2 1 (hereinafter referred to as “wire 8 2 1”) made of metal such as zinc or aluminum are made flexible by a wire feeding device 8 3 equipped with a wire reel. 8 (flexible conduit) is fed to the arc spray gun 8 2, 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 (not shown) for energizing alternating current or direct current is provided in a part of the wire nozzle 8 2 2, and each wire 9 2 1 is energized through 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 heater 8 2 1 is heated and melted instantaneously by the arc heat to become a fine particle, and a compressed gas such as an inert gas ejected from the gas nozzle 8 2 3 located between the two wire nozzles 8 2 2. Atomized by action (sprayed) and scattered while cooling and collides with the object surface 1 to form a metal spray coating.

The compressed gas 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. In order to pressurize the inside of the arc spray gun 8 2 communicated with the gas spray gun, the flow control valve 8 3 2 and the pressurized inert gas source 85 c are connected in order from the downstream side. 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. As shown, a relief valve 8 3 3 is provided.

Inside the flexible condition 8 2 8, an energized wire 8 2 1 is passed, and the wire 8 2 1 is fed out by the wire feeding device 8 3. If the pressure of the liquid outside the flexible condition 8 2 8 is higher than the pressure of the internal gas, the liquid may enter the flexible condition 8 2 8 and the electrical insulation may be destroyed.

The arc current is generally several hundred amperes.

In contact with wire 8 2 1 and wire nozzle 8 2 2 in arc spraying equipment The parts such as gun casing 8 2 6 are made of an electrically insulating material such as hard plastic. The type of wire feeding mechanism or the arrangement of the wire feeding device 83 is not critical to the present invention, and other suitable conventional or other desired mechanisms may be used. Further, the wire feeding mechanism can be disposed inside the arc spray gun 8 2 as is well known.

The above-described aspects and structural details of the arc spray apparatus for the present invention are not critical and need not be limited to the embodiments of the present invention. Other shapes can be used.

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. Generally, 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. In 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.

Furthermore, as a device that is mounted on the device of the present invention and acts on the object surface, in addition to a thermal spray device, a device for adhering molten material, such as a welding device, a plastic sheet pasting device, a paint Various devices such as a spraying device for adhesives, a spraying device for abrasives, or a device for heat-treating an object surface can be applied. In these devices, 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.

In some of these devices, 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.

For example, in thermal spray equipment and welding equipment, 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. . Referring mainly to FIG. 5, the overall system of the apparatus according to the embodiment of the present invention will be described below. An apparatus that is in close contact with the object surface 1 below the liquid surface and moves along the object surface 1 is hereinafter referred to as an apparatus main body. In addition, the arrow on the line which shows piping and the line which shows a wire has shown the direction through which a fluid flows, and the wire. The connecting pipe member 2 1 1 in the first region 1 1 of the main body of the equipment is pressure control valve V 1, electromagnetic on-off valve 8 5 2, pressurized inertness in order from the downstream side through the hose 8 5 1 It is connected to the gas source 8 5 b. The source of pressurized inert gas 85a has a sufficient discharge amount and a sufficient discharge pressure.

The pressurized inert gas source 85b is connected to a device (not shown) that generates an inert gas having a low oxygen concentration, such as exhaust gas discharged from a diesel engine.

The first region 11 is provided with a pressure sensor P 1 for detecting the internal pressure. The connecting pipe member 2 2 1 in the second region 1 2 is connected to the dust collector 8 6 2, the pressure control valve V 2, and the roots type vacuum pump 8 6 in order from the upstream side via the hose 8 6 1. ing. The Roots type vacuum pump 8 6 has a sufficient suction air volume and sufficient suction pressure, and an excessive vacuum was generated so that the roots type vacuum pump 8 6 would not burn out due to the generation of an excessive vacuum. In this case, 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 86.

The second region 12 is equipped with a pressure sensor P 2 that detects the internal pressure. A pressure sensor Pw for detecting the pressure of the liquid surrounding the apparatus main body is provided outside the second region 12.

Between the first region 1 1 and the second region 1 2, a flow rate adjusting valve 8 5 4 and an electromagnetic on-off valve 8 5 5 are provided in this order from the upstream side.

