JP2022087619A - Wall surface cleaning apparatus - Google Patents

Wall surface cleaning apparatus Download PDF

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JP2022087619A
JP2022087619A JP2020199651A JP2020199651A JP2022087619A JP 2022087619 A JP2022087619 A JP 2022087619A JP 2020199651 A JP2020199651 A JP 2020199651A JP 2020199651 A JP2020199651 A JP 2020199651A JP 2022087619 A JP2022087619 A JP 2022087619A
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wall surface
housing
cleaning device
sealing
wall
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JP7389011B2 (en
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光一 伊東
Koichi Ito
貴昭 清水
Takaaki Shimizu
健太郎 山本
Kentaro Yamamoto
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Sugino Machine Ltd
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Abstract

To provide a wall surface cleaning apparatus being easily movable while retaining adsorption without depending on decompression adjustment of a decompression device.SOLUTION: A wall surface cleaning apparatus comprises: a housing 2 delimiting an internal space toward a wall surface W; a cleaning unit 3 disposed in the internal space; seal means 6 for sealing a peripheral edge part of the housing 2, the seal means 6 including an extensible part 7 extendable according to a step of the wall surface W, and a sealing part 9 adsorbed to the wall surface W and having an air hole 12; support means 13 for supporting an apparatus body; travel means 16 connected to the support means 13 and moving on the wall surface W; adsorption means 18 being adsorbable to the wall surface W; and suction means 21 disposed on the lower side of the housing 2 via a connecting port 22.SELECTED DRAWING: Figure 1

Description

本発明は、壁面へ吸着しながら移動し、壁面の洗浄や剥離等を行う壁面洗浄装置に関する。 The present invention relates to a wall surface cleaning device that moves while adsorbing to a wall surface to clean or peel off the wall surface.

従来、船舶、建築物あるいは大型のタンク類等の内壁面や外壁面の清掃や塗装の前処理を行う場合、対象となる壁面に壁面洗浄装置を吸着させて、洗浄や剥離等が行われていた。 Conventionally, when cleaning the inner and outer walls of ships, buildings, large tanks, etc. and pre-treating painting, the wall cleaning device is adsorbed on the target wall surface to perform cleaning and peeling. rice field.

例えば、平１０―２４９２９６号公報（以下、「特許文献１」）に記載の壁面洗浄装置は、自走式研掃装置であって、ケーシングと、シール部材と、減圧通路と、研掃手段と、移動手段とを有する。ケーシングは、壁面との間に空間部を形成する。シール部材は、ケーシングの周縁部もしくはその近傍に装着され、空間部を気密にシールする。減圧通路は、一端が空間部に開口し、他端側が減圧装置に連通する。研掃手段は、空間部内の壁面の研掃を行う。移動手段は、空間部内を減圧し装置本体を壁面に吸着させた状態で、装置本体を壁面に沿って移動させ得る。研掃手段は、噴流ノズルと、剥離部材とを有する。噴流ノズルは、高圧水供給装置に接続され空間部内の壁面に向かって噴流を噴射し得る。剥離部材は、壁面上の塗装被膜及び／又は異物等の付着物を剥離する。 For example, the wall surface cleaning device described in Japanese Patent Application Laid-Open No. 10-249296 (hereinafter, “Patent Document 1”) is a self-propelled cleaning device, which includes a casing, a sealing member, a decompression passage, and a cleaning means. , With a means of transportation. The casing forms a space between the casing and the wall surface. The sealing member is attached to the peripheral edge of the casing or its vicinity, and airtightly seals the space. One end of the decompression passage opens into the space, and the other end communicates with the decompression device. The cleaning means cleans the wall surface in the space. The moving means can move the device main body along the wall surface in a state where the pressure inside the space is reduced and the device main body is attracted to the wall surface. The cleaning means includes a jet nozzle and a peeling member. The jet nozzle is connected to the high pressure water supply device and can inject a jet toward the wall surface in the space. The peeling member peels off the coating film on the wall surface and / or the deposits such as foreign matter.

また、壁面洗浄装置ではないが、例えば、２０１８－１３１１６５号公報（以下、「特許文献２」）に記載の壁面吸着装置は、壁面が湾曲している等、平坦でない壁面にも吸着性能を維持できる。この壁面吸着装置は、隔壁と、吸引部と、スカートとを有する。隔壁は、壁面と対向する凹部空間を区画する。吸引部は、凹部空間の空気を連続して吸引することが可能である。スカートは、凹部空間の周縁部において、隔壁に全周に亘って連続的又は間欠的に配置されると共に凹部空間の周縁部の外側に向かって延在し、可撓性を有する。 Further, although it is not a wall surface cleaning device, for example, the wall surface suction device described in Japanese Patent Application Laid-Open No. 2018-131165 (hereinafter, “Patent Document 2”) maintains suction performance even on an uneven wall surface such as a curved wall surface. can. This wall surface suction device has a partition wall, a suction portion, and a skirt. The partition wall partitions the recessed space facing the wall surface. The suction unit can continuously suck the air in the recessed space. At the peripheral edge of the concave space, the skirt is continuously or intermittently arranged on the partition wall over the entire circumference and extends toward the outside of the peripheral edge of the concave space, and has flexibility.

