JPH0219033B2 - - Google Patents

Description

[Detailed Description of the Invention] [Object of the Invention] Industrial Field of Use The present invention is applicable to work in adverse environments where it is difficult for workers to work in close proximity, such as inside and outside of a ship.
Work such as rust removal, painting, welding, and inspection at high places on steel structures such as above-ground tanks, chimneys, and buildings, or work on steel structures that is carried out in places where people cannot access, such as under high temperatures or generating toxic gases. a grinder to do the work,
This is an improvement regarding a magnetic self-propelled work vehicle for iron structures that is equipped with a painting machine, a welding machine, an inspection machine, etc.

2. Description of the Related Art There have been attempts to provide self-propelled work vehicles equipped with painting equipment, inspection equipment, welding equipment, and rust removal equipment that can travel under the above-mentioned adverse environments. However, all of these attempts had advantages and disadvantages.

For example, the Japan Patent Office Patent Publication Publication of Patent Applications in 1972
-35760, a guide pulley device is provided on both sides of the upper frame via a frame, and a drive pulley and a take-up pulley are respectively provided on the traveling side of the upper frame, and the guide pulley device,
A flexible running endless belt is wound around the drive pulley and the take-up pulley, a central electromagnet device is provided on the upper frame so that it can be raised and lowered, and the running endless belt is driven by a running motor. It is a magnetic self-propelled vehicle.
According to one embodiment described in the above-mentioned detailed description of the known invention, the self-propelled vehicle weighs 370 kg, and the yokes 18, 18' of the side magnet devices 13, 13' and the structure 38
If the gap between the yoke 34 of the central magnet device 24 and the 18' structure is set to 8 mm, the suction force will be 1680 kg, and the surface of the vertical structure 38 will be free when a 50 kg object is loaded. Although it is stated that the magnetic self-propelled vehicle was able to run, this level of attraction force due to the magnetic force causes a sliding phenomenon on vertical surfaces, and there is a risk that the magnetic self-propelled vehicle may fall on the ceiling surface. In addition, the attraction surface due to the magnetic force of the magnetic self-propelled vehicle is only on the bottom side of the self-propelled vehicle, and the vehicle runs on the bottom surface, continuously runs on the vertical side surface of the bottom surface, and then continuously runs on the ceiling surface. However, it had the disadvantage that it was not only impossible to perform the desired work on the entire surface continuously, but also that it was impossible to travel on curved surfaces.

Also, the Japan Patent Office Patent Publication Publication of Patent Applications 1972-
The suction type mobile vehicle shown in No. 13054 has a main body consisting of a pair of parallel side plates with semicircular ends, a driven driven roller pivotally supported at both ends of the side plates, and a belt wound around both rollers. and a rectangular branching plate that is fixed to the both side plates on both parallel sides and that has the other side in contact with both rollers and can form an airtight chamber between both rollers and the lower side of the belt, and is mounted on the main body and communicates with the airtight chamber. It is a suction type mobile vehicle, which consists of an exhaust fan with a duct attached to the belt, and has a plurality of ventilation holes in the belt. Not only the vertical plane but also the back side of the ceiling board can be moved. The above-mentioned known example uses a suction cup attached to a belt to move while adhering to a flat work surface, but steel structures always have seam lines (horizontal welds) and butt lines (vertical welds). Because these parts are raised toward the outside, the suction force of the suction cup becomes extremely weak when passing through these lines, causing the suction-type mobile vehicle to move upward or downward against vertical walls, or against ceilings. When moving the suction cup, the degree of vacuum inside the suction cup weakens and the suction force decreases, resulting in the risk of shifting or falling.

Problems to be Solved by the Invention The present invention not only moves on the floor, but also moves up from the floor to a vertical work wall, moves from the vertical work wall to the ceiling work surface, and moves from the ceiling work surface to the ceiling work surface. It is possible to hang down a vertical wall surface, and because it can be directly attached to the work surface using a strong magnetic force, there is no danger of slipping or falling, and it can also be hung on uneven parts such as seam lines, butt lines, and curvatures. To provide a working vehicle for a steel structure in which the entry part also moves along this and does not damage each wall surface, and only the holder in contact with the moving work surface is electromagnetic, and the other holders are electromagnetic. Therefore, it is an object of the present invention to provide a working vehicle for a steel structure, which can smooth the transition movement of the working vehicle and reduce power consumption.