The electromagnetic open / close valve 8 5 5 is open when the compressed gas is not ejected from the pressure control valve V b, and is closed when the compressed gas is ejected from the pressure control valve V b. The flow rate adjusting valve 8 5 4 is a single unit that allows the gas flow rate per unit time that passes through the electromagnetic on-off valve 8 5 5 to blow out from the pressure control valve V b when the electromagnetic on-off valve 8 5 5 is open. The flow rate is adjusted to be approximately the same as the flow rate of the compressed gas per unit time. The purpose of the flow rate adjusting valve 854 and the electromagnetic open / close valve 855 is that the compressed gas is ejected from the pressure control valve V b, due to a change in the state of the second region 1 2 from the loop type vacuum pump The purpose is to prevent the flow rate of the gas flowing to 86 from fluctuating extremely.

The second region 12 is connected to the pressure gauge P B, the pressure control valve V b, the electromagnetic on-off valve 847 and the air compressor 85 in order from the downstream side through the hose 945.

Referring mainly to FIG. 6, the gas nozzle 823 of the arc spray gun 82 is supplied with a pressure gauge PG, a pressure control valve Vg, and a source of pressurized inert gas 85 c in order from the downstream side through the hose 831. It is connected to.

Hereinafter, the control method of each pressure control valve described above will be described mainly with reference to FIG.

First, when the apparatus main body is below the liquid level, the liquid pressure surrounding the apparatus main body increases as the depth increases, so even if the liquid pressure increases, the pressure in the first region 11 and the The pressure in the first region 11 and the second region 12 is controlled so that the differential pressure from the fluid pressure or the differential pressure between the pressure in the second region 12 and the fluid pressure becomes constant. If the hydraulic pressure is much larger than the pressure in the second region 12, the hydraulic pressure will press the device main body very strongly against the object surface 1, so that the device main body will move along the object surface 1. Always requires great power.

For this reason, the gauge pressure of the liquid surrounding the device body in close contact with the object surface below the liquid level is Pw, the gas gauge pressure of the gas in the first region 11 is P1, and the gas pressure in the second region 12 is If the gas gauge pressure is P2, even if the value of Pw changes, the pressure control valve V1 is controlled so that P1 = Pw + Pm, and P2 = Pw_Pn. Controls the pressure control valve V2. At this time, the value of Pm is an arbitrary value selected from the pressure range from 20 mmHg to 50 OmmHg, and the value of Pn is an arbitrary value selected from the pressure range from 2 OmmHg to 50 OmmHg. Second, when the compressed gas is ejected from the gas nozzle 8 2 3 of the arc spray gun 8 2 to the first region 11 1, the pressure difference between the pressure in the first region 11 and the pressure of the compressed gas is constant. Thus, the pressure of the compressed gas is controlled. If the pressure difference between the pressure in the first region 1 1 and the pressure of the compressed gas is reduced, the flow rate of the compressed gas decreases. Becomes incomplete.

For this reason, the pressure control valve V g for the compressed gas supplied to the gas nozzle 8 2 3 in the device in which the outlet of the gas nozzle 8 2 3 is opened in the first region 1 1 or in the portion communicating with the first region 1 1 If the gauge pressure is PG, the pressure control valve V g is controlled so that PG = P w + P m + P g even if the value of P w varies. At this time, the value of Pg is set to an arbitrary value selected from the pressure range of 2 kgf / cm2 or more.Thirdly, when the compressed gas is ejected from the pressure control valve Vb to the second region 12, The pressure of the compressed gas is controlled so that the differential pressure between the pressure in the second region 12 and the pressure of the compressed gas is constant. If the pressure difference between the pressure in the second region 12 and the pressure of the compressed gas decreases, the flow rate of the compressed gas decreases. Therefore, when the compressed gas is used to act on the object surface 1, the effect is Become imperfect.

For this reason, if the pressure control valve V b has an outlet at the inside of the second region 1 2 or at the part communicating with the second region 1 2 and the gauge pressure of the pressure control valve V b is PB, P w Even if the value of fluctuates, the pressure control valve V b is controlled so that PB = P w _ P n + P b. At this time, the value of Pb is an arbitrary value selected from the pressure range of 2 kgf / cm2 or more.

Fourth, when the wire 8 2 1 energized to the first area 1 1 such as the arc spray gun 8 2 is transferred through the flexible condition 8 2 8, the liquid outside the flexible condition 8 2 8 The pressure of the gas inside the flexible condition 8 28 is controlled so that the pressure difference between the pressure and the pressure of the gas inside becomes constant. If the liquid pressure outside the flexible condition 8 2 8 is greater than the gas pressure inside the flexible condition 8 2 8, the liquid will enter the flexible condition 8 2 8. The body may invade and the electrical insulation may be destroyed.

