JPH0444313Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to an improvement of a wall running device such as a welding fume removal device.

<Prior art> A conventional wall traveling device, such as a welding fume removal device, is shown in Fig. 3. (this device is used for this removal), a traveling trolley 1 movable in the direction of welding progress, a trolley drive device 2 for moving this trolley 1, and a welding device fixed to the trolley 1. It has a structure in which a fume suction hood 3 and a fume processing machine 4 connected to the hood 3 are integrated, and magnetic rollers 5a and 5b provided at the front and rear upper ends of the truck 1 stick to the wall surface and move on the floor. It is now possible to move continuously, even if there is a wall that intersects at right angles. The magnet rollers 5a and 5b are directly connected to each other by a chain or the like.

<Problems to be Solved by the Invention> The running speed of the wall traveling device such as the welding fume removing device is constant at a set speed. However, there is a drawback that the speed of the cart 1 is slower than the welding speed when moving from one orthogonal wall surface to the other wall surface.

The reason for this deceleration will be explained with reference to FIG.
The figure shows a plan view, viewed from above the traveling carriage.

1 In the figure a, the cart 1 is moving along the wall surface 6a, and the magnet roller 5 is placed on the wall surface 6b orthogonal to the wall surface 6b.
This is just before a connects. Magnet roller 5
Since a and 5b are directly connected by a chain or the like and make the same rotation ω, the moving speed of roller 5a is V ₁
and the moving speed _V2 of the roller 5b are equal, and the moving speed of the trolley 1
moves at the set speed.

2. When the magnetic roller 5a hits the perpendicular wall surface 6b, the moving direction of the magnetic roller 5a is changed by 90 degrees, but the rotational speed ω of the roller 5a remains unchanged. However, since the roller 5b changes direction of the truck 1, it is not possible to move the truck 1 according to the rotational speed ω, causing slippage. This state continues until the trolley 1 reaches 45°, but since the fume suction hood 3 attached near the roller 5a moves at the same speed as the rotational speed ω of the roller 5a, there is no problem up to 45° (see figure b). .

3 However, when truck 1 passes 45°, roller 5
Since rollers b are attracted to the wall surface 6a and do not move away, the moving speed of the cart 1 is gradually reduced, and during this time the rollers 5a continue to slip (FIG. 3(c)).

4. When the magnet roller 5b comes into contact with the wall surface 6b, the roller 5a stops slipping and starts moving along the wall surface 6b at the original speed (d in the figure). In other words, the moving speed of the cart 1 is reduced from the point where the angle it makes with the wall surface 6b exceeds 45 degrees.

In view of the problems of the prior art described above, the present invention, when applied to a welding fume removal device, for example,
The purpose of the present invention is to improve the drawback that the welding position and fume suction hood become separated due to deceleration of the traveling truck, reducing the suction efficiency of the welding hood, and to provide a wall surface traveling device that always travels on the wall surface at the same speed. be.

<Means for solving the problem> First, we investigated the speed when the traveling speed changes when the angle θ between the traveling trolley and the wall surface is between 45° and 90°, as shown in Figure 5, and found the following. be.

In FIG. 5, the relationship between the rollers 5a and 5b is expressed as x ² +y ² =L ² y=√ ² - ² (1) L: distance between the rollers 5a and 5b.

The running speed V' of the roller 5a can be determined by differentiating y with respect to time, so Here, dx/dt=V is constant. Therefore, This relationship is shown in FIG. Therefore, in order to prevent the position of the roller 5a from lagging behind the constant speed V, it is necessary to increase the speed V of the roller 5b to V/√2-1, or to increase the speed sequentially and continuously. (In this invention, these are collectively referred to as speed-up driving.)

The wall traveling device of the present invention was devised based on the above-mentioned study results, and is a traveling trolley equipped with magnet rollers at the front and rear ends that are adsorbed to the wall surface and driven to rotate. a sensor that detects the distance from the floor at the front end and the rear end of the running cart; a calculation device that calculates the angle between the running cart and the wall from the output of the sensor; and a normal running speed of the running cart. and a traveling speed setting device for setting an increased traveling speed, and the output of the arithmetic device is
It is characterized in that the accelerating traveling speed setter is activated based on a signal between 45° and 90°.