[Structure of the Invention] Means for Solving the Problems In order to achieve the above-mentioned object, the present invention constructs a machine frame by fixing a pair of frames of the same shape and size, each having a substantially square side surface. Then, a sprocket that interlocks with the motor is attached to the corner of each frame, and a track belt made by connecting a holder support plate so as to be able to move up and down is wrapped around the sprocket of each frame, and The electromagnetic holder is attached via a spring so that it can be raised and lowered and connected to the power source, and the electromagnetic holder, which moves as the endless track belt rotates, is temporarily moved just before it moves to the iron surface perpendicular to the iron surface being moved. A working vehicle for iron structures, characterized in that it is equipped with an automatic control mechanism configured to move away from the perpendicular iron surfaces, and a mechanism for electromagnetizing only the electromagnetic holder on the iron surface in contact with the electromagnetic holder. It has a structure.

Embodiments An embodiment of the structure of the present invention shown in the drawings will be described as follows.

As shown in FIGS. 1 and 2, a pair of frames 1a and 1b of the same size and shape, each of which has a substantially square, substantially rectangular, or other quadrilateral side profile, are fixed oppositely at a considerable distance. Form the machine frame 1. Each frame 1 of machine frame 1
Sprockets 2, 3, 4, 5 are installed at the corners of a and 1b.
is rotatably attached with a part of it protruding from the corner. One of the sprockets mentioned above
To give one example, the sprocket 5 located at the lower right of FIG. 1 is fixed coaxially with the rotating shaft 5a of the sprocket 5, as shown in FIG. is established,
The gear 6 is the motor shaft M1 of the drive motor M.
The reduction gear 6 and the gear 7 form an interlocking mechanism between the drive motor M and the sprocket 5. It is preferable to use a forward and reverse rotation motor as the drive motor M. Further, a cam 8 is fixed to the sprocket 5 coaxially with its rotating shaft 5a, and the cam is connected to the frame 1a,
One-way limit switch LS attached to 1b
1. It is configured to be able to contact LS2. 11 is a limit switch mounting plate attached to the frame.

The side peripheries of the frames 1a and 1b constituting the machine frame 1, between sprockets 2 and 3, between 3 and 5, and between 2 and 4.
A pair of guide rails 12 and 13 having a U-shaped longitudinal section are placed between the space 4 and 5 so that the U-shaped inner surfaces thereof face each other with a considerable distance therebetween, and in the extending direction of the side circumferences of the frames 1a and 1b. Fix it so that it is parallel to the camera.

