JPH0360630B2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention provides a suction self-propelled work device that performs grinding or painting work on a wall surface such as the outer surface of a ship while self-propelled by suctioning the wall surface. It is related to.

BACKGROUND ART Conventionally, a suction self-propelled abrasive material projection device 100 as shown in FIGS. 8 and 9, for example, has a suction device 10.
This adsorption device 10
The abrasive material 10 is adsorbed to the wall surface 103 through the suction device 101 and is self-propelled while being adsorbed into the negative pressure chamber 104 of the adsorption device 101.
5 to perform the desired cleaning, and then transfer the used abrasive material and the removed material to the suction hose 106.
We are trying to collect it through . A projection nozzle 107 for projecting the abrasive material is swingable 109 within a certain angle by a swing drive device 108, and always performs cleaning with a predetermined projection width L. By the way, in reality, full-scale work is rarely done due to repair costs, etc.
After cleaning one of the scattered areas to be repaired, the machine travels to other areas and cleans the other areas, making efficient and economical cleaning possible. .

Problems to be Solved by the Invention According to the conventional method as described above, for example, as shown in FIG.
, the subtraction amount, that is, L
-1 minute is the only amount of unnecessary cleaning. Such wasteful cleaning not only results in disadvantages in terms of cleaning time and amount of abrasive material used, but also disadvantages in post-painting work time and amount of coating liquid used, which poses problems in terms of workability and economy. becomes. Furthermore, since the wheels of the self-propelled trolley 102 are stationary, the target area to be repaired 11
It is not possible to reach 0 quickly, resulting in a disadvantage in terms of cleaning work time, etc. Moreover, the device for supplying and stopping the abrasive material is installed on the ground side, so after the intended cleaning is completed and the supply is stopped, the abrasive material remaining in the long abrasive material hose can be removed. The residual pressure of the cleaning material causes it to be projected onto areas that do not require cleaning, resulting in a disadvantage in terms of the amount of cleaning material used.

Means for Solving the Problems In order to solve the above-mentioned problems, the suction work device according to the present invention is provided with a suction device on a self-propelled cart having a plurality of wheels that can be individually changed in direction and can be driven in forward and reverse directions. A projection-type work tool is attached to the self-propelled cart so that the direction can be changed freely, and a drive device for changing the direction is provided.The work tool is also attached to the self-propelled cart so that it can swing freely via a swing drive device, and the swing position and swing An angle setting detection device is provided, a projectile material supply device connected to the work tool is provided, a valve device is provided in the projector feed device near the work tool, and an indicator device is provided outside the self-propelled cart. There is.

Effects According to the configuration of the present invention, by operating each wheel in a desired direction and in a desired rotation direction, the self-propelled cart can travel in all directions, and therefore the work area to be worked next can be moved. be able to move quickly. By stopping the indicator facing the target work area, the position and width of the area to be worked next can be confirmed with the indicator, and based on the confirmed position and width, By activating the swing drive device after instructing the setting detection and running device, the work tool can be swung at a swing position corresponding to the position of the work area and at a swing angle corresponding to the width. Further, by closing the valve device, the supply of the shot material can be stopped instantaneously near the work tool.

Embodiment An embodiment of the present invention will be described below based on FIGS. 1 to 7.

1 is a suction type polishing device which is an example of a suction self-propelled work device, and is an example of a self-propelled cart 2, a suction device 3 attached to this self-propelled cart 2, and a work tool attached to this suction device 3. It is composed of a certain projection nozzle 4, a collection pipe 5, and the like.