特許文献１に記載の壁面洗浄装置では、シール部材の密着と減圧装置による吸着を実現している。
しかし、減圧装置の減圧力が強すぎると移動ができなくなり、減圧装置の減圧力が弱すぎると吸着力が低下し、洗浄後の廃液の吸引や封止が弱くなってしまう。 The wall surface cleaning device described in Patent Document 1 realizes close contact of the sealing member and adsorption by the decompression device.
However, if the depressurizing force of the depressurizing device is too strong, it cannot move, and if the depressurizing force of the depressurizing device is too weak, the adsorption force is lowered, and the suction and sealing of the waste liquid after cleaning are weakened.

特許文献２に記載の壁面吸着装置では、壁面の凹凸部や段差部を検知し、壁面に対する減圧力を調整する。さらに、ハウジング（凹部空間）内部の空気をできるだけ抑制することが記載されている。
しかし、壁面洗浄装置を連続的に壁面に吸着させて洗浄や剥離等を行う場合、壁面の表面形状には複数の凹凸箇所が存在する。そのため、減圧装置のみにより減圧力を調整する場合、減圧力が強すぎることによるフリーズ状態は回避できるが、洗浄後の廃液の吸引・封止力は向上できない。 The wall surface suction device described in Patent Document 2 detects uneven portions and stepped portions on the wall surface and adjusts the depressurizing force on the wall surface. Further, it is described that the air inside the housing (recessed space) is suppressed as much as possible.
However, when the wall surface cleaning device is continuously adsorbed on the wall surface for cleaning, peeling, or the like, the surface shape of the wall surface has a plurality of uneven portions. Therefore, when the depressurizing force is adjusted only by the depressurizing device, the freeze state due to the depressurizing force being too strong can be avoided, but the suction / sealing force of the waste liquid after cleaning cannot be improved.

本発明は、減圧装置の減圧調整によらずに、吸着を維持しながら、移動しやすい壁面洗浄装置を提供することを目的とする。 An object of the present invention is to provide a wall surface cleaning device that is easy to move while maintaining adsorption without adjusting the depressurization of the decompression device.

本発明の壁面洗浄装置は、
壁面との間に内部空間を画定するハウジングと、
前記内部空間に配置される洗浄ユニットと、
前記ハウジングの周縁部をシールするシール手段であって、
前記壁面の段差に応じて伸縮可能な伸縮部と、
前記壁面に吸着する封止部であって、通気孔を有する封止部と、
を有するシール手段と、
装置本体を支持する支持手段と、
前記支持手段に連結し、前記壁面を移動する走行手段と、
前記壁面に吸着可能な吸着手段と、
前記ハウジングの下部に、連結口を介して配置される吸引手段と、
有する。 The wall surface cleaning device of the present invention
A housing that defines the internal space between the wall and the wall
The cleaning unit arranged in the internal space and
A sealing means for sealing the peripheral edge of the housing.
An elastic part that can be expanded and contracted according to the step on the wall surface,
A sealing portion that is adsorbed on the wall surface and has a ventilation hole, and a sealing portion.
With sealing means and
Supporting means to support the main body of the device and
A traveling means that is connected to the support means and moves on the wall surface,
The adsorption means that can be adsorbed on the wall surface and
A suction means arranged at the bottom of the housing via a connecting port,
Have.

本発明によれば、減圧装置の減圧調整によらずに、吸着を維持しながら、移動しやすい壁面洗浄装置を提供できる。 According to the present invention, it is possible to provide a wall surface cleaning device that is easy to move while maintaining adsorption without adjusting the depressurization of the decompression device.

実施形態の壁面洗浄装置を示す正面図Front view showing the wall surface cleaning device of the embodiment 実施形態の壁面洗浄装置を示す断面図Sectional drawing which shows the wall surface cleaning apparatus of embodiment 変形例の壁面洗浄装置を示す断面図Cross-sectional view showing a wall surface cleaning device of a modified example 実施形態のシール手段の詳細を示す断面図Sectional drawing which shows the detail of the sealing means of embodiment 実施形態の通気孔から取り入れられることで発生するハウジング内の空気の流れを示す図The figure which shows the air flow in a housing generated by being taken in from the ventilation hole of an embodiment.

本発明の実施形態について、適宜図面を参照しながら説明する。 An embodiment of the present invention will be described with reference to the drawings as appropriate.

（壁面洗浄装置の構成）
図１に示すように、本実施形態の壁面洗浄装置１は、船舶等の壁面の表面に吸着しながら、壁面の表面を洗浄する。壁面洗浄装置１は、ハウジング２と、洗浄ユニット３と、支持手段１３と、走行手段１６と、吸引手段２１とを有する。ハウジング２は、壁面Ｗとの間に内部空間を画定する。洗浄ユニット３は、ハウジング２の内部空間に配置される。支持手段１３は、シール手段６と、壁面洗浄装置本体とを支持する。シール手段６は、ハウジング２の周縁部をシールする。走行手段１６は、支持手段１３に連結し、壁面を移動する。吸引手段２１は、連結口２２を介して、ハウジング２の下部に配置される。 (Structure of wall cleaning device)
As shown in FIG. 1, the wall surface cleaning device 1 of the present embodiment cleans the surface of the wall surface while adsorbing to the surface of the wall surface of a ship or the like. The wall surface cleaning device 1 includes a housing 2, a cleaning unit 3, a support means 13, a traveling means 16, and a suction means 21. The housing 2 defines an internal space between the housing 2 and the wall surface W. The cleaning unit 3 is arranged in the internal space of the housing 2. The support means 13 supports the sealing means 6 and the wall surface cleaning device main body. The sealing means 6 seals the peripheral edge of the housing 2. The traveling means 16 is connected to the supporting means 13 and moves on the wall surface. The suction means 21 is arranged at the lower part of the housing 2 via the connecting port 22.

