JPS5914596A - Wall surface cleaner - Google Patents

Abstract

PURPOSE:To efficiently clean a wall surface of a ship or the like, by providing a blasting nozzle at the tip of a frame rotatably and tiltably fitted to a truck capable of being self-propelled along a wall of a dry dock in such a manner that the nozzle can be rotated and can be moved by predetermined amounts in vertical directions. CONSTITUTION:A frame 31 is rotatably and tiltably fitted to the truck 30 which can be self-propelled along a side wall 36 of the dry dock. A fitting member 35 is rotatably connected through a rotating base 33 to a supporting frame 32 provided at the tip of the frame 31, and the blasting nozzle is fitted to the member 35 so that it can be moved by predetermined amounts in vertical directions. The wall surface of a ship or the like contained in the dock is efficiently cleaned by respectively operating the truck 30, the frames 31, 32, the rotating base 33 and the fitting member 35.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an apparatus for cleaning a wall surface having a vertical surface or an inclined surface, such as a hull skin. The present invention relates to a wall cleaning device of the type that is mounted on a self-propelled vehicle, a work boat, or the like that moves along the hull of a ship.

Traditionally, the sandblasting method, in which sand is sprayed using compressed air, has been commonly used as a method to remove rust from ship hulls. Because it was a work of attaching it, sand and removed rust were scattered into the air, making it extremely unhygienic and labor-intensive work. Therefore, in order to prevent sand and rust from scattering into the atmosphere, a self-propelled platform with a boom (1. Various attempts have been made to attach a box with an open end to the hull, and after the opening edge of the box is brought into close contact with the hull, sand is injected into the box and exhausted using a dust collector. Due to the sloped surface, the distance and relative angle between the hull outer wall and the self-propelled vehicle constantly change as the self-propelled vehicle moves, and on the other hand, the boom of the self-propelled vehicle does not have the above-mentioned distance compensation function and angle compensation function. Therefore, there was a drawback that a gap was created between the hull and the opening edge of the box, making the collection of sand and rust incomplete. Therefore, in the present invention, in the device of the present invention installed at the tip of the boom of a self-propelled vehicle with a boom, the opening edge of the blasting chamber, which is open on one side facing the hull, is not large enough due to the distance and relative angle between the hull wall and the boom. We have taken measures to ensure that the blast chamber always comes into close contact with the hull wall regardless of small changes, and by making the opening area of the blast chamber small and swinging the blast chamber along the wall surface, it is possible to maintain close contact with the hull surface even on walls with small curvatures. It has been devised so that there is no gap between it and the opening edge of the blasting chamber, and the processing width is widened by the rocking motion.

Hereinafter, the present invention will be explained based on drawings of embodiments.

In FIGS. 1 to 7, a columnar shape is mounted on a rotary pedestal 33 at the tip of a boom of a self-propelled vehicle with a boom that runs along a wall surface to be treated (hereinafter referred to as the "surface to be treated") as shown in FIG. A pedestal 1 is installed, and two sets of self-propelled joint units are installed at two locations below the upper column on the surface of the columnar pedestal 1 on the side to be treated O.

The universal joint Schnitt consists of a horizontal shaft drive unit for vertically swinging the boom 2 and a vertical shaft drive unit for horizontally swinging the same, and the horizontal shaft drive unit has a boss 3 welded to the boom 2. , a rotary actuator 4 for driving the horizontal axis, its drive shaft 41.1, an auxiliary shaft 5, a bearing 6, and a support frame 7;
, a bearing 10, and a support/stand 11. The upper and lower parts of a rectangular frame body 13 are attached to one end of the two booms 2 via link balls 12, respectively.
Four free wheel units 14 are attached to the four corners of the frame 13 via a main shaft 15 and bearings 16. The swivel wheel unit consists of a bossed disc 14 mounted on the main shaft 15.
1. Eight barrel-shaped barrels arranged around the main axis 15 at equal intervals and in two rows in front and behind the bossed disc 141, with the axis 142 being the tangent of a circle having an arbitrary diameter centered on the main axis 15. It consists of a small roller 143, its bearing 144, and a support fitting 145 for the shaft 142, and as shown in FIG. A conical cylindrical case 17 with one side open facing the surface to be treated 0 is attached to the inside of the frame 13.
An annular rubber seal 18 is provided around the entire circumference of the opening edge of 7.
On the side of the box 17 are an exhaust port 19 and a suction hose 20 for exhausting the inside of the box, and on the same side are a vacuum brake that allows outside air to flow into the box as appropriate to prevent the degree of vacuum inside the box from becoming excessive. A nozzle JJ 22 and a blast hose 23 for spraying a blasting material such as sand together with compressed air toward the surface to be treated 0 are attached to the rear of the r force 21 and the box 17, respectively.