The frame of the self-propelled trolley 2 consists of a main body frame 6 in the shape of a rectangular frame, and a pair of front and rear wheels 7A, 7B, 8A, 8B are provided on both sides of the body frame 6, respectively. Brackets 9A, 9B, 10A, 10B supporting these wheels 7A, 7B, 8A, 8B are rotary shafts 11
It is supported on the main body frame 6 side via A, 11B, 12A, and 12B, and can freely change direction around the axis 13. Each bracket 9A, 9B, 10A, 1
0B includes a traveling drive device 1 that is interlocked and connected to the wheel axle.
4A, 14B, 15A, and 15B are provided separately. The main body frame 6 has wheels 7A, 7
A direction change drive device 16 for changing the direction of B, 8A, and 8B is provided. In other words, the direction changing drive device 16 has each rotating shaft 11A, 11B, 1
Passive wheel body 17A attached to the upper end of 2A, 12B,
17B, 18A, 18B, a pair of left and right motors 19, 20 attached to the main body frame 6, and deceleration take-out shafts 21, 22 interlocked with these motors 19, 20.
Drive wheel bodies 23, 24 attached to the left side and wheel bodies 17A, 17B, 23, 18A, 18B,
It consists of endless rotating bodies 25 and 26 wound between 24 and 24. According to this configuration, the directions of the left group and the right group can vary significantly, but this
1 and 22 may be provided with transmission wheels 27 and 28, and an endless rotating body 29 may be wound between these transmission wheels 27 and 28 for synchronization.

The suction device 3 includes a cap-shaped cup frame 30 attached to the main body film 6 side, a link plate 31 that is integrated with the outer periphery of the tip of the cup frame 30 and extends outward, and a link plate 31 that is attached to the ring plate 31. Suction cup seal 32 having a V-shaped cross section and an annular shape
and a frusto-conical ring body 34 disposed on the inner surface of the cup frame 30 and forming an annular suction passage 33 between the cup frame 30 and the inner surface thereof.
a ring member 35 for fixing the ring body 34 to the cup frame 30 and closing the upper end of the annular suction passage 33; The recovery pipe 5 is constructed of the recovery pipe 5 provided at an appropriate location, and a breaker 38 provided to communicate with the annular suction path 33 at a position displaced by 180 degrees with respect to the location where the recovery pipe 5 is provided. A flexible suction hose 39 communicates with the. This forms a negative pressure chamber 40 inside the adsorption device 3,
Further, a gasket 37 is attached to the portion exposed to the negative pressure chamber 40. The suction cup seal 32 has a protrusion 32a fixed to the outer peripheral edge of the ring plate 31.
A curved portion 32 extends further outward from the tip of the protruding portion 32a and is curved inward.
b, a thick contact portion 32c formed at the tip of this curved portion 32b, and an inclined portion 32 that extends inward from this contact portion 32c and has an end fixed to the ring plate 31.
It is formed from b.

The projection nozzle 4 is attached to the base end of the suction device 3 so as to be able to change direction and swing freely.
That is, the ring plate 4 is attached to the base end of the cup frame 30.
An outer ring member 42 is attached to the outer ring member 42 via a bearing 43, and an inner ring member 44 is disposed to fit inside the outer ring member 42 via a bearing 43. A ring-shaped table plate 45 is attached to the inner ring member 44. Ruru. Therefore, the table plate 45 rotates (changes direction) around the axis 46 via the bearing 43.
Become free. A pair of brackets 47 are connected outwardly from the table 45, and a support frame 49 is attached between these brackets 47 via an integral pin 48. Therefore, the support frame 49 has both pins 4
It is possible to freely swing around an axis 50 passing through 8. The projection nozzle 4 is attached to a support member 49 via a holding part 51.
The distal end thereof faces the negative pressure chamber 40, and the proximal end thereof is connected to an abrasive material hose 52 forming the terminal end of the projection material supply device. The bellows 53 is provided between the tape plate 45 and the holding member 51,
It is arranged so as to surround the sweeping projection nozzle 4. A direction changing drive device 54 that rotates the table plate 45 around the axis 46 to change the direction of the projection nozzle 4 is a motor 5 attached to the main body frame 6 side.
5, a drive wheel 57 attached to the output shaft 56 that has been decelerated, a ring-shaped passive wheel 58 attached to the table plate 45, and an endless rotating body 59 wound between the two wheels 57 and 58. Become. The rotation direction and amount of rotation of the table plate 45 are detected by a detection device provided between the table plate 45 and the ring plate 41, and the detection force signal is input to the ground side control unit. A swing drive device 61 that swings the support frame 49 around an axis 50 includes a support bracket 62 erected from the table plate 45, a motor 63 attached to the support bracket 62, and a motor 63 on the side of the motor 63. The support bracket 62 is composed of a pinion 65 attached to an output shaft 64 that is decelerated from It is formed into a semicircular plate shape centered on the output axis. The setting detection device 67 for the swing position and swing angle of the projection nozzle 4 includes a plurality of (seven in the embodiment) detection bodies 68a, 68b, fixed to the table plate 45 at fixed angles (θ).
68c, 68d, 68e, 68f, 68g, and an arm 69 integrally connected from the output shaft 64 side.
and a detected object 70 which is attached to the free end of the arm 69 and can be freely detected by the detecting objects 68a to 68g. The self-propelled cart 2 has indicator tools 71 and 7 on three sides, excluding the surface on which the collection pipe 5 can freely move.
2,73 are provided. That is, the indicator tools 71, 7
2 and 73 are scales having graduations corresponding to the number of detection bodies 68a to 68g; connectors 74, 75, 7;
It is attached to the main body frame 6 via 6. 77
77a represents the object to be polished, and 77a represents the surface to be polished.