ハウジング２は、筒状であり、壁面Ｗに内部空間を画定する。ハウジング２は、内部空間を画定できればよい。ハウジング２は、例えば、円筒状、多角形状である。
壁面Ｗの洗浄や剥離等の作業中、ハウジング２の内部空間は、常に吸引手段２１の吸引によって、負圧状態になる。また、ハウジング２の内部空間には、洗浄ユニット３から噴射される高圧水や、処理後の屑や廃液が存在する。そのため、ハウジング２の材質を金属等の硬度の高いものとすることや、ハウジング２の内部空間の容積に応じて、ハウジング２の厚みを調整してもよい。 The housing 2 has a cylindrical shape and defines an internal space on the wall surface W. The housing 2 only needs to be able to define the internal space. The housing 2 has, for example, a cylindrical shape or a polygonal shape.
During work such as cleaning and peeling of the wall surface W, the internal space of the housing 2 is always in a negative pressure state by the suction of the suction means 21. Further, in the internal space of the housing 2, high-pressure water jetted from the cleaning unit 3 and waste and waste liquid after treatment are present. Therefore, the thickness of the housing 2 may be adjusted according to the material of the housing 2 having a high hardness such as metal or the volume of the internal space of the housing 2.

洗浄ユニット３は、ハウジング２の内部に配置される。洗浄ユニット３は、高圧水供給源（不図示）から供給される高圧水を、高圧水供給管４を介して噴射ノズル５から噴射することで、壁面Ｗの洗浄や剥離等を行う。複数の噴射ノズル５が配置されてもよい。高圧水供給管４は、例えば、十字状、Ｌ字状、環状である。ハウジング２の内部空間の範囲で壁面Ｗの洗浄や剥離等を行うので、洗浄効率を最大化するため、高圧水供給管４の下端に最適な数の噴射ノズル５を配置できる。 The cleaning unit 3 is arranged inside the housing 2. The cleaning unit 3 cleans and peels the wall surface W by injecting high-pressure water supplied from a high-pressure water supply source (not shown) from the injection nozzle 5 via the high-pressure water supply pipe 4. A plurality of injection nozzles 5 may be arranged. The high-pressure water supply pipe 4 is, for example, cross-shaped, L-shaped, or annular. Since the wall surface W is cleaned and peeled within the range of the internal space of the housing 2, the optimum number of injection nozzles 5 can be arranged at the lower end of the high-pressure water supply pipe 4 in order to maximize the cleaning efficiency.

シール手段６は、図２に示すように、ハウジング２の周縁部や、壁面Ｗの接触面をシールする。シール手段６の材質は、例えば、ゴム等の弾性部材である。シール手段６は、伸縮部７と、封止部９とを有する。伸縮部７は、壁面Ｗの段差に応じて伸縮可能である。封止部９は、壁面Ｗに吸着する。封止部９は、弾性部材１０の一部から空気が通過し、弾性部材１０と樹脂部材１１の隙間を形成する通気孔１２を有する。 As shown in FIG. 2, the sealing means 6 seals the peripheral edge portion of the housing 2 and the contact surface of the wall surface W. The material of the sealing means 6 is, for example, an elastic member such as rubber. The sealing means 6 has an expansion / contraction portion 7 and a sealing portion 9. The expansion / contraction portion 7 can be expanded / contracted according to the step of the wall surface W. The sealing portion 9 is adsorbed on the wall surface W. The sealing portion 9 has a ventilation hole 12 through which air passes from a part of the elastic member 10 and forms a gap between the elastic member 10 and the resin member 11.

シール手段６の変形例を図３に示す。変形例のシール手段６は、伸縮部７と、封止部９とを有する。伸縮部７は、壁面Ｗの段差に応じて伸縮可能である。封止部９は、壁面Ｗに吸着する。封止部９は、樹脂部材１１の一部から空気が通過し、弾性部材１０と樹脂部材１１の隙間を形成する通気孔１２を有する。図２と図３では、通気孔１２の位置が異なる。図２では、通気孔１２は、弾性部材１０の表面に形成される。図３では、通気孔１２は、図３の紙面に垂直な方向において、弾性部材１０と樹脂部材１１の間に形成される。その他、外部から空気が通過できる孔であれば、場所は問わない。 A modified example of the sealing means 6 is shown in FIG. The sealing means 6 of the modified example has an expansion / contraction portion 7 and a sealing portion 9. The expansion / contraction portion 7 can be expanded / contracted according to the step of the wall surface W. The sealing portion 9 is adsorbed on the wall surface W. The sealing portion 9 has a ventilation hole 12 through which air passes from a part of the resin member 11 and forms a gap between the elastic member 10 and the resin member 11. The positions of the ventilation holes 12 are different between FIGS. 2 and 3. In FIG. 2, the ventilation holes 12 are formed on the surface of the elastic member 10. In FIG. 3, the ventilation holes 12 are formed between the elastic member 10 and the resin member 11 in the direction perpendicular to the paper surface of FIG. In addition, any place can be used as long as it is a hole through which air can pass from the outside.