For this reason, in a device in which the outlet on the downstream side of the flexible condition 8 2 8 is opened in the first area 11 1 or in a portion communicating with the first area 11 1, immediately before the outlet on the downstream side of the flexible condition 8 2 8 If the gauge pressure of the gas inside is PC, even if the value of P w varies, PC = P w + P m or PC> P w + P m Compressed gas is injected into and the pressure is controlled.

Although the embodiment is slightly different from the apparatus of the embodiment of the present invention described above, a conductive wire such as a wire for an arc spray gun, which constitutes a part of the apparatus that acts on the object surface, is used. In an apparatus having a flexible conduit that passes through and having an outlet on the downstream side of the flexible conduit that opens at the inside of the second region 12 or a portion that communicates with the second region 12, the downstream of the flexible conduit Assuming that the gauge pressure of the gas immediately before the outlet on the side is PC, even if the value of P w fluctuates, inject the compressed gas into the flexible condition so that PC> P w and Control the pressure.

Next, the operational effects of the above-described apparatus will be described mainly with reference to FIG. 5. In the apparatus main body located below the liquid surface at a shallow depth, each end of the outer seal member 3 1 and the inner seal member 3 2 will be described. 1 part 1 if the roots-type vacuum pump 8 6 is started and the electromagnetic on-off valve 8 5 2 is opened and compressed gas is allowed to flow into the first area 1 1 The pressure inside 1 is higher than the pressure of the liquid surrounding the main body, and the gas and liquid inside the first area 1 1 pass through the open solenoid valve 8 5 5 to the second area 1 2 And flows into the second region 1 2 through the gap between the inner seal member 3 2 and the object surface 1, and passes through the gap between the outer seal member 3 1 and the object surface 1. To the outside of the device, and to the outside of the device body through the flow rate adjustment valve 8 5 3. After a short time has elapsed, all the liquid in the first region 11 flows out of the main body of the apparatus. The liquid in the second region 1 2 and the liquid flowing into the second region 1 2 from the first region 1 1 with the gas are The liquid is sucked and transferred by the suction action of the roots-type vacuum pump 86 (gas-liquid mixed transfer), and all the liquid in the second region 12 is collected and collected by the dust collector 86 2.

When the pressure in the second region 1 2 is maintained at a desired pressure, the pressure in the first region 1 1 presses the free end of the inner seal member 3 2 toward the object surface 1, and thus the first The gas in the region 1 1 is prevented from flowing into the second region 1 2 as much as possible. In addition, the pressure in the first region 11 presses the free end of the outer seal member 31 in the direction of the object surface 1 and prevents liquid from flowing into the first region 11. Thus, the liquid is prevented from flowing into the first region 11 and the second region 12. When the roots-type vacuum pump 86 is activated, the pressure in the second region 12 becomes lower than the pressure of the liquid surrounding the apparatus main body, so that the apparatus main body is pressed against the object surface 1 by the liquid pressure and comes into close contact. Thus, the apparatus main body is adsorbed on the object surface 1 and the apparatus moves along the object surface 1 when the wheel 41 is rotated by a driving means such as a geared motor (not shown).

The effects of the device that acts on the object surface 1 are described below. In the arc spray gun 8 2 provided in the first region 11 1, the wire for the spray wire 8 2 1 is instantaneously heated by arc heat. Melted into fine particles, atomized by the action of compressed gas ejected from the gas nozzles 8 2 3 (sprayed), scattered while cooled and collided with the object surface 1 to form a metal spray coating. Part of the compressed gas ejected from the gas nozzle 8 2 3 flows out of the main body of the device through the gap between the outer seal member 3 1 and the object surface 1, and partly the inner seal member 3 2 and the object surface 1 After flowing into the second region 1 2 through the gap, the air is sucked and transferred through the air hose 8 6 1 which also serves as a suction hose.

The effect of the apparatus of the preferred embodiment of the present invention described above will be described.