A support rod 78 extends from the cup frame 30 or the main body frame 6 in the direction in which the recovery tube 5 protrudes, and a travel amount detection device 7 is installed at the tip of the support rod 78.
9 is provided. This traveling distance detection device 79 includes a rotating body 81 attached to the support 78 via a buffer device 80, a disk-shaped detection plate 82 that is integrated with the rotating body 81, and a detection plate 82 that corresponds to the detection plate 82. It is composed of a detection tool 83.

A valve device 84 is interposed near the projection nozzle 4 in the supply path of the abrasive material hose 52 . That is, a flexible tube 85 made of rubber is arranged in the middle of the abrasive hose 52, and both ends of the flexible tube 85 and the ends of the abrasive hose 52 are connected via hose holders 86, 86, respectively. are doing. Said flexible tube 8
5 are supported by respective brackets 88, 88 via fixtures 87, 87, and the brackets 88, 88 are integrated with a plurality of fixing bolts 89 and are attached to a common base plate 90. There is. Although the base plate 90 is attached to the suction hose 39, it may also be attached to the main body frame 6 or the recovery pipe 5. The brackets 88, 88
A pair of left and right rotating shafts 91A and 91B are disposed therebetween via bearings 92A and 92B, respectively, along the flexible tube 85, and interlockingly connected between the rotating shafts 91A and 91B by sector gears 93A and 93B. ing.
Further, one rotating shaft 91A is operatively connected to a motor 94 disposed on a base plate 90 via a coupling ring 95. Arms 96A, 96B are connected to the rotating shafts 91A, 91B, respectively, and clamping members 97A, 97B made of urethane are provided at the free ends of these arms 96A, 96B on opposite sides.

Next, the cleaning work in the above embodiment will be explained.
The suction force of a blower device installed on the ground side acts on the negative pressure chamber 40 in the cup frame 30 via the suction hose 39 and the recovery pipe 5, and the suction force is applied to the suction device 3.
At this time, the amount of external air taken into the cup frame 30 is adjusted by operating the breaker 38, and the wheels 7A, 7B, 8
By driving and rotating A and 8B, suction-type cleaning device 1 can smoothly move on the surface to be polished 77a, such as the outer panel of a ship, with optimum suction force. During this adsorption self-propulsion, the compressed air from the compressed air supply device transports the abrasive material (an example of a projectile material) supplied along the way within the abrasive material hose 52 and reaches the projection nozzle 4. Projection nozzle 4
The beam is projected from the surface 77a to the area surrounded by the cup frame 30 and used for the intended cleaning. The removed materials and used abrasive materials generated by such cleaning are collected from the collection pipe 5 to the suction hose 39 by the above-mentioned suction force, and returned to the separation device on the ground side.

Before performing the suction as described above, the suction cup seal 32 has a curved portion 32b as shown by the solid line in FIG.
is in a curved and deformed state. Also, the surface to be polished 77a
The same state is maintained even when brought into contact with and an adsorption effect is produced. If there are any irregularities on the surface while the vehicle is running, they will be absorbed by the bends. In other words, when the concave surface is struck, the curved portion 32b is deformed into an extended state as shown by the imaginary line C.
Further, when the surface is convex, the curved portion 32b deforms into a further bent state as shown by the imaginary line D. In this way, the unevenness is absorbed by the deformation of the curved portion 32b, so that the suction cup seal 32 does not curl inward and the negative pressure is not broken.