伸縮部７は、湾曲形状であり、内部に伸縮空間８を有する。ただし、伸縮空間８を有する形状であれば、伸縮部７は湾曲形状に限られず、円弧形状、段差形状等でもよい。洗浄や剥離の対象となる壁面Ｗに存在する凹凸等の段差の高さに追従できる範囲の縮み代や伸び代になるように、伸縮部７は調整可能である。
壁面Ｗの表面形状がフラットな場合は、伸縮部７に初期縮みを与えた状態である。壁面Ｗの表面に凹凸等の段差がある場合は、伸縮部７が凹凸に追従して伸縮する状態となる。これにより、段差の影響で壁面Ｗからのハウジング２や洗浄ユニット３の距離が変動したとしても、吸着性能を維持した状態で、洗浄や剥離等を行うことができる。 The expansion / contraction portion 7 has a curved shape and has an expansion / contraction space 8 inside. However, as long as the shape has the expansion and contraction space 8, the expansion and contraction portion 7 is not limited to the curved shape, and may be an arc shape, a stepped shape, or the like. The expansion / contraction portion 7 can be adjusted so that the shrinkage allowance and the expansion allowance within a range that can follow the height of the step such as unevenness existing on the wall surface W to be cleaned or peeled off.
When the surface shape of the wall surface W is flat, the expansion / contraction portion 7 is in a state of being initially shrunk. When there is a step such as unevenness on the surface of the wall surface W, the expansion / contraction portion 7 is in a state of expanding / contracting following the unevenness. As a result, even if the distance between the housing 2 and the cleaning unit 3 from the wall surface W fluctuates due to the influence of the step, cleaning or peeling can be performed while maintaining the adsorption performance.

封止部９は、壁面Ｗと接触する。封止部９は、壁面Ｗの材質に対して吸着や接触に適した材質である。封止部９は、弾性部材（第一層）１０と、樹脂部材（第二層）１１を有する二層構造が望ましい。一般に、シール手段６は、弾性力を有し、吸着可能な材質が好ましいため、ゴム等の弾性部材が用いられる。しかし、壁面Ｗが金属である場合は、ゴム等の弾性部材で吸着しながら移動すると、摩擦抵抗が悪影響を及ぼすことがあり、好ましくない。樹脂部材１１を壁面Ｗに接触させるように、弾性部材１０と樹脂部材１１の二層構造とすることで、追従性能と吸着性能を確保できる。また、二層構造とすることで、伸縮部７の物性と壁面Ｗに吸着しやすい物性の性能を個別に向上させることができる。壁面Ｗの形状に段差がある場合や球面である場合も、シール手段６の長寿命化を図ることができる。また、樹脂部材１１は、通気孔１２から吸引される空気をより一層取り込みやすいように、通気孔１２との接触部を回避するための溝を形成することもできる。溝の形状は、円形、楕円形、多角形等を問わない。 The sealing portion 9 comes into contact with the wall surface W. The sealing portion 9 is a material suitable for adsorption or contact with respect to the material of the wall surface W. The sealing portion 9 preferably has a two-layer structure having an elastic member (first layer) 10 and a resin member (second layer) 11. Generally, the sealing means 6 is preferably made of a material that has elastic force and can be adsorbed, and therefore an elastic member such as rubber is used. However, when the wall surface W is made of metal, if it moves while being adsorbed by an elastic member such as rubber, frictional resistance may adversely affect it, which is not preferable. By forming the two-layer structure of the elastic member 10 and the resin member 11 so that the resin member 11 is in contact with the wall surface W, the follow-up performance and the suction performance can be ensured. Further, by adopting the two-layer structure, it is possible to individually improve the physical properties of the expansion / contraction portion 7 and the physical properties that are easily adsorbed on the wall surface W. Even when the shape of the wall surface W has a step or a spherical surface, the life of the sealing means 6 can be extended. Further, the resin member 11 can also form a groove for avoiding a contact portion with the ventilation hole 12 so that the air sucked from the ventilation hole 12 can be taken in more easily. The shape of the groove may be circular, elliptical, polygonal or the like.

通気孔１２は、封止部９の周縁部に形成される。通気孔１２の形状は、例えば、円形状、多角形状であるが、これに限らない。吸引手段２１でハウジング２内を吸引することによって、ハウジング２内に存在する洗浄後の屑や廃液が回収されることに加え、ハウジング内が減圧され、負圧が発生する。負圧により、通気孔１２を介して外部の空気がハウジング２内に吸引される。ハウジング２内の負圧によって吸着が維持された状態に加えて、通気孔１２を介して空気が吸引されることで、壁面洗浄装置１が特定の位置で吸着してフリーズ状態になることを抑制し、壁面洗浄装置１を移動させながら、壁面Ｗの洗浄や剥離等を行うことができる。 The ventilation hole 12 is formed on the peripheral edge of the sealing portion 9. The shape of the ventilation hole 12 is, for example, a circular shape or a polygonal shape, but the shape is not limited to this. By sucking the inside of the housing 2 with the suction means 21, in addition to collecting the debris and waste liquid after cleaning existing in the housing 2, the inside of the housing is depressurized and a negative pressure is generated. Due to the negative pressure, external air is sucked into the housing 2 through the ventilation holes 12. In addition to the state where the suction is maintained by the negative pressure in the housing 2, the air is sucked through the ventilation holes 12 to prevent the wall surface cleaning device 1 from being sucked at a specific position and becoming a frozen state. Then, the wall surface W can be cleaned or peeled off while the wall surface cleaning device 1 is moved.

