JPH074496U - Wall work vehicle - Google Patents

Abstract

(57) [Abstract] [Purpose] To obtain a wall work vehicle that can improve the work efficiency and work quality of wall work at low cost. [Structure] When the wall surface work implement 17 is pressed against the wall surface 40 to perform work, when the biasing force detection means 19 detects a biasing force exceeding a biasing force within a predetermined range, a swing signal is sent to the swinging means. When the turning control of the boom 13 is performed in the direction for maintaining the biasing force within the predetermined range, and when the turning angle detecting means detects a turning angle exceeding the turning angle within the predetermined range, a steering signal is sent to the steering control means. The controller is caused to perform steering control of the carriage 11 in a direction in which the turning angle within a predetermined feed range is maintained. As a result, the wall surface work implement 17 is pressed against the wall surface 40 with a pressing force within a predetermined range, and the distance between the wall surface 40 and the wall work vehicle 10 is within a predetermined range due to the swing operation of the boom 13 and the steering operation of the carriage 11. Keep it on the wall 4
Move along 0.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a wall work vehicle, and more particularly to a wall work vehicle that performs wall work with a work machine attached to the tip of a boom.

[0002]

[Prior art]

 A device that has a swivel base that can swivel on the body of an aerial work vehicle and performs wall surface work by contacting the wall work machine attached to the tip of the boom mounted on this swivel with the wall surface It is known. The applicant of the present invention has disclosed in Japanese Utility Model Publication No. 4-30238 in order to improve the efficiency of wall surface work and the work quality when working on a laterally long wall surface such as a hull. I proposed a wall work vehicle.

In this wall work vehicle, a swingable boom is attached to a trolley that can travel, and a boom is attached so that a distance between the tip of the boom and a wall surface is detected and the boom tip keeps a predetermined distance from the wall. The turning control unit that controls the turning of the wall and the pressing force that is installed at the tip of the boom and presses the wall surface work machine against the wall surface, and controls the pressing force so that the wall surface work machine can be pressed against the wall surface with a predetermined pressing force. A pressing device and a steering control unit that detects the distance between the carriage and the wall surface and controls the steering of the carriage so that the carriage travels along the wall surface are provided. Then, the bogie is stopped almost horizontally with respect to the wall surface, the boom is rotated, and the wall surface working machine is pressed against the wall surface with a predetermined pressing force by the pressing device, and the bogie is run with the wall surface working machine activated. Perform wall surface work by moving the wall surface work equipment horizontally while keeping it in contact with the wall surface.

Therefore, since the distance between the wall surface and the tip of the boom is kept constant, the wall surface work machine is pressed against the wall surface by the pressing force set by the expansion and contraction of the pressing device, and the carriage moves in parallel with the wall surface. As the wall work machine does not separate during the work and the wall work does not become uneven, the wall work efficiency and work quality can be improved.

[0005]

[Problems to be solved by the device]

 However, in the wall work vehicle configured as described above, the pressing device that presses the wall work machine against the wall, the detector that detects the distance between the boom tip and the wall, and the distance between the carriage and the wall There is a problem that a detector and the like to detect is necessary, which complicates control and leads to an increase in manufacturing cost when manufacturing a wall work vehicle.

The present invention has been made in view of the above problems, and an object thereof is to provide a wall surface work vehicle that can improve the efficiency of wall surface work and the work quality at low cost.

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, in a wall work vehicle according to the present invention, a steering control means for controlling the steering of a movable bogie and a wall work machine at the tip of a boom rotatably mounted on the bogie. The urging force during the work of the wall surface work machine is detected by the urging force detecting means, and the turning angle of the boom is detected by the turning angle detecting means. When the urging force detecting means detects an urging force that exceeds the urging force in the predetermined range while performing work on the wall surface work machine, a turning signal is sent to the turning means to maintain the urging force in the predetermined range. When the swing angle detection means detects a swing angle that exceeds the swing angle within the specified range, it sends a steering signal to the steering control means and maintains the swing angle within the specified range. Instruct the controller to control the steering of the truck in the direction that

[0008]

[Action]

 In such a wall work vehicle, it is possible to perform wall surface work by urging the wall work machine to the wall surface with a predetermined range of urging force, and when the wall work machine urging force exceeds the predetermined range of urging force. Keeps the urging force within a specified range by turning the boom to which the wall work implement is attached. When the swing angle of the boom exceeds the swing angle within the predetermined range, steering control of the bogie is performed so that the swing angle of the boom is within the predetermined range and the wall surface of the work implement is biased within the predetermined range. You can do the work.

[0009]

【Example】

 Hereinafter, a wall work vehicle which is a preferred embodiment of the present invention will be described with reference to FIGS. 1 and 2. The wall work vehicle 10 according to the present invention has a swivel base 12 which can be swiveled on a carriage 11, and a telescopic boom 13 is attached to the swivel base 12 so as to be able to rise and fall. The telescopic boom 13 is made up of a plurality of telescopically telescopically retractable base booms 13a, an intermediate boom 13b, and a tip boom 13c. The base boom 13a is pivotally supported on the swivel base 12 and is raised and lowered. It is free. The extendable / contractible boom 13 is extended / retracted by an extendable / contractible cylinder (not shown) provided inside, and is raised / lowered by an undulating cylinder 14 provided between the swivel base 12 and the base end boom 13a. .