Holder support plates 21, 22, 2 are placed on guide rails 12, 13 provided on the sides of each frame 1a, 1b.
1, 22... are connected to form an endless track belt. The holder support plates 21 and 22 are shown in FIGS.
As shown in the figure, mounting plate portions 21a and 22a located on guide rails 12 and 13 for supporting and mounting the electromagnetic holder 30, and the mounting plate portion 21
It consists of carbon brush mounting portions 21b and 22b that protrude outward from the frames 1a and 1b from a and 22a, and a bolt loose fitting hole 15 is provided approximately at the center of the mounting plate portions 21a and 22a. Mounting plate part 21a, 2
2a, two bearing plates 23 and 24 inserted into the gap 14 formed by the guide rails 12 and 13 and parallel to the direction in which the guide rails 12 and 13 extend are spaced apart by a considerable distance. Bearing portions 23a, 23 formed and hanging down and provided at both ends of the lower side.
b, 24a, 24b are mounting plate parts 21a, 22a
protrude beyond the leading edge P and trailing edge Q of the There are two types of holder support plates 21 and 22,
As shown in FIG. 5, the bearing plate 2 of the holder support plate 21
3 and 24 are formed with an interval 11 such that the guide rails 12 and 13 are fully inserted into the gap 14 formed in the guide rails 12 and 13, and as shown in FIG. It is formed with an interval 12 inserted between 24 and 24. As shown in FIGS. 3 and 4, the bearing portions 23a, 24a, 23b, 24b of the former holder support plate 21
Bearing portion 23a of the latter holder support plate 22,
24a, 23b, 24b are inscribed, and the bearing part 24
b, 24a, 23b, 23a, 24b, 24a,
A rotary shaft 25 rotatably passes through the holder support plates 21 and 23, and the holder support plates 21 and 22 are connected to each other so as to be vertically movable. Further, both ends of the rotating shaft 25 are provided with bearing portions 23a, 24a, 23b, 24 located on the outside.
b protrudes outward and is rotatably supported within the U-shape of the guide rails 12 and 13 via a bearing 16. Bearing parts 23a, 24a, 2 of holder support plates 21, 22 connected as described above
An engagement roller 26 that engages with the sprockets 2, 3, 4, and 5 is fixed to the rotating shaft 25 between the sprockets 4a and 23a. In this way, an endless track band is constructed in which the holder support plates 21 and 22 are alternately connected, and the lower part of the bearing plates 23 and 24 of the endless track band, that is, the bearing portion 23
a and 23b pass between the guide rails 12 and 13,
Sprockets 2, 3 of frames 1a, 1b,
4 and 5 are in tension. Also, holder support plates 21, 2
2 is positioned so as to protrude outward from the guide rails 12 and 13. The electromagnetic holder 30 is formed into a cylindrical shape as shown in FIG. 7 and FIG.
1 and 32 are formed. Holder support plate 21
Alternatively, a bolt 33 is loosely fitted into the bolt loose fitting hole 15 from the back surface of the mounting plate portion 21a or 21b of 22, and its tip is screwed and fixed to the lower surface of the electromagnetic holder 30. The upper surface of the mounting plate portion 21a or 21b and the electromagnetic holder 3
The electromagnetic holder 30 is elastically supported outward by a spring 34 so as to maintain a considerable distance from the lower surface of the electromagnetic holder 30 .

Electrode rails 35 are provided protrudingly on the outer surfaces of the frames 1a and 1b, respectively, and the carbon brush mounting portions 21b and 2 described above are connected to the electrode rails 35.
The tips of carbon brushes 37, 37 suspended and fixed on the back surface of 2b via springs 36, 36 are configured so as to be pressed against the electrode rail 35. 38,
38 is a copper plate. The carbon brushes 37, 37 and the electromagnetic holder 30 are connected, and the copper plates 38, 3
8 is the power supply 39, and the power supply 39 is the rectifier 40G, 40
It is connected to H, 40i, and 40j.

As described above, the holder support plate 2 constitutes the caterpillars 20, 20 of the pair of frames 1a, 1b, respectively.
When the electromagnetic holder 30 that has been elastically stopped by the magnets 1 and 22 is about to move to the iron surface that intersects the iron surface on which the magnetization is currently progressing due to the rotation of the caterpillar 20, the leading edge of the electromagnetic holder 30 moves to the iron surface that intersects the iron surface that is currently being magnetized. If the surface comes into contact with the surface, it may become impossible to transfer or damage the surface. In order to prevent this, an automatic control mechanism for compressing the electromagnetic holder is provided at the corner of each frame to compress the spring 34 supporting the electromagnetic holder 30 so that the electromagnetic holder 30 is smoothly moved to the intersecting plane.

An example of an automatic control mechanism for compressing the spring 34 of the electromagnetic holder is shown in Figures 1 and 2.
As shown in FIGS. 11 to 13, the frame 1
A support plate 41 is protruded and fixed to the upper right and left corners of a and 1b so that its upper end is located far below the front end surface of the electromagnetic holder 30, and a holder holder is rotatably moved toward the front end of the support plate 41. An arm 42 is provided, and the arm 42 is connected to the protrusion 31, 32 of one of the electromagnetic arms 30, 30 adjacent in the front and rear.
is pressed from above to form the spring 34 into a compressible length. Holder double presser arm 4
An operating pipe 43 is provided protrudingly below 2a and 42b,
An adjusting rod 45 is inserted into the operating pipe 43 via a spring 44, and a roller 46 provided at the tip of the adjusting rod 45 is supported by an operating guide 47, and the operating pipe 43 is fixed to the frame 1a or 1b. Air cylinder SH1, SH2, SH
3. Connected to the piston 61 of SH4. The above piston 31 is limit switch LS1, LS2
is connected to. Note that automatic control mechanisms similar to those described above are also provided at the lower left and right corners of the frame 1a or 1b.
The holder presser arms 42c and 42d protrude only on one side.