壁面Ｗの表面に凹凸等の段差がある場合、特定の箇所だけに通気孔１２を形成すると、壁面洗浄装置１の姿勢と壁面Ｗの形状によって、吸着のバランスが不均等になる可能性がある。そのため、複数の通気孔１２が、封止部９の周縁部に均等に配置されることが望ましい。例えば、４～５０箇所の通気孔１２を個別に、封止部９の周縁部に均等に配置してもよい。また、封止部９の周縁部の４～８か所に対して、２～４箇所の通気孔１２をセットで配置してもよい。 When there is a step such as unevenness on the surface of the wall surface W, if the ventilation holes 12 are formed only in specific places, the suction balance may become uneven depending on the posture of the wall surface cleaning device 1 and the shape of the wall surface W. .. Therefore, it is desirable that the plurality of ventilation holes 12 are evenly arranged on the peripheral edge portion of the sealing portion 9. For example, the ventilation holes 12 at 4 to 50 locations may be individually and evenly arranged on the peripheral edge of the sealing portion 9. Further, 2 to 4 ventilation holes 12 may be arranged as a set with respect to 4 to 8 places on the peripheral edge of the sealing portion 9.

図４に示すように、支持手段１３は、装置本体を支持する枠組みであり、金属等の損傷のない部材が望ましい。本実施形態の支持手段１３は、骨子状であるが、それに限られるものではなく、ケーシング等で囲われた形態でもよい。 As shown in FIG. 4, the support means 13 is a framework for supporting the main body of the device, and a member without damage such as metal is desirable. The support means 13 of the present embodiment has a skeleton shape, but is not limited thereto, and may be surrounded by a casing or the like.

支持手段１３は、サスペンション１４と、走行手段支持部１５とを有する。サスペンション１４は、ハウジング２を支持する。走行手段支持部１５は、走行手段１６を支持する。
サスペンション１４は、１点の支持ではなく、３点や４点の複数個所でハウジング２を支持する。これにより、壁面Ｗの凹凸状等の段差をホイール１７が乗り越える場合に、ハウジング２の傾斜を抑え、ハウジング２、シール手段６の段差への追従性能が向上する。サスペンション１４は、スプリング部材やシリンダ機構等により構成される。また、走行手段支持部１５は、サスペンション１４とは役割が異なり、支持部の母材の役割を有する。走行手段支持部１５は、走行手段１６に合わせて確実に壁面洗浄装置１を支持する。サスペンション１４と走行手段支持部１５に分けることによって、壁面Ｗの凹凸等の段差がある場合にハウジング２のバランスを調整できるとともに、前後左右方向に移動する走行手段１６を確実に固定できる。 The support means 13 has a suspension 14 and a traveling means support portion 15. The suspension 14 supports the housing 2. The traveling means support portion 15 supports the traveling means 16.
The suspension 14 supports the housing 2 at a plurality of points such as three points or four points instead of supporting one point. As a result, when the wheel 17 gets over a step such as an uneven shape of the wall surface W, the inclination of the housing 2 is suppressed, and the follow-up performance of the housing 2 and the sealing means 6 to the step is improved. The suspension 14 is composed of a spring member, a cylinder mechanism, and the like. Further, the traveling means support portion 15 has a role different from that of the suspension 14, and has a role of a base material of the support portion. The traveling means support portion 15 reliably supports the wall surface cleaning device 1 in accordance with the traveling means 16. By separating the suspension 14 and the traveling means support portion 15, the balance of the housing 2 can be adjusted when there is a step such as unevenness of the wall surface W, and the traveling means 16 moving in the front-rear and left-right directions can be reliably fixed.

走行手段１６は、支持手段１３に連結し、壁面Ｗを移動する。油圧や電動の駆動源２０の起動によるホイール軸の回転に伴って、ホイール１７が回転し、壁面洗浄装置１が壁面Ｗを移動する。また、壁面Ｗに壁面洗浄装置１が吸着するように、吸着手段１８を配置する。壁面Ｗが金属である場合は、吸着手段１８は、壁面洗浄装置１の重さに耐え得る磁力を有する。これにより、船舶等の大規模な洗浄、剥離等の対象の素材が金属である場合に、より強固な吸着を実現できる。 The traveling means 16 is connected to the supporting means 13 and moves on the wall surface W. The wheel 17 rotates with the rotation of the wheel shaft due to the activation of the hydraulic or electric drive source 20, and the wall surface cleaning device 1 moves on the wall surface W. Further, the suction means 18 is arranged so that the wall surface cleaning device 1 is sucked on the wall surface W. When the wall surface W is made of metal, the suction means 18 has a magnetic force that can withstand the weight of the wall surface cleaning device 1. As a result, stronger adsorption can be realized when the target material for large-scale cleaning, peeling, etc. of a ship or the like is metal.