A wall surface working machine 17 for performing wall surface work such as sandblasting is attached to the tip portion of the tip boom 13c. The wall surface working machine 17 has a sliding portion 17a slidably held by a holding member 18, and the sliding portion 17a is biased in the direction of arrow A inside the sliding portion 17a. A biasing unit (not shown) including a spring having a biasing force is provided. The holding member 18 is attached via a swing mechanism 16 attached to the front end of the tip boom 13a. The swing mechanism 16 keeps the holding member 18 always horizontal in response to the raising and lowering operation of the boom 13, and also performs the swing operation to the left and right in the horizontal plane. Inside the holding member 18, an urging force detecting means 19 for detecting the urging force of the urging means to the wall surface of the wall surface working machine 17 is attached. Further, on both side surfaces in the traveling direction of the wall surface working machine 17, wall surface working machine proximity sensors 21 for detecting obstacles in the traveling direction of the wall surface working machine using infrared rays or the like are attached.

Next, the operation control of the bogie 11 and the swing control of the boom 13 in the wall work vehicle 10 will be described with reference to FIG. The carriage 11 is provided with a swivel rotating means 31 for rotating the swivel 12, a carriage driving means 33 for traveling the carriage 11, and a steering control means 32 for steering the carriage 11. Further, the dolly 11 is provided with wheels 15 which are rotatably driven by a dolly driving means 33 for traveling the dolly 11. The wheels 15 are composed of front wheels 15a, 15a and rear wheels 15b, 15b provided on the left and right of the bogie 11, respectively, and steering control is performed by steering the front wheels 15a, 15a by steering control means 32. Then, the carriage 11 can be run in a desired direction.

The swivel base 12, on which the boom 13 is pivotally supported, can swivel with respect to the bogie 11 by a swivel swivel means 31 composed of a hydraulic motor or the like attached to the bogie 11. The operation control of the swivel base turning means 31, the steering control means 32, and the carriage drive means 33 are also controlled by an operator operating an operating device (not shown) provided in the carriage 11. Although it can be performed, the operation control is also performed by an operation signal from the controller 30 described later. Further, front and rear surfaces of the bogie 11 are provided with a bogie proximity sensor 22 that detects an obstacle in the traveling direction of the bogie 11 by using infrared rays or the like, similarly to the wall work machine proximity sensor 21.

Next, a case will be described in which the wall work vehicle 10 configured as described above is used to perform blast work on the outer surface of a ship. FIG. 1A shows a state in which blast work is performed from the straight portion of the hull 40 to the bow 40a that curves toward the center of the ship. Then, FIG. 1B shows a state in which the blasting work is performed on the bow 40a that further curves toward the center of the ship.

First, when performing the blasting work on the straight part of the hull 40, the wall work vehicle 10 is stopped so as to be positioned at a constant interval substantially parallel to the wall surface of the hull 40. Next, the wall surface work implement 17 is rotated toward the hull 40, and the wall work implement 17 is positioned at the work position by raising and lowering the boom 13. Then, the swivel base 12 is swung in the direction of arrow C (right turn), and the wall surface working machine 17 is pressed against the wall surface of the hull 40. The turning of the swivel base 12 is continued until the urging force detecting means 19 detects that the wall surface working machine 17 is pressed by a predetermined urging force, and the wall surface working machine 17 is operated while maintaining the turning angle. . Then, by moving (straightening) the carriage 11 in the direction of the arrow B, the blast work on the hull 40 can be continuously performed.

When the urging force is out of the predetermined range due to slight unevenness of the wall surface of the hull 40 or the wall work vehicle 10 was not initially located parallel to the hull 40, The urging force detection means 19 sends a detection signal to the controller 30. The controller 30 finely adjusts the swivel base 12 to swivel by transmitting a swivel signal to the swivel swivel means 31, and maintains the biasing force of the wall surface working machine 17.

Here, when the wall surface working machine 17 comes to be positioned on the curved wall surface 40a near the bow so as to exceed the range of the above-mentioned fine adjustment, the wall surface 40a and the tip of the tip boom 13c. The distance to the department increases. In this case, first, as indicated by the alternate long and short dash line, the wall surface working machine 17 extends in the sliding portion 17a by the urging force of the urging means, and maintains the urging force within a predetermined range. When the bending is further increased and the urging force detecting means 19 detects that the urging force is outside the predetermined range, the urging force detecting means 19 transmits a detection signal to the controller 30. Then, the controller 30 transmits a turning signal to the turning base turning means 31 to turn the turning base 12 further in the direction of arrow C. As a result, the wall surface working machine 17 can continue wall surface work while maintaining the urging force within a predetermined range. When the wall surface working machine 17 is located on a curved wall surface, the oscillating mechanism 16 allows the wall surface working machine 17 to always maintain a right angle with respect to the tangential direction of the wall surface.