<Function> When the angle between the traveling trolley and the wall surface is between 45° and 90°, the traveling trolley runs at an increased traveling speed, and there is no deceleration as in the conventional case.

<Example> Hereinafter, a wall traveling device according to the present invention will be described based on an example shown in the drawings.

FIG. 1 illustrates the wall traveling device according to the present invention with the welding fume removing device arranged in a row.
Magnetic rollers 5a and 5b are provided at the front and rear ends of the traveling vehicle 1, and are attached to a wall surface and rotated. ing.). Sensors 10a and 10b made of magnetism or the like are installed at both ends of the truck 1 to detect the angle formed between the wall surface of the traveling truck 1 and the truck 1.
An angle calculator (calculation device) 11 that calculates the angle between the trolley 1 and the wall surface based on the outputs from a and 10b;
A traveling speed setter 8 is provided on the traveling bogie ₁ to set the respective speeds S1 for the normal traveling speed and _S2 for the increased traveling speed. The traveling speed setter 8 switches between speeding up and decelerating the bogie 1 based on the calculated angle. Second
The overall outline is shown in the figure.

Sensors 10 installed at both ends of the trolley 1
The outputs of sensors a and 10b enter an angle calculator 11, and the angle calculator 11 calculates the angle between the cart 1 and the wall based on the magnitude and output difference of the outputs of the sensors 10a and 10b.
If the angle is between 45° and 90°, a command is given to the traveling speed setter 8 to switch to and operate the increased traveling speed.

Therefore, when the trolley 1 that has been set to the welding speed by the running speed setter 8 of the normal running speed S ₁ reaches the orthogonal wall surface and the angle becomes 45°, the running speed of the normal running speed S ₁ is reached. The setting device 8 switches to the traveling speed setting device 8 for increased traveling speed _S2 . The speed increase is maintained until the traveling trolley 1 is accelerated and completely moved to the orthogonal wall surface (90°). after that,
The vehicle will return to normal driving speed and continue driving. In this way, when the traveling trolley 1 moves to a perpendicular wall surface, even if the moving speed attempts to slow down, the angle is 45°.
By increasing the speed between 90° and 90°, it is possible to minimize misalignment between the welding position and the welding fume suction hood (i.e., the truck 1), and to greatly increase the fume suction efficiency with a simple mechanism.

Note that this switching method may be performed by switching to an increased traveling speed set in advance as described above, or by continuously switching to an increased traveling speed depending on the angle. Therefore, in this case, there is no need to make adjustments due to changes in welding speed.

<Effects of the invention> According to the invention, when the traveling cart moves from one wall surface to the other wall surface that is perpendicular to each other, the moving speed does not decrease.

[Brief explanation of the drawing]

1 and 2 are a plan view and a schematic diagram of an embodiment of the welding fume removal device according to the present invention, FIG. 3 is a schematic diagram of a conventional welding fume removal device, and FIG. 4 is a wall-mounted welding fume removal device. An explanatory diagram of the reason why the device decelerates on perpendicular wall surfaces, and FIGS. 5 and 6 are explanatory diagrams of the principle, respectively. In the drawing, 1 is a traveling trolley, 5a and 5b are magnet rollers, 6a and 6b are wall surfaces, 8 is a traveling speed setting device, 10a and 10b are angle sensors,
11 is an angle calculator.

Claims (1)

[Scope of utility model registration request] In a traveling truck equipped with a front end and a rear end of magnetic rollers which are rotated by adhering to a wall surface, a sensor for detecting a distance from a floor surface at the front end and a rear end of the traveling truck; , a calculation device that calculates the angle formed between the traveling truck and the wall surface from the output of the sensor, and a traveling speed setting device that sets the normal traveling speed and increased traveling speed of the traveling truck, and the output of the calculation device is , a wall traveling device characterized in that an accelerating traveling speed setting device is operated based on a signal between 45° and 90°.