In the apparatus of the present invention, the gas pressure in the first region 11 is maintained at a pressure higher than that of the liquid surrounding the device, so that the liquid is prevented from entering the second region 12. The gas pressure in the second region 1 2 is maintained at a pressure lower than the fluid pressure of the liquid surrounding the device, so that the device is brought into close contact with the object surface by the action of negative pressure. The In addition, by maintaining the distance between the main casing 2 and the object surface 1 at an arbitrary distance and moving along the object surface 1, the main body of the apparatus adheres to the object surface 1 in the liquid while the object surface 1 Move along.

In addition, even when the liquid pressure of the liquid surrounding the apparatus main body increases as the depth increases, the liquid is filled with the gas so that the differential pressure between the pressure of the region filled with the gas and the liquid pressure is constant. The pressure in the area is controlled.

In addition, when the wire 8 2 1 energized to the gas-filled area is transferred through the flexible composite 8 2 8, the pressure of the liquid outside the flexible composite 8 2 8 and the pressure of the gas inside The pressure of the gas inside the flexible condition 8 2 8 is controlled so that the differential pressure with respect to is constant. Although the preferred embodiment of the apparatus of the present invention has been described above, various embodiments of the apparatus of the present invention can be considered according to the scope of claims in addition to the preferred embodiment. In the case of spraying, it is necessary to inject the abrasive onto the surface of the object as a pretreatment for spraying to roughen the surface. However, in the embodiment of the present invention, the spraying operation of the abrasive and spraying It was assumed that it was carried out in a separate process from the material spraying work.

The effect of the first invention of the present invention will be described below.

There are a variety of operations that dislike liquid intrusion into areas that act on the object surface. For example, a thermal spraying device, a device for adhering a molten material such as a welding device, a plastic sheet sticking device, a paint or adhesive spraying device, or a device for applying heat treatment to an object surface was used. The work dislikes the penetration of liquid into the area that acts on the object surface.

In an apparatus that performs the work that dislikes the intrusion of liquid into the area that acts on the surface of the object as described above, the liquid does not enter and is filled with gas. However, in the apparatus of the present invention, a mechanism for preventing the liquid from entering the area where the action is applied to the object surface is provided.

The third problem and the effect of the invention overcoming it are described as follows. When the device body under the liquid surface has a region filled with gas, the liquid pressure increases as the depth increases. Even if the fluid pressure increases, it is necessary to control the pressure in the region filled with gas so that the differential pressure between the pressure in the region filled with 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.

When the fourth problem and the effect of the invention overcoming it are described, when the compressed gas is ejected to the region filled with the gas, the pressure between the region filled with the gas and the pressure of the compressed gas It is necessary to control the pressure of the compressed gas so that the differential pressure is constant. If the pressure difference between the pressure of the region filled with the gas and the pressure of the compressed gas decreases, the flow rate of the compressed gas decreases. Therefore, when the compressed gas is used to act on the object surface, Becomes incomplete.

In the apparatus of the present invention, the pressure of the region filled with gas and the pressure of the compressed gas The pressure of the compressed gas was controlled so that the differential pressure was constant.

The fifth problem and the effect of the invention overcoming the problem are described as follows. When a wire energized to a region filled with the gas, such as spraying of a thermal spray material, is transferred through the flexible condition, the flexible condition Therefore, it is necessary to control the gas pressure inside the flexible condition so that the differential pressure between the pressure of the liquid outside and the pressure of the gas inside becomes constant. If the pressure of the liquid outside the flexible conduit is larger than the pressure of the gas inside, the liquid may enter the flexible conduit and the electrical insulation may be destroyed.

In the apparatus of the present invention, the pressure of the gas inside the flexible condition is controlled so that the differential pressure between the pressure of the liquid outside the flexible condition bowl and the pressure of the gas inside becomes constant.

Industrial applicability

A device that can move in close contact with the object surface under the liquid level is equipped with various devices that perform various operations on the object surface under the liquid level, and moves the device along the object surface. It can be conveniently used as a device. 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. 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. In these devices, 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.

Brief Description of Drawings FIG. 1 is a plan view of a preferred embodiment of an apparatus constructed in accordance with the present invention.

FIG. 2 is a right side view of the apparatus shown in FIG.

FIG. 3 is a sectional view of A_A in the apparatus shown in FIG.

4 is an enlarged cross-sectional view of a spray gun 8 2 in the apparatus shown in FIG.

FIG. 5 is a diagram showing an overall system of an apparatus configured according to the present invention.

