JPS5818831Y2 - mobile cleaning equipment - Google Patents

Description

【考案の詳細な説明】 本考案は、空気又は氷の如き包囲流体の圧力によって壁
面に吸着し且つ壁面に沿って移動しながら壁面を清掃す
ることができる吸着自走式清掃装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an adsorption self-propelled cleaning device that is capable of adsorbing to a wall surface by the pressure of surrounding fluid such as air or ice and cleaning the wall surface while moving along the wall surface.

船舶の外側壁面、貯油タンクの外壁面、高層建築物の外
壁面等の、鉛直な又は傾斜した壁面を清掃するための装
置としては、壁面に面する部分に開口を有するハウジン
グと、該ハウジングに装着された自走手段であって、壁
面に接触する複数個の車輪及び該車輪を駆動する駆動源
から成る自走手段と、該車輪が壁面に接触された時に該
ハウジングと壁面との間に生ずる間隙を延びる、該開口
の周辺に固定されたブラシ状の柔軟な材料から形成され
た本質的に通気性の仕切壁と、該ハウジング内から流体
を吸引して該ハウジング内の流体圧力を低減せしめるた
めの減圧手段と、該ハウジングに装着され該壁面に研掃
材粒子の如き清掃材を噴射する清掃材噴射手段とから構
成された吸着自走式清掃装置が提案されている（例えば
特公昭４７４２７９８号明細書及び図面、米国特許第２
４５５５１４号明細書及び図面）。As a device for cleaning vertical or inclined wall surfaces such as the outer wall surface of a ship, the outer wall surface of an oil storage tank, and the outer wall surface of a high-rise building, the device includes a housing having an opening in the portion facing the wall surface, and a housing having an opening in the portion facing the wall surface. A self-propelled means attached thereto, comprising a plurality of wheels in contact with a wall surface and a drive source for driving the wheels, and a space between the housing and the wall surface when the wheels are brought into contact with the wall surface. an essentially breathable partition wall formed from a brush-like flexible material fixed around the periphery of the opening extending the resulting gap and sucking fluid from within the housing to reduce fluid pressure within the housing; An adsorption self-propelled cleaning device has been proposed, which is composed of a depressurizing means for reducing the pressure, and a cleaning material spraying means attached to the housing and spraying a cleaning material such as abrasive particles onto the wall surface (for example, No. 4,742,798 specification and drawings, U.S. Patent No. 2
455514 specification and drawings).

かような吸着自走式清掃装置においては、上記の減圧手
段によって上記ハウジング内の流体圧力を低減せしめ、
そしてハウジング内外の流体圧力差に起因してハウジン
グに作用する流体圧力を上記車輪を介して壁面に伝え、
これによってハウジングを壁面に吸着せしめるようにな
っている。In such an adsorption self-propelled cleaning device, the fluid pressure in the housing is reduced by the pressure reducing means,
and transmits the fluid pressure acting on the housing due to the fluid pressure difference inside and outside the housing to the wall surface via the wheel,
This allows the housing to adhere to the wall surface.

また、上記車輪を駆動することによって、壁面に吸着し
ているハウジングを壁面に沿って移動せしめるようにな
っている。Furthermore, by driving the wheels, the housing, which is attached to the wall surface, is moved along the wall surface.

従って、壁面に吸着し且つ壁面に沿って移動しながら、
上記清掃材噴射手段によって壁面に清掃材を噴射して壁
面を清掃することができる。Therefore, while adhering to the wall surface and moving along the wall surface,
The cleaning material can be sprayed onto the wall surface by the cleaning material spraying means to clean the wall surface.

しかしながら、上記の通りの公知の吸着自走式清掃装置
には、次の通りの解決すべき問題がある。However, the known suction self-propelled cleaning device as described above has the following problems to be solved.

第１に、ハウジングの開口の周辺部に固定された仕切壁
が本質的に通気性のものであるので、減圧手段によって
ハウジング内の流体を吸引する間に、該仕切壁を通って
相当な量の流体がハウジング内に進入する。First, the partition wall fixed around the periphery of the opening in the housing is permeable in nature, so that during suction of the fluid in the housing by the pressure reducing means, a significant amount passes through the partition wall. of fluid enters the housing.

従って、ハウジングを壁面に吸着せしめるのに充分にハ
ウジング内の流体圧力を低減するためには、相当高能力
な減圧手段を必要とする。Therefore, in order to reduce the fluid pressure within the housing sufficiently to cause the housing to adhere to the wall surface, a considerably high-capacity pressure reducing means is required.

この問題を解決するためには、通気性の仕切壁に代えて
非通気性の仕切壁を使用することが考えられるが、非通
気性の仕切壁を通常の様式で用いてもこの問題を解決す
ることができない。To solve this problem, it is possible to use a non-ventilated partition wall instead of a ventilated partition wall, but this problem can also be solved by using a non-ventilated partition wall in a conventional manner. Can not do it.

詳述すると、通気性の仕切壁に代えて用いられる非通気
性の仕切壁が合成又は天然ゴムの如き比較的柔軟な材料
から形成されている場合には、ハウジング内を減圧する
と、ハウジング内外の流体圧力差に起因して仕切壁自体
にそれをハウジングの内側に撓ませんとする方向の流体
圧力が作用し、この流体圧力によって仕切壁がハウジン
グの内側方向に撓み、かくしてハウジングの開口の周辺
と壁面との間の気密なシールが破られ、そこを通って流
体がハウジング内へ進入することとなる。Specifically, if the non-breathable partition wall used in place of the breathable partition wall is made of a relatively flexible material such as synthetic or natural rubber, reducing the pressure inside the housing will cause the inside and outside of the housing to Due to the fluid pressure difference, fluid pressure acts on the partition wall itself in a direction that prevents it from deflecting inwardly into the housing, and this fluid pressure causes the partition wall to deflect inwardly into the housing, thus causing the wall to deflect around the opening in the housing. The airtight seal between the housing and the wall is broken, allowing fluid to enter the housing.

一方、これを防止するために、比較的剛性の材料から形
成された仕切壁を用いると、ハウジングの開口の周辺と
壁面との間を気密にシールするために仕切壁の先端は車
輪のトレッド（踏み面）を極くわずかだけでも越えて延
びて壁面に密に接触するようになっていなければならな
い故に、ハウジング内の流体圧力を低減した時に、ハウ
ジング内外の流体圧力差に起因してハウジングに作用す
