JPH0443438Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) The present invention relates to a cleaning support device that can reliably press a cleaning head, which is a cleaning means, against a surface to be processed, such as the outer surface of a ship or the outer wall of a building. .

(Conventional technology) Conventionally, cleaning of marine deposits, old paint films with poor adhesion, dirt, etc. on ship outer panels and outer peripheral walls of structures, etc.
This is done by the fluid pressure jetted from the cleaning head of the cleaning means attached to the cleaning support device.

(Problems to be Solved by the Invention) However, in the conventional example, the cleaning head could not be easily and uniformly brought into close contact with the flat or curved surface of the workpiece surface.

An object of the present invention is to make it possible to uniformly and easily bring the cleaning head into close contact with the flat or curved surface of the workpiece surface.

(Means for solving the problem) This invention swings out horizontally from the mounting frame,
a support arm that is rotatable about a first pin on the rear end side, a drive means for rotating the support arm, and an auxiliary arm provided at the tip of the support arm with a second pin as the center of rotation; A link shaft connects the auxiliary arm and the mounting frame and has third and fourth pins located at both ends as the center of rotation, and a link shaft connects the auxiliary arm with the fifth pin as the center of rotation. a slide shaft portion provided with a frame; a drive means for adjusting the elevation angle of the frame for swinging the frame about a fifth pin; a slide base provided on the frame so as to be movable up and down; A swinging frame having one side attached to the slide base with the shaft as the rotation center, and the other side supporting the cleaning head with the support shaft as the rotation center, this swing frame and the slide base are connected, An extrusion spring member that applies a spring force to the swinging frame to push the swinging frame toward the workpiece surface side, and first, second, and third link members disposed adjacent to the swinging frame. A link mechanism is provided. The link shaft constitutes means for adjusting the angle of the frame parallel to the horizontal direction of the surface to be processed, with the second pin as the center of rotation. The first link member of the link mechanism is connected at one side to the cleaning head via a spring member, and connected to one side of the second link member at an intermediate portion around the first connecting shaft. The other side of the swinging frame is rotatably attached to the swinging frame about a support shaft. The second link member is connected at an intermediate portion to one side of the third link member about the second connecting shaft, and is connected to the other side of the third link member via a spring member at the other side. are doing. The third link member is coupled to the slide base at the other end with the support shaft as the center of rotation. The above support shaft and the first
The direction and distance of the straight line connecting the axes of the connecting shaft are parallel to the direction and distance of the straight line connecting the axes of the mounting shaft and the fulcrum shaft when uniform external pressure is applied to the cleaning head from the workpiece surface. The relationship is set to be equal.

(Example) Examples of the present invention will be described below.

In FIGS. 1 and 2, the mounting frame 1 is latched by hooks 1a, 1a at both ends of a work basket section 2, which is attached to the upper end of a stay (not shown) of a self-propelled cart. A holding rod 3a is attached to the base of the support arm 3 that swings horizontally forward (to the left) from the mounting frame 1.
The upper and lower ends of this holding rod are rotatably supported by upper and lower bearings 1b, 1b of the mounting frame 1. Note that the tip of the support arm 3 and the holding rod 3
It is reinforced by connecting the lower end of a with a reinforcing frame 3b.

Further, a cylinder 4 serving as a driving means is provided on the side of the support arm 3, and the rear end of the cylinder is attached to the mounting frame 1, and the tip of a ram 4a is attached to the side surface of the support arm 3, respectively. The actuation of the cylinder 4 causes the support arm 3 to pivot around the pin 3c. An auxiliary arm 5 is attached to the tip of the support arm 3 with a pin 6 as the center of rotation. The auxiliary arm 5 and the mounting frame 1 are connected by a link shaft 7 with pins 9 and 10 as rotation centers.

The specific structure of the link shaft 7 will be explained mainly with reference to FIG. 3.

The tip of the feed pipe 11 is covered with a cap 12 screwed thereto, and an auxiliary link shaft 13 projects forward from the cap from within the feed pipe. The tip of the auxiliary link shaft 13 is connected to the auxiliary arm 5 by a pin 9. A buffer spring 14,1 is attached to the auxiliary link shaft 13 in the feed pipe 11.
5 is wound. One buffer spring 14 is held between the inner surface of the front end of the cap 12 and a ring 16 attached to the auxiliary link shaft 13, and the other buffer spring 15 is held between the ring 16 and the ring 17 attached to the inner circumference of the feed pipe 11. These buffer springs hold the auxiliary link shaft 13 in a neutral position. The auxiliary link shaft 13 can be moved forward and backward together with the feed pipe 11 by a feed means 18. That is, a feed screw nut 19 is attached to the rear end of the feed pipe 11. Lead screw nut 19
A screw hole 19a is provided in the shaft center, and the feed screw shaft 21 located inside the feed pipe 11 and the cover 20 is inserted through this screw hole. The rear end side of the feed screw shaft 21 is held by a bearing 22, and a bevel gear 23 is fixed to the rear end. This bevel gear meshes with a bevel gear 24, which is attached to the lower end of the drive shaft 25a of the motor 25.