FIG. 6 is a diagram showing an overall system of an arc spraying apparatus configured according to the present invention.

Claims

The scope of the claims

[1] 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 brought into contact with the object surface; An inner sealing member that is attached to an opening of the inner casing and a part of which is brought into contact with the object surface; and maintains a distance between the main casing and the object surface and moves along the object surface. A device capable of moving along an object surface in close contact with the object surface in fluid, comprising at least the outer casing, the outer sealing member, and the inner sealing member. A first region is defined in cooperation with the object surface, and at least the inner casing and the inner seal member have a second region defined in cooperation with the object surface. The pressure of the fluid in the first region is maintained at a pressure higher than the pressure of the fluid surrounding the device, and the pressure of the fluid in the second region is in the first region. A device that is maintained at a pressure lower than the pressure of the fluid and that has a means for allowing an inert gas to flow into the second region, and that is in close contact with the surface of the object and is movable.

[2] The apparatus capable of moving in close contact with the object surface according to [1], further comprising means for allowing an inert gas to flow into the first region.

[3] The outer seal member has a shape that is pressed against the surface of the object by a differential pressure between the pressure of the fluid in the first region and the pressure of the fluid surrounding the device, and the inner seal member 2. Has a shape that is pressed against the object surface by a differential pressure between the pressure of the fluid in the first region and the pressure of the fluid in the second region. A device that is in close contact with the object surface according to claim 2 and is movable.

[4] The first region is connected to the fluid discharge source via a hose, and a pressure control valve V 1 is disposed between the first region and the fluid discharge source, and the second region is a vacuum. The pressure control valve V 2 is disposed between the second region and the vacuum source, and is connected to the source via a hose. A device that can move in close contact with the object surface.

[5] Let the gauge pressure of the fluid surrounding the device in close contact with the object surface be Pw, the gauge pressure of the fluid in the first area be P1, and the gauge pressure of the fluid in the second area be P2. For example, even if the value of Pw fluctuates, the pressure control valve V 1 is controlled so that P 1 = Pw + Pm, and the pressure control valve V 2 is controlled so that P 2 = P w_P n At this time, the value of Pm is an arbitrary value selected from the pressure range from 2 OmmH g to 50 OmmH g, and the value of Pn is an arbitrary value selected from the pressure range from 2 OmmH g to 50 OmmH g The device according to claim 4, wherein the device can move in close contact with the object surface.

[6] A pressure control valve for fluid supplied to the nozzle in a device comprising a nozzle from which fluid is ejected, the outlet of the nozzle being opened in the first region or in a portion communicating with the first region If the gauge pressure of V g is PG, the pressure control valve V g is controlled so that PG = P w + Pm + P g even if the value of P w fluctuates. At this time, the value of P g is 2 kgf 6. The apparatus capable of moving in close contact with the object surface according to claim 1, wherein an arbitrary value selected from a pressure range of not less than / cm 2 is used.

[7] A pressure control valve for fluid supplied to the nozzle in a device comprising a nozzle from which fluid is ejected, the outlet of the nozzle being opened in the second region or a portion communicating with the second region If the gauge pressure of V b is PB, even if the value of Pw fluctuates, the pressure control valve V b is controlled so that PB = P w_P n + P b. At this time, the value of P b is 6. The apparatus capable of moving in close contact with the object surface according to claim 1, wherein an arbitrary value selected from a pressure range of 2 kgf / cm 2 or more is used.

[8] A flexible conduit through which an energized wire such as a wire for a spray gun passes, and a portion where the outlet on the downstream side of the flexible conduit communicates with the interior of the first region or the first region If the gauge pressure of the gas immediately before the outlet on the downstream side of the flexible conduit is PC, even if the value of Pw fluctuates, PC = Pw + Pm or PC> Pw + Pm is injected into the flexible condition so that Pm is obtained. 6. The apparatus according to claim 1, wherein the apparatus is in close contact with the surface of the object and is movable.

A flexible conduit through which a conductive wire such as a wire for a spray gun passes, which forms part of a device that acts on the surface of an object, and an outlet on the downstream side of the flexible conduit is the second region If the gauge pressure of the gas immediately before the outlet on the downstream side of the flexible conduit is PC, the value of P w will fluctuate. Even so, the compressed gas is injected into the flexible conduit and the pressure is controlled so that PC> Pw, and the object surface according to claim 1 is closely attached. Movable device.