吸着手段１８は、壁面Ｗとの間にクリアランス１９を形成できる。吸着手段１８は磁力を有するため、壁面Ｗとの吸着力が強く、壁面に密着させると、吸着力が強すぎて壁面洗浄装置１が移動できなく（フリーズ）なり、壁面Ｗにも傷をつけてしまう。クリアランス１９を形成することで、吸着力を最適とし、それらの弊害を回避できる。クリアランス１９の高さ（吸着手段１８と壁面Ｗの距離）は、段差乗り越えが可能な高さとし、このクリアランス１９において、壁面洗浄装置１が壁面Ｗに十分吸着できる吸着力を確保できる強さの磁石であることが必要である。 The suction means 18 can form a clearance 19 with the wall surface W. Since the suction means 18 has a magnetic force, the suction force with the wall surface W is strong, and when the suction means 18 is brought into close contact with the wall surface, the suction force is too strong to move the wall surface cleaning device 1 (freeze), and the wall surface W is also damaged. Will end up. By forming the clearance 19, the adsorption force can be optimized and their harmful effects can be avoided. The height of the clearance 19 (distance between the suction means 18 and the wall surface W) is a height capable of overcoming a step, and in this clearance 19, a magnet having a strength that allows the wall surface cleaning device 1 to sufficiently attract the wall surface W. It is necessary to be.

吸引手段２１は、ハウジング２内の洗浄屑、廃液、空気等を外部に排出する。ハウジング２の下部に、連結口２２を介して吸引手段２１を配置する。吸引源（不図示）の起動によって、ハウジング２内の洗浄屑、廃液、空気等を吸引手段２１が吸引する。吸引手段２１は、例えば、市販のバキューム装置である。 The suction means 21 discharges cleaning debris, waste liquid, air, etc. in the housing 2 to the outside. The suction means 21 is arranged at the lower part of the housing 2 via the connecting port 22. By activating the suction source (not shown), the suction means 21 sucks the cleaning debris, waste liquid, air, etc. in the housing 2. The suction means 21 is, for example, a commercially available vacuum device.

ハウジング２内の負圧を、通気孔１２から取り込むハウジング２内の空気量を加えた封止部９の周縁部の面積に対する吸着量に対し、大気圧から５～３０ｋＰａ減圧することによって、追従性能や吸着性能を維持することができる。 Follow-up performance by reducing the negative pressure in the housing 2 from the atmospheric pressure by 5 to 30 kPa with respect to the amount of adsorption to the area of the peripheral edge of the sealing portion 9 to which the amount of air in the housing 2 taken in from the ventilation hole 12 is added. And adsorption performance can be maintained.

壁面洗浄装置１は、壁面Ｗの洗浄や剥離等を目的としており、作業後の廃液をハウジング２内に溜め込まないようにすることが、作業性の向上に繋がる。そのため、ハウジング２内の負圧を、通気孔１２から取り込むハウジング２の空気量だけでなく、噴射ノズル５から噴射された廃液量を加えた封止部９の周縁部の面積に対する吸着量に対し、大気圧から１０～５０ｋＰａ減圧することも効果的である。 The wall surface cleaning device 1 is intended for cleaning or peeling off the wall surface W, and preventing waste liquid after work from accumulating in the housing 2 leads to improvement in workability. Therefore, the negative pressure in the housing 2 is applied not only to the amount of air in the housing 2 taken in from the ventilation hole 12 but also to the amount of adsorption to the area of the peripheral edge of the sealing portion 9 to which the amount of waste liquid injected from the injection nozzle 5 is added. It is also effective to reduce the pressure from atmospheric pressure by 10 to 50 kPa.

図５に示すように、吸引手段２１の吸引によって、通気孔１２からハウジング２内に取り込まれる空気の流れＥが生じる。これにより、廃液が特定箇所に滞留することなく、吸引が促進される。さらに、吸引手段２１の吸引量（負圧）に対して、通気孔１２から供給される空気量や廃液量を考慮て負圧のボーダーを設定することによって、壁面Ｗに存在する凹凸等の段差を洗浄、剥離等することを含め、常時同様の設定で作業を進めることができる。外部から取り込む空気がない場合は、吸着性能が強すぎて追従性能（装置の移動）が低下してしまう。これに対し、本実施形態では外部から空気を取り込むため、吸着性能と追従性能を発揮できる。 As shown in FIG. 5, the suction of the suction means 21 creates a flow E of air taken into the housing 2 from the ventilation holes 12. As a result, suction is promoted without the waste liquid staying at a specific place. Further, by setting a negative pressure border in consideration of the amount of air supplied from the ventilation hole 12 and the amount of waste liquid with respect to the suction amount (negative pressure) of the suction means 21, a step such as unevenness existing on the wall surface W is set. You can always proceed with the same settings, including cleaning and peeling. If there is no air taken in from the outside, the adsorption performance is too strong and the tracking performance (movement of the device) deteriorates. On the other hand, in the present embodiment, since air is taken in from the outside, the adsorption performance and the follow-up performance can be exhibited.

次に、本実施形態の洗浄工程について説明する。
壁面Ｗの洗浄や剥離等を行う場合、まず、作業者が、壁面Ｗの洗浄や剥離等を行う場所の付近の壁面Ｗに壁面洗浄装置１を当接する。吸着手段１８の駆動源（不図示）を起動し、吸着手段１８の吸着力（例えば、磁力等）が作用することで、装置全体を壁面Ｗに吸着させる。吸着力の強度は、洗浄や剥離等の対象となる部材の材質（金属か非金属か等）に応じて、壁面洗浄装置１の総重量や重力を加味して、吸着が実現できる値とする。 Next, the cleaning process of this embodiment will be described.
When cleaning or peeling the wall surface W, the operator first abuts the wall surface cleaning device 1 on the wall surface W near the place where the wall surface W is cleaned or peeled off. The drive source (not shown) of the suction means 18 is activated, and the suction force (for example, magnetic force, etc.) of the suction means 18 acts to suck the entire device onto the wall surface W. The strength of the adsorption force shall be a value at which adsorption can be realized by taking into account the total weight and gravity of the wall surface cleaning device 1 according to the material (metal or non-metal, etc.) of the member to be cleaned or peeled off. ..