Therefore, by operating the motor 25,
Since the feed screw shaft 21 rotates clockwise (or counterclockwise) and the feed screw nut 19 moves along the feed screw shaft, the feed pipe 11 moves forward and backward, and the link shaft 7 expands and contracts. Due to this expansion and contraction, the auxiliary arm 5 swings around the pin 6 (swings around the pin 6 in FIG. 2). In addition, with respect to the swinging movement of the auxiliary arm 5 around the pin 6,
Since the auxiliary link shaft 13 moves forward and backward with respect to the feed pipe 11 by receiving eccentric external pressure, this causes a pushing (or pulling) force to act on the ring 16,
It is absorbed or restored by the buffer springs 14 and 15.

In addition, as shown in FIGS. 1 and 2, the auxiliary arm 5 has a slide shaft 26, and a bearing 26 for this slide shaft.
It is attached with a pin 27 supported by 6a as the center of rotation. A rodless cylinder 29 is attached to the frame 28 of the slide shaft portion 26. A mounting plate 30 is attached to the sliding member 29a of this rodless cylinder. A slide base 31 is fixed to the mounting plate 30. The slide table 31 is moved up and down in the vertical direction in FIG. 1 by driving the rodless cylinder 29.

Further, a cylinder 32 for adjusting the elevation angle of the frame is attached between the frame 28 and the auxiliary arm 5. By driving this cylinder, the slide shaft portion 26 swings about the pin 27.

Bearings 36, 36 are installed on both the upper and lower sides of the slide table 31.
The base end portions of a pair of dogleg-shaped swinging frames 38, 38 are rotatably attached to each bearing via a mounting shaft 37. The slide table 31 and the swinging frame 38 are connected by an extrusion spring 31a, and the extrusion spring always biases the swinging frame forward (to the left in FIG. 1).

A head frame 40 of a cleaning head 39 is attached to the tip of the swinging frame 38 so as to be swingable about a support shaft 41. A cleaning water injection nozzle 42 is provided inside the head frame 40, and wheels 43, . . . are provided outside. Each wheel 43 keeps the injection nozzle 42 at a predetermined distance from the surface S to be processed.

By the way, a link mechanism 44 consisting of at least one set of link members is disposed between the swinging frames 38, 38. That is, as shown in FIGS. 2 and 4, this link mechanism includes a first link member 45 that shares the support shaft 41 with the tip of the swinging frame 38, and a first connecting shaft 46 located in the middle of this link member and the tip. and a third link member 49 that shares a distal end with a second connecting shaft 48 at an intermediate portion of the second link member. is connected to the slide table 31 by a fulcrum shaft 50. The end of the first link member 45 is supported via a shaft 41 on a bracket 39a attached to the back surface of the cleaning head 39. The direction and distance of the straight line L1 (Fig. 5) connecting the axes of the support shaft 41 and the first connecting shaft 46 are
When a uniform external pressure is applied to the cleaning head 39 from
The relationship is set to be parallel and equal to the direction and distance of the straight line L2 connecting the axes of . For this reason, each axis 41, 4
A parallelogram is formed by connecting the axes 6, 50, and 37.

Also, the end of the first link member 45 and the cleaning head 3
9 with the spring member 51 and the second link member 47
A spring member 52 connects the base end of the third link member 49 to the base of the third link member 49 . A latching member 53 for stopping the bending of the second connecting shaft 48 of the second link member 47 by the spring member 52 (FIGS. 4 and 6)
is provided on the shaft 48 side of the third link member 49 and on the cleaning head 39 side, and the axial center of the second connecting shaft 48 is slightly smaller than the straight line connecting the axial centers of the first connecting shaft 46 and the fulcrum shaft 50. It is attached so that it is at the front (downward). This is to enable the second connecting shaft 48 to be easily swung forward when pressurized as shown in FIG. 4b. Therefore, during normal times, the cleaning head 39 can be maintained in a neutral state using the support shaft 41 as a fulcrum.

The operational relationship between the link members 45, 47, 49 and the cleaning head 39 will now be described with reference to FIGS. 4a to 4c.

The position of the cleaning head 39 shown in chain lines in FIG. 4a shows the position when it is not swung out. When a force is applied from this state in the direction of the arrow in the figure, the cleaning head 39 and the link members 45, 47, 49 move to the position indicated by the solid line.

From this solid line position, due to the eccentric external pressure,
When the cleaning head 39 is pressed in the direction of the arrow, the upper end of the first link member 45 is pushed by the cleaning head 39, and the shafts 46, 50 are pushed until the tension force of the spring member 52 and the eccentric external pressure are balanced. As a fulcrum, the shafts 48 of the second link member 47 and the third link member 49 are pushed toward the cleaning head 39, and the cleaning head is thereby adjusted to an angle about the shaft 41 that pushes the eccentric external pressure side. .

Furthermore, when an eccentric external pressure is applied in the direction of the arrow in Fig. 4c,
The first link member 45, the second link member 47, and the third link member 49 do not act, the spring member 51 is pulled, and the cleaning head 39 rotates about the shaft 41 in the direction of the eccentric external pressure, and the angle is adjusted. .