Further, as shown in FIG. 1B, when the curvature near the bow becomes even larger, the swivel base 12 turns in the direction of arrow D according to the curvature. Here, when the turning angle θ of the turning base 12 reaches a predetermined turning angle, the turning angle detection means 20 sends a detection signal to the controller 30 without turning the turning base 12 any further. Then, the controller 30 sends a steering signal to the steering control means 32 to steer the front wheels 15a in the direction of arrow F. As a result, the carriage 11 travels in the direction of the arrow E according to the bow of the bow, so that the wall work vehicle 10 and the hull 40 are not unnecessarily separated from each other, and the wall work machine 17 is biased within a predetermined range. You can work on the wall while pressing it against the wall.

Then, at the end of the bow and stern of the ship to be worked, the bogie 11 is reciprocated while the height of the wall surface working machine 17 is changed by hoisting and retracting the boom 13 so that the bogie 11 is reciprocated sequentially. It is possible to perform work over the entire wall surface of the hull 40 that is the work target. Here, when the wall work machine proximity sensors 21 attached to both side surfaces (the traveling direction) of the wall work equipment 17 detect an obstacle such as the scaffold 50 attached for performing other work on the bow. To the controller 30, the detection signal is transmitted to the controller 30. Upon receiving the signal, the controller 30 transmits an obstacle detection signal to the carriage driving means 33, and stops the driving of the carriage driving means 33 to stop the traveling of the carriage 11. As a result, it is possible to prevent interference with the obstacle of the wall surface working machine 17.

Further, even when the bogie proximity sensors 22 attached to the front and rear of the bogie 11 detect an obstacle in the traveling direction of the bogie 11, the bogie 11 is similarly stopped and the bogie 11 and the obstacle are detected. Interference can be prevented in advance. These proximity sensors 21 and 22 use not only infrared rays as described above, but also non-contact type detection sensors using ultrasonic waves and limit switches with an actuator attached to the tip. Good.

In the above embodiment, the case where the wall surface is curved so as to move away from the dolly 11 has been described, but it is of course also used when the wall surface is curved so as to approach the dolly 11. It is possible. In this case, the swivel base is swung in the traveling direction of the carriage 11 according to the curve of the wall surface, and when the swivel angle of a predetermined range is reached, steering is performed in the curved direction of the wall surface without causing interference between the wall surface and the carriage. The wall work can be performed continuously.

Therefore, in such a wall work vehicle 10, a wall work of a certain quality is continuously performed by maintaining a distance within a predetermined range from the wall surface and pressing the wall work implement 17 against the wall surface with an urging force within a predetermined range. You can do it. Further, when there is an obstacle in the traveling direction of the wall surface working machine 17 and the dolly 11, it is possible to prevent interference with the obstacle by stopping the traveling of the dolly 11.

[0022]

[Effect of device]

 As described above, in the wall work vehicle of the present invention, the urging force detecting means detects the urging force that exceeds the urging force within the predetermined range when the wall surface working machine is pressed against the wall surface to perform the work. In this case, when a turning signal is sent to the turning means to control the boom to turn in such a direction as to maintain the biasing force within a predetermined range, and the turning angle detection means detects a turning angle exceeding the predetermined range of turning angle, A steering signal is sent to the steering control means to cause the controller to perform steering control of the carriage in a direction in which the turning angle within a predetermined range is maintained. As a result, the wall surface work machine is pressed against the wall surface with a pressing force within a predetermined range, and the boom is rotated and the bogie is steered to maintain the distance between the wall surface and the wall work vehicle within a predetermined range and to move the wall surface work vehicle to the wall surface. Move in parallel. Therefore, in the sandblasting work, the wall surface work machine does not separate from the wall surface during the work and the sand in the sandblasting does not leak, and the work surface does not become uneven. For this reason, it is possible to improve the work efficiency of the wall surface work, and it is possible to easily and inexpensively perform high quality wall surface work.

[Brief description of drawings]

FIG. 1 is a top view showing a working state of a wall work vehicle according to the present invention. FIG. 1 (A) shows a working state of a portion where a wall is curved from a straight line, and (B) shows a working state.
The work state where the wall surface is curved is shown.

FIG. 2 is a side view of the wall work vehicle.

FIG. 3 is a block diagram showing a control circuit of the wall work vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Wall work vehicle 11 Bogie 12 Revolving base 13 Boom 17 Wall work machine 18 Holding member 19 Energizing force detection means

Claims (1)

[Scope of utility model registration request] 1. A movable bogie, a steering control means for controlling the steering of the bogie, a boom rotatably provided on the bogie, and a wall work machine provided at the tip of the boom, A biasing force detecting means for detecting a biasing force at the time of working of this wall surface working machine, a turning angle detecting means for detecting a turning angle of the boom, and when working by the wall surface working machine,
When the biasing force detection means detects a biasing force that deviates from a biasing force within a predetermined range, a swinging signal is sent to the boom to perform swinging control of the boom in a direction to maintain the biasing force within the predetermined range, When the turning angle detecting means detects a turning angle exceeding a turning angle within a predetermined range, a steering signal is sent to the steering control means to control the steering of the carriage in a direction to maintain the turning angle within the predetermined range. A wall work vehicle characterized by having a controller for performing the following.