次に、作業者が、壁面洗浄装置１とは離れた位置で、遠隔操作装置（例えば、不図示のＰＣや制御パネル等。）を操作して、吸引手段２１、走行手段１６、洗浄ユニット３を作動する。具体的には、吸引駆動源（不図示）を起動し、吸引手段２１を作動することで、ハウジング２内の空気を吸引する。その後、走行駆動源２０を起動し、壁面Ｗに対して、走行手段１６を上下左右方向に移動可能にする。さらに、洗浄駆動源（不図示）を起動し、高圧水供給管４から噴射ノズル５を介して、洗浄ユニット３内に高圧水を供給可能にする。なお、洗浄や剥離等を目的とする高圧水の圧力とは、例えば、３０～３００ＭＰａ程度である。 Next, the operator operates a remote control device (for example, a PC or a control panel (not shown)) at a position away from the wall surface cleaning device 1, and the suction means 21, the traveling means 16, and the cleaning unit 3 are operated. To operate. Specifically, the air in the housing 2 is sucked by activating the suction drive source (not shown) and operating the suction means 21. After that, the traveling drive source 20 is activated so that the traveling means 16 can move up, down, left, and right with respect to the wall surface W. Further, a cleaning drive source (not shown) is activated so that high-pressure water can be supplied from the high-pressure water supply pipe 4 into the cleaning unit 3 via the injection nozzle 5. The pressure of high-pressure water for cleaning, peeling, etc. is, for example, about 30 to 300 MPa.

次に、洗浄や剥離等の対象位置に対して、ハウジング２内で噴射ノズル５から高圧水を噴射する。高圧水を噴射しながら、走行手段１６を上下左右に移動させることで、壁面Ｗの洗浄や剥離等を行う。なお、走行手段１６の走行速さと噴射時間は、洗浄対象の汚れや表面状況によっても変動する。船舶等の場合、貝殻等の除去が困難なものが付着していることもあり、例えば、０．５～２ｍ／ｍｉｎで走行手段１６を移動させながら洗浄を行う。 Next, high-pressure water is sprayed from the spray nozzle 5 in the housing 2 to the target position for cleaning, peeling, or the like. By moving the traveling means 16 up, down, left, and right while injecting high-pressure water, the wall surface W is washed and peeled off. The traveling speed and the injection time of the traveling means 16 vary depending on the dirt and the surface condition of the object to be cleaned. In the case of a ship or the like, shells or the like that are difficult to remove may be attached, and for example, cleaning is performed while moving the traveling means 16 at 0.5 to 2 m / min.

ハウジング２内の負圧を負圧調整弁２３で事前に設定し、ハウジング２内の圧力が基準を下回らないようにする。これにより、通気孔１２による減圧力調整が不十分な場合でも、負圧調整弁１２により減圧力調整をフォローでき、減圧力が強すぎることによるフリーズ状態を回避することができる。 The negative pressure in the housing 2 is set in advance by the negative pressure adjusting valve 23 so that the pressure in the housing 2 does not fall below the reference. As a result, even when the depressurizing force adjustment by the ventilation hole 12 is insufficient, the depressurizing force adjustment can be followed by the negative pressure adjusting valve 12, and the freeze state due to the depressurizing force being too strong can be avoided.

本実施形態では、シール手段６を伸縮部７と封止部９に分けたことによって、追従性能と吸着性能を維持し、壁面洗浄装置を壁面に吸着させながら、壁面の洗浄や剥離等を行うことができる。さらに、通気孔１２、負圧調整弁２３によって、吸引手段２１の吸引で発生するハウジング２内の負圧を調整できる。 In the present embodiment, by dividing the sealing means 6 into the expansion / contraction portion 7 and the sealing portion 9, the follow-up performance and the suction performance are maintained, and the wall surface cleaning and peeling are performed while the wall surface cleaning device is adsorbed on the wall surface. be able to. Further, the negative pressure in the housing 2 generated by the suction of the suction means 21 can be adjusted by the ventilation hole 12 and the negative pressure adjusting valve 23.

以上、本発明は上述した実施の形態に限定されるものではなく、本発明はその趣旨を逸脱しない範囲で適宜変更が可能であることは言うまでもない。 As described above, the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be appropriately modified without departing from the spirit of the present invention.

１ 壁面洗浄装置
２ ハウジング
３ 洗浄ユニット
４ 高圧水供給管
５ 噴射ノズル
６ シール手段
７ 伸縮部
８ 伸縮空間
９ 封止部
１０ 弾性部材
１１ 樹脂部材
１２ 通気孔
１３ 支持手段
１４ サスペンション
１５ 走行手段支持部
１６ 走行手段
１７ ホイール
１８ 吸着手段
１９ クリアランス
２０ 駆動源
２１ 吸引手段
２２ 連結口
Ｗ 壁面
Ｅ 空気の流れ 1 Wall cleaning device 2 Housing 3 Cleaning unit 4 High-pressure water supply pipe 5 Injection nozzle 6 Sealing means 7 Expansion and contraction part 8 Expansion and contraction space 9 Sealing part 10 Elastic member 11 Resin member 12 Vent hole 13 Support means 14 Suspension 15 Traveling means Support part 16 Traveling means 17 Wheel 18 Suction means 19 Clearance 20 Drive source 21 Suction means 22 Connection port W Wall surface E Air flow