During the polishing work time as described above, suction force is applied to the entire circumference of the negative pressure chamber 40 due to the open lower end of the annular suction path 33, so even if the projection nozzle 4 is facing in that direction. Even if the collection pipe 5 is located above the lowermost position (details will be described later), the used abrasive material can be suctioned and removed smoothly and reliably. Also, due to the presence of the ring body, the annular suction path 3
3, that is, since the lower end open portion is in a constricted state, sufficient suction force can be expected at the lower end open portion without increasing the suction force at the suction port 36.

The projection of the abrasive material through the projection nozzle 4 includes:
This is performed by swinging the projection nozzle 4. That is, the motor 63 is driven in forward and reverse directions, and the pinion 65 is rotated in forward and reverse directions. As a result, the support frame 49 swings forward and backward through the sector gear 66, and the projection nozzle 4, which is integrated with the support frame 49 through the holding member 51, swings forward and backward around the axis 50. During this swinging, the detected object 70 swings together with the arm 69, and the movement of the detected object 70 is detected by the detecting objects 68a to 68g. At this time, the swing position and swing angle are changed by setting so that when any two of the detection bodies 68a to 68g detect the detected body 70, a reverse rotation command is issued to the motor 63 side. It is possible. In other words, the two detection objects are 68 in FIG.
When the angles are a and 68g, the projection nozzle 4 swings at the maximum angle, and when the angles are 68a and 68f, the projection nozzle 4 swings at an angle one step smaller than the maximum angle. Further, when the positions are 68a and 68c, the right side range swings at a small angle, and when the positions are 68e and 68g, the left side range swings at a small angle. In this way, the swing position and swing angle can be changed arbitrarily.

The above-mentioned cleaning operation can be performed not only on the entire surface but also on scattered areas to be polished. In this case, the travel between the locations to be polished is carried out in the state of being polished, for example by stopping the supply of the abrasive material.

As shown in Fig. 5, after cleaning a certain point to be polished, when cleaning the points to be polished B scattered in front, the non-polished area should be moved close to the point to be polished B. The machine is run in a cleaning state, and the width l of the area to be polished B is measured and confirmed with the indicator 71 as shown by the virtual line (a).
Based on this confirmation, the control device on the ground side informs the control device of the above-mentioned swing position and swing angle nθ of the projection nozzle 4.
is input. If the abrasive material is projected immediately after this input, it will be wasteful because the nozzle 4 will not reach the location B to be polished. In this case, the projection is started based on the detection by the travel distance detection device 79. In other words, since the distance E between the measurement position C and the projection start position D can be roughly set, by inputting the travel distance output device 79 as the detection reference value at the time of the input described above, the travel distance commensurate with the distance E described above can be determined. The projection can be started at the time when the traveling distance detection device 79 detects the distance.

As shown in FIG. 5, when cleaning the locations F to be polished that are scattered diagonally forward, before the vehicle starts traveling, the direction change drive device 16 is first used to drive the wheels 7A, 7B, 8A, Change the direction of 8B. In other words, the rotation of the motors 19 and 20 is controlled by the endless rotating body 2.
Rotating shafts 11A, 11B, 1 via 5, 26, etc.
2A, 12B, brackets 9A, 9B, 1
Wheels 7A, 7B, 8A, 8 via 0A, 10B
Change the direction of B. In this state, each traveling drive device 1
Wheels 7A, 4A, 14B, 15A, 15B
By driving and rotating 7B, 8A, and 8B,
As shown by the imaginary line in FIG. 5, it can run diagonally. This traveling is stopped with the index tool 71 facing the location F to be polished. Next, wheels 7A, 7
B, 8A, and 8B are turned in the opposite direction to the above. Then, by moving it forward, the area to be polished F
The desired cleaning can be carried out.

The adsorption type grinding device 1 runs on wheels 7A, 7B,
This is done in all directions by changing the direction of the wheels 8A, 8B over 180 degrees and driving the travel drive devices 14A, 14B, 15A, 15B in forward and reverse directions. For example, when cleaning is performed while traveling directly sideways, as shown in FIG.
The direction of swinging is the vertical direction as shown by arrow G. Then, the wheels 7A, 7B, 8A, 8B are turned 90 degrees from the state shown in FIG. After that, the desired cleaning can be performed by running the machine and projecting the abrasive material from a predetermined location.