Next, we will explain how to use it.

Moving the traveling cart along the workpiece surface S,
When the support arm 3 is within the swinging range,
The cylinder 4 of the work basket 2 is expanded and contracted to bring the cleaning head 39 closer to the surface to be processed S, and the distance between the cleaning head and the surface to be processed is roughly adjusted. Then, by driving the cylinder 32, the slide shaft portion 26 is moved to the pin 27.
The slide shaft portion 26 is oscillated around the center to adjust the elevation angle of the frame 28 with respect to the workpiece surface S.
Let be the sign of the vertical inclination of the machined surface. Further, the length of the link shaft 7 is adjusted by the drive motor 25 so that it is nearly parallel to the plane of the slide shaft portion 26 on the horizontal plane of the surface to be processed S.

After this, the cleaning head 39 is connected to the link mechanism 44 on the slide table 31 and the spring member 51.
52, the slide base 3 of the slide shaft portion 26 is pressed while pressing the cleaning head 39 against the workpiece surface S within the vertically movable range of the rodless cylinder 29.
1 is raised and lowered, and the cleaning head 39 is reciprocated up and down to process a wide range of surfaces with good sign state.

Note that the drive motor 25 and cylinders 4, 32
is automatically controlled by a position sensor (not shown) provided on the slide shaft portion 26.

(Effects of the invention) As explained above, according to the invention, a link mechanism capable of responding to eccentric external pressure is provided, the cleaning head can be moved up and down by the slide table, and the link shaft connects the surface of the slide shaft portion to the surface of the cleaning head. The machined surface becomes nearly parallel, the support arm can rotate and the distance between the machined surface and the cleaning head can be roughly adjusted, and the frame swings around the pin to adjust the elevation angle. The cleaning head can be easily pressed against the flat or curved surface of the workpiece surface, and surface treatments such as cleaning can be performed smoothly, efficiently, and uniformly.

[Brief explanation of the drawing]

FIG. 1 is a front view, FIG. 2 is a plan view, FIG. 3 is an enlarged partially cutaway front view of the link shaft, and FIGS. 4 a to 4 c are explanatory views showing the operational relationship between the link member and the cleaning head. FIG. 5 is an explanatory diagram showing the relationship between the straight line connecting the axes of the support shaft 41 and the first connecting shaft 46, and the straight line connecting the axes of the mounting shaft 37 and the fulcrum shaft 50, and FIG. FIG. 6 is an enlarged plan view showing the relationship with the second link member. 1...Mounting frame, 3...Support arm, 3c...
1st pin (pin), 4... cylinder, 5... auxiliary arm, 6... second pin (pin), 7... link shaft, 9... third pin (pin), 10... Fourth pin (pin), 25...driving means (motor),
26...Slide shaft portion, 27...Fifth pin (pin), 28...Frame, 31...Slide base,
37...Mounting shaft, 38...Swinging frame, 39...
...Washing head, 41...Support shaft, 44...Link mechanism, 45...First link member, 46...First connection shaft, 47...Second link member, 48...Second connection shaft, 49... ...Third link member, 50...Fully shaft, 51, 52...Spring member, L1...Support shaft 4
1 and the axis of the first connecting shaft 46, L2...
A straight line connecting the axes of the mounting shaft 37 and the fulcrum shaft 50, S
...Processed surface.

Claims (1)

[Claims for Utility Model Registration] A support arm that swings out horizontally from a mounting frame and can pivot around a first pin on the rear end side, a drive means for pivoting this support arm, and a tip end of this support arm. an auxiliary arm provided with a second pin as its center of rotation; and a link shaft that connects this auxiliary arm and the mounting frame and has third and fourth pins located at both ends as their centers of rotation. a slide shaft portion having a frame connected to the auxiliary arm with a fifth pin as the rotation center; a drive means; a slide stand provided on the frame so as to be movable up and down; and a swinger having one side attached to the slide stand with the shaft as the center of rotation, and the other side supporting the cleaning head with the support shaft as the center of rotation. Connect the frame, this swinging frame and the slide table above,
a pushing spring member that applies a spring force to the swinging frame to push the swinging frame toward the workpiece surface; a first pushing spring member disposed adjacent to the swinging frame;
a link mechanism including second and third link members, and the link shaft constitutes means for adjusting the angle of the frame parallel to the horizontal direction of the workpiece surface with the second pin as the center of rotation. The first link member of the link mechanism is connected to the washing head at one side via a spring member, and the second link member is connected to the cleaning head at the middle part with the first connecting shaft as the center of rotation.
The second link member is connected to one side of the link member, and is rotatably attached to the swinging frame at the other side about a support shaft, and the second link member is connected to one side of the third link member at an intermediate portion. The second link member is connected to the other side of the third link member via a spring member, and the third link member is connected to the slide base at the other end of the third link member. They are connected around the fulcrum shaft as the center of rotation, and the direction and distance of the straight line connecting the axes of the support shaft and the first connecting shaft are determined by A cleaning support device characterized in that the direction and distance of a straight line connecting the axes of a shaft and a fulcrum shaft are parallel and equal to each other.