Electrical circuit block diagrams of the above-mentioned automatic control mechanism are shown in FIGS. 13 and 14, and the operation of the present invention will be explained together with the description thereof.

In the control circuit shown in FIG.
T represents a main power source (AC200V), in which a power switch and a manual switch (not shown) for switching between forward and reverse rotation directions are provided. The current from the power supply is
In the case of forward rotation, it passes through limit switch LS1, and in the case of reverse rotation, it passes through limit switch LS2. The blinking of the limit switch is regulated by the cam 8. Additionally, this circuit includes a sensor
A ₁ , A ₂ , B ₁ , B ₂ , C ₁ , C ₂ , D ₁ , D ₂ , cylinders SH1, SH2, SH3, SH4 and rectifier 40
G, 40H, 40i, and 40j are provided, and the operations of the cylinder and rectifier are controlled by commands from the sensors. The current rectified by the rectifier, that is, the direct current, is used to operate the electromagnet of the electromagnetic holder 30.

Sensors A ₁ and A ₂ are electromagnetic holders 3 attached to wall A
A sensor detecting the approach of zero, preferably a magnetic sensor. Similarly, sensors B ₁ , B ₂ , C ₁ ,
C ₂ or D ₁ , D ₂ are wall surfaces B, C or D respectively
This is a sensor that detects the approach of the electromagnetic holder to the
details have been omitted].

Regarding the operation of this automatic control mechanism, when the electromagnetic holder 30 moves from wall surface A to wall surface B, sensor B ₁ detects that this electromagnetic holder 30 approaches wall surface B, and this electromagnetic holder 3
The current supply to the electromagnet No. 0 is stopped to stop the operation of the electromagnet, and the close contact with the wall surface A is released. At the same time, the arm 42 is
a to prevent the electromagnetic holder 30 from suddenly colliding with wall B when it moves from wall A to wall B (the mechanical configuration of this mechanism has already been described).

When this electromagnetic holder 30 reaches the wall surface B, the sensor _B2 detects this and stops the operation of the cylinder SH1, and also supplies current to the electromagnet of this electromagnetic holder again to bring it into close contact with the wall surface B.

The same control operation as described above is performed when moving from wall B to wall C, from wall C to wall D, from wall D to wall A, and when rotating in the opposite direction. be exposed. When the work vehicle approaches the wall surface A for the first time, the sensor _A1 detects this using the mechanism described above, and causes the electromagnetic holder 30 to flow a current and activate the electromagnet, thereby causing the electromagnetic holder to close. 3
0 moves forward (or retreats) by the endless track belt while closely contacting the wall surface A. However, in order to control the lever, it is convenient to use the relay circuit under sensor control shown in Figs. 13, 14A, and 14B, but it is of course possible to use other control methods. It is.

In the relay circuits of FIGS. 14A and 14B, "positive" means forward rotation, "reverse" means reverse rotation,
Symbols A, B, C, and D each represent a wall surface as described above, and symbols 40G, 40H, 40i, and 40j each represent a rectifier. Since this circuit is well known per se, detailed explanation thereof will be omitted.