Further, a counterweight 24 is attached to the other end of the boom 2, which has a frame 13 attached to one end.

Further, a potentiometer 42 directly connected to the drive shaft 41 is mounted behind the rotary actuator 4 for driving the horizontal axis of the universal joint unit.

As illustrated in FIG. 8, the device 35 of the present invention is a horizontal platform mounted on the tip of a boom 31 of a self-propelled vehicle 30 that moves on a wall 36 of a dry dock. ! [! 32, and is put into practical use by being installed on a rotary pedestal 33 mounted on the same.

In the apparatus configured as described above, when the two rotary actuators 8 are driven counterclockwise in FIG.
at least three free wheel units 1 pushed in the direction of
4 is grounded to the surface O to be treated, and at the same time the seal 18 of the box 17 is
is in close contact with the surface to be processed 0. Next, when the two (or one) rotary actuators 4 are driven clockwise in FIG. It is lifted up and moved upwards. At this time, even if the surface to be treated is inclined in an overhanging state, the two rotary actuators 8 move independently and the driving force has constant torque characteristics, so at least three rotary actuators 8 The wheel unit 14 remains in contact with the surface to be treated 0, and the ground contact pressure is also approximately constant. Also, at this time, even if the surface to be treated O is a twisted surface, the action of the link balls 12 allows at least three free wheel units 14 to remain in contact with the surface to be treated O as above, and the ground pressure is almost constant. It is. Next, the rotation angle of the rotary actuator 4 is converted into voltage using the potentiometer 42, and the voltage value and the upper or lower limit voltage value set arbitrarily in advance are successively compared using an arithmetic comparator. If the voltage value obtained from the potentiometer 42 and the upper limit voltage value become the same while the rotary actuator 4 is rotating in the forward direction, the rotary actuator 4 will be reversed, and if the voltage value becomes the same as the lower limit voltage value during the reverse rotation, the rotary actuator 4 will now rotate in the forward direction. When the rotation direction and rotation angle of the rotary actuator 4 are controlled, the frame 13 continuously swings up and down within an arbitrary angular range. At this time, the first
In the figure, the self-propelled vehicle 3 is moved so that the rotating base 33 moves to the right.
When sand is injected from the nozzle 22 while continuously moving the surface 0, the locus of the center of the part of the surface 0 to be treated that is hit by the sand is as shown by the arrow 51 in FIG. Shaded area 5
0 indicates an area where sand hits the surface to be treated 0 when the box 17 is stationary. An arrow 52 indicates the direction in which the rotating base 33 moves.

Further, in FIG. 10, the same trajectory indicated by an arrow 53 indicates the trajectory when the self-propelled vehicle 30 moves intermittently every time the box 17 swings half a distance. Either of the processing methods shown in the figure may be selected. Incidentally, the used sand is suctioned and transported to a vacuum recovery device (not shown) through an exhaust port 19 and a suction hose 20. In addition, the internal pressure of the box 17 is set lower than atmospheric pressure in order to prevent dust from scattering outside the box, but this increases the frictional force between the surface to be treated O and the seal 18, and this frictional force increases. prevents the integral part 17 from swinging smoothly. In particular, if the boom 2 is lengthened to widen the swing width of the box 17, the driving torque of the rotary actuator 4 and the boom 2
As a result, the weight of the ventilation device also increases. Therefore, as shown in FIG. 11, if a motor 25 is provided to drive the main shaft 16 of the universal wheel unit 14 to supplement the drive of the rotary actuator 4, the above object can be achieved with a relatively small increase in weight.