Claims (10)

壁面との間に内部空間を画定するハウジングと、
前記内部空間に配置される洗浄ユニットと、
前記ハウジングの周縁部をシールするシール手段であって、
前記壁面の段差に応じて伸縮可能な伸縮部と、
前記壁面に吸着する封止部であって、通気孔を有する封止部と、
を有するシール手段と、
装置本体を支持する支持手段と、
前記支持手段に連結し、前記壁面を移動する走行手段と、
前記壁面に吸着可能な吸着手段と、
前記ハウジングの下部に、連結口を介して配置される吸引手段と、
有する、壁面洗浄装置。 A housing that defines the internal space between the wall and the wall
The cleaning unit arranged in the internal space and
A sealing means for sealing the peripheral edge of the housing.
An elastic part that can be expanded and contracted according to the step on the wall surface,
A sealing portion that is adsorbed on the wall surface and has a ventilation hole, and a sealing portion.
With sealing means and
Supporting means to support the main body of the device and
A traveling means that is connected to the support means and moves on the wall surface,
The adsorption means that can be adsorbed on the wall surface and
A suction means arranged at the bottom of the housing via a connecting port,
Has a wall cleaning device. 前記伸縮部は、湾曲形状である、
請求項１に記載の壁面洗浄装置。 The telescopic portion has a curved shape.
The wall cleaning device according to claim 1. 前記封止部は、
弾性部材からなる第一層と、
樹脂部材からなる第二層と、
を有する、請求項１または２に記載の壁面洗浄装置。 The sealing portion is
The first layer made of elastic members and
The second layer made of resin member and
The wall surface cleaning device according to claim 1 or 2. 前記封止部は、周縁部に均等に配置される複数の前記通気孔を有する、
請求項１～３のいずれかに記載の壁面洗浄装置。 The sealing portion has a plurality of the vent holes evenly arranged on the peripheral edge portion.
The wall surface cleaning device according to any one of claims 1 to 3. 前記支持手段は、
前記ハウジングを支持するサスペンションと、
前記走行手段を支持する走行手段支持部と、を有する、
請求項１～４のいずれかに記載の壁面洗浄装置。 The support means is
The suspension that supports the housing and
It has a traveling means support portion that supports the traveling means.
The wall surface cleaning device according to any one of claims 1 to 4. 前記走行手段を駆動する駆動源を更に有し、
前記走行手段は、前記駆動源によって回転するホイールを有する、
請求項１～５のいずれかに記載の壁面洗浄装置。 Further having a drive source for driving the traveling means,
The traveling means has a wheel that is rotated by the drive source.
The wall surface cleaning device according to any one of claims 1 to 5. 前記吸着手段は、前記壁面との間にクリアランスを有するように配置される、
請求項１～６のいずれかに記載の壁面洗浄装置。 The suction means is arranged so as to have a clearance with the wall surface.
The wall surface cleaning device according to any one of claims 1 to 6. 前記吸着手段は、磁性体である、
請求項１～７のいずれかに記載の壁面洗浄装置。 The adsorption means is a magnetic material.
The wall cleaning device according to any one of claims 1 to 7. 前記通気孔から取り込む前記ハウジング内の空気量を加えた前記封止部の周縁部の面積に対する吸着量に対し、前記ハウジング内の負圧が、大気圧から５～３０ｋＰａ減圧される、請求項１～８のいずれか１項記載の壁面洗浄装置。 The negative pressure in the housing is reduced by 5 to 30 kPa from the atmospheric pressure with respect to the adsorption amount with respect to the area of the peripheral edge portion of the sealing portion to which the amount of air in the housing taken in from the ventilation hole is added. The wall surface cleaning device according to any one of 8 to 8. 前記通気孔から取り込む前記ハウジングの空気量と、前記噴射ノズルから噴射された廃液量を加えた前記封止部の周縁部の面積に対する吸着量に対し、前記ハウジング内の負圧が、大気圧から１０～５０ｋＰａ減圧される、請求項１～８のいずれか１項記載の壁面洗浄装置。 The negative pressure in the housing is from atmospheric pressure with respect to the amount of air taken in from the housing and the amount of waste liquid ejected from the injection nozzle added to the area of the peripheral edge of the sealing portion. The wall surface cleaning device according to any one of claims 1 to 8, wherein the pressure is reduced by 10 to 50 kPa.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000006860A (en) * 1998-06-23 2000-01-11 Fukashi Uragami Device movable by adsorbing surface
JP2011088485A (en) * 2009-10-20 2011-05-06 Kyushu Institute Of Technology Underwater cleaning device
WO2018061122A1 (en) * 2016-09-28 2018-04-05 商船三井テクノトレード株式会社 Device adapted to move on wall surface, and method of moving on wall surface

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001000936A (en) 1999-06-24 2001-01-09 Hitachi Ltd Automatic cleaning device for powdery extraneous matter

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000006860A (en) * 1998-06-23 2000-01-11 Fukashi Uragami Device movable by adsorbing surface
JP2011088485A (en) * 2009-10-20 2011-05-06 Kyushu Institute Of Technology Underwater cleaning device
WO2018061122A1 (en) * 2016-09-28 2018-04-05 商船三井テクノトレード株式会社 Device adapted to move on wall surface, and method of moving on wall surface

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