〔effect〕

As described above, the present invention constitutes a mechanism by fixing a pair of frames of the same shape and size opposite each other and having substantially rectangular side surfaces, and a sprocket is attached to the corner of each frame, and an endless track belt is attached to this sprocket. The electromagnetic holder is mounted on each holder support plate via a spring so that it can be raised and lowered, and just before the electromagnetic holder moves to the iron surface perpendicular to the iron surface it is moving, it temporarily moves to the above orthogonal position. Since it has an automatic control device that is configured to move away from the iron surface where it is being worked, it can not only move smoothly on the iron floor surface, but also move up from the floor to the iron work surface that stands vertically, and furthermore, The electromagnetic holder has a strong magnetic force supplied by the power supply and can be moved directly from the ceiling iron work surface to the vertical iron work surface, and from the ceiling iron work surface to the vertical iron work surface. There is no risk of slipping or falling as the product is transferred by wearing the product. Moreover, since the electromagnetic holder is supported by springs on each holder support plate, it can be used not only on uneven parts such as seam lines and butt lines, but also on curved working surfaces and bulging working surfaces without separating from the collision surface. The electromagnetic holder can be reliably magnetically attached to these surfaces without damaging the work surface. Furthermore, since only the electromagnetic holder on the iron surface in contact with the electromagnetic holder is electromagnetized, all the electromagnetic holders that are in contact with the moving iron surface are electromagnetized, but the electromagnetic holders facing other work surfaces are electromagnetized. Therefore, the transition rotation of the endless track belt is smooth without being blocked by extra magnetic force, and there is an effect that power consumption can be saved.

[Brief explanation of drawings]

The drawings show one embodiment of the invention,
FIG. 1 is a left side view of the present invention, FIG. 2 is a front view of the present invention, and FIG. 3 is an enlarged plan view of a part of the endless track belt.
Figure 4 is a front view of Figure 3, Figures 5 and 6 are right side views of the holder support plate that constitutes the endless track belt, Figure 7 is a plan view of one electromagnetic holder on the guide rail, Figure 8 is a longitudinal sectional view of Figure 7
The figure is a vertical cross-sectional view of Figure 7 Y-Y', and Figure 10 is a vertical cross-sectional view of Figure 1.
Enlarged vertical cross-sectional view with the stop plate at the bottom corner of the figure removed,
Figure 11 is a front view of the holder presser arm, and Figure 12 is a front view of the holder presser arm.
The figures are a side view of Fig. 11, Fig. 13, Fig. 14A,
FIG. 14B is a block diagram of the presser arm operating circuit. 1... Machine frame, 1a, 1b... Frame body, 2, 3,
4, 5... Sprocket, 5a... Sprocket rotating shaft, 6... Reduction gear, M... Drive motor, M1... Motor shaft, 7... Gear, 8...
...Cam, LS1, LS2...One-way limit switch, 12, 13...Guide rail, 14...Guide rail spacing, 15...Bolt loose fitting hole, 21,
22...Holder support plate forming an endless track belt,
23, 24...Bearing plate, 23a, 23b, 24
a, 24b... Bearing portion, 25... Rotating shaft, 26...
...Engagement roller, 30...Electromagnetic holder, 31,
32... protrusion, 33... bolt, 34... spring, 35... electrode rail, 36... spring, 37... carbon brush, 38... copper plate, 3
9...Power supply, 40...Battery, 40G,
Consists of 40H, 40i, and 40j. 42...Holder double presser arm, SH1, SH2, SH3, SH4
... Air cylinder, LS1, LS2 ... Limit switch, A ₁ , A ₂ ... A side sensor, B ₁ ,
B ₂ ...Sensor on the B side, C ₁ , C ₂ ...Sensor on the C side, T, R ... Power source, D ₁ , D ₂ ...Sensor on the surface.

Claims (1)

[Claims] 1 A machine frame is constructed by fixing a pair of frames of the same shape and size opposite each other with approximately square sides, a sprocket that is linked to the motor is attached to the corner of each frame, and a holder is attached to the sprocket of each frame. An endless track belt consisting of supporting plates connected to each other so as to be able to move up and down is wound up, and an electromagnetic holder is mounted on each holder support plate so as to be able to rise and fall via a spring, and connected to a power source, and the endless track belt is rotated. an automatic control mechanism configured to temporarily separate the moving electromagnetic holder from the iron surface orthogonal to the iron surface perpendicular to the iron surface to be moved just before the electromagnetic holder moves, and an iron surface in contact with the electromagnetic holder; A working vehicle for iron structures characterized by being equipped with a mechanism for electromagnetizing only the electromagnetic holder.