In the embodiments of the present invention described above, the rotary actuators are used for driving the vertical and horizontal axes of the universal joint unit, but cylinders may be used instead. Further, a pulse motor may be used for driving the horizontal axis. Also, a potentiometer was used as the angle detector for the horizontal axis, but
A rotary encoder or limit switch may be used instead. Furthermore, if there is no need to install a drive motor as shown in FIG. 11, a commonly used swivel wheel such as a ball caster may be used as the swivel wheel. Further, a rotary nozzle, an oscillating nozzle, or the like may be used as the nozzle for the plastic. Further, as a cleaning tool, a steel grid centrifugal projector, a rotating brush, or the like may be installed inside the box 17 instead of the sand-injecting nozzle.

As illustrated in FIG.
Even if the distance between 3 and the surface to be processed 0 changes slightly, or even if the relative angle between them changes slightly, the seal 18 of the box 17 can continue to work while remaining in close contact with the surface to be processed 0. (Figure 2 shows with imaginary lines the response of the apparatus when the distance between the rotating pedestal 33 and the surface to be processed O becomes large.The relative angle between the rotating pedestal 33 and the surface to be processed O is 33 and can be changed by driving the shaft 34.) It is very hygienic because it does not require much effort and does not scatter dust from the gap between the seal 18 and the surface to be treated O. Furthermore, by increasing the length of the boom 2, it is possible to widen the processing width at one time, which is very efficient. Furthermore, the present invention controls the swinging direction, swinging angle, and swinging speed of the box 17, the moving direction and moving speed of the self-propelled vehicle 30, and the turning on and off of the cleaning tool.
It is also possible to configure the system to treat only arbitrary spots, which is particularly effective when treating only rust spots on a ship's hull. In this case, it is also possible to automate the work by combining a rust detection sensor.

In addition to the above-mentioned boom-equipped self-propelled vehicle, the present invention can also be installed on a work boat or the like that moves along the hull.

[Brief explanation of the drawing]

Fig. 1 is a front view of an embodiment of the present invention, Fig. 2 is a top view, Fig. 3 is a right side view, Fig. 4 is a sectional view taken along line A-A in Fig. 2, and Fig. 5 is a top view. A front view of the free wheel unit, FIG. 6 is a side view, and FIG. 7 is a B- in FIG. 2.
B is a sectional view, and FIG. 8 is a diagram showing an example of the use of the present invention, and FIGS. FIG. 11 is a diagram showing the locus of the center of the part where the blasting material such as sand hits the surface to be treated, and FIG. 11 is a diagram showing that a motor is provided to drive the main shaft of the universal wheel unit. 26...Sprocket, 27...Chain Patent Applicant Urakami No. 5 Kuchi Atsushi 6 Figure kA7 Figure yJ, g Figure 9 Atsushi 10

Claims (1)

[Scope of Claims] (1) A columnar pedestal installed on a pedestal that is movable along the surface to be treated; two booms attached to two places above and below the columnar pedestal via a universal joint; the universal joint; A drive source such as a rotary actuator that rotationally drives the vertical axis of the boom; A drive source such as a row actuator that rotationally drives the horizontal axis of the universal joint;
A frame with two parts connected to each other; A self-stocking frame attached to at least three ends of the frame; A box attached to the frame with one side open facing the surface to be treated; an opening in the box; A seal attached to the entire circumference of the rim and in close contact with the surface to be treated; a suction hose for exhausting the inside of the box; and a cleaning tool attached to the box to clean the surface to be treated inside the box. A wall cleaning device (2) characterized by comprising: a boom having a frame attached to one end and a counterweight attached to the other end of the boom according to claim 1; wall cleaning device. (3) Claims characterized in that the flexible wheel is a flexible wheel having a structure in which a plurality of small rollers whose axis is a tangent to a circle centered on the main shaft are arranged at equal intervals around the main shaft. The wall surface cleaning device according to items 1 and 2. (4) The wall surface cleaning device according to claim 3, wherein the main shaft of the free wheel is driven by a motor. (5) The wall surface cleaning device according to any one of claims 1 to 4, characterized in that a sand or steel grid spray nozzle is installed as a cleaning tool. (6) Detect the angle of the boom with an angle detector such as a potentiometer attached to the horizontal axis of the universal joint of the columnar base, and compare that angle with the upper or lower limit angle of the boom arbitrarily set in advance. The patent claim is characterized in that the rotational direction of the horizontal shaft source is automatically controlled through successive comparisons, so that the boom automatically swings up and down in an arbitrary angular range. A wall cleaning device according to items 1 to 5 of the scope.