When the abrasive material is supplied to the projection nozzle 4 via the abrasive material hose 52 and the supply is stopped by controlling the on-off valve near the abrasive material pumping device installed on the ground side, the abrasive material passes through the area to be polished B. Even if the on-off valve is immediately closed afterwards, the residual pressure of the abrasive material remaining in the long abrasive material hose 52 will be projected (wasted) onto the wall surface that does not require cleaning. Become. In this embodiment, during normal cleaning work, both arms 96A and 96B are opened as shown by the imaginary lines in FIG. 7, and the flexible tube 85 maintains a perfect circle state. Then, at the same time as the abrasive material pumping device is stopped, the motor 94 is activated, and the arms 96A and 96B are closed by the rotation of both rotating shafts 91A and 91B.
The flexible tube 85 is crushed and closed via A and 98B, thereby preventing the remaining abrasive material from moving. Note that the valve device 84 is opened simultaneously with the start of supply of the abrasive material pumping device.

In the above embodiment, the suction type cleaning device 1 is shown as the suction self-propelled working device, and the projection nozzle 4 is shown as the working tool, but this is also a suction type painting device using a paint gun or the like as the working tool. In this case, the painting range is set outside the self-propelled range of the self-propelled trolley 2 and the like.

Effects of the Invention According to the configuration of the present invention described above, by operating each wheel in a desired direction and in a desired rotation direction,
The self-propelled trolley can travel in all directions, so it can quickly move to the next work location, making work more efficient in terms of work time.
By stopping the indicator facing the target work area, the position and width of the next work area can be confirmed with the indicator, and settings are made based on the confirmed position and width. By activating the swing drive device after instructing the detection device, it is possible to swing the work tool at a swing position corresponding to the position of the work area and at a swing angle corresponding to the width. Various operations such as cleaning and painting can be performed efficiently and economically. In addition, by closing the valve device, the supply of shot material can be instantaneously stopped near the work tool, and the shot material is not thrown unnecessarily, making the use of shot material economical. can be done.

[Brief explanation of drawings]

Figures 1 to 7 show an embodiment of the present invention, with Figure 1 being a plan view, Figures 2 and 3 being sectional views of essential parts,
4 is a sectional view taken along line A-A in FIG. 1, FIG. 5 is an explanatory diagram of the working state, FIG. 6 is a partially cutaway side view showing the valve device, FIG. The figure is a schematic side view showing a conventional example, and FIG. 9 is an explanatory diagram of the same operation. 1...Suction type grinding device (suction self-propelled work device),
2...Self-propelled trolley, 3...Adsorption device, 4...Projection nozzle (work tool), 5...Recovery pipe, 7A, 7B, 8
A, 8B...Wheel, 14A, 14B, 15A, 1
5B... Travel drive device, 16... Drive device for changing direction, 30... Cup frame, 32... Suction cup seal, 39... Suction hose, 52... Abrasive material hose, 54... Drive for changing direction Device, 61...
... Rocking drive device, 63 ... Motor, 65 ... Pinion, 66 ... Sector gear, 67 ... Setting detection device, 68a, 68b, 68c, 68d, 68e,
68f, 68g...Detection object, 69...Arm, 7
0... Detected object, 71, 72, 73... Index tool,
79...Traveling amount detection device, 84...Valve device, 85
...Flexible tube, 96A, 96B...Arm, 97
A, 97B...Pinching member.

Claims (1)

[Claims] 1. A suction device is provided on a self-propelled cart having a plurality of wheels that can be independently changed in direction and can be driven in forward and reverse directions, and a projection type work tool is attached to the self-propelled cart in a manner that allows the direction to be changed, and a drive device for changing the direction is provided. furthermore, the working tool is swingably mounted via a swinging drive device, a swinging position and swinging angle setting detection device is provided, and a projection material supplying device connected to the working tool is provided, A suction type working device characterized in that a valve device is provided near the working tool in the projectile material supply device, and an indicator device is provided outside the self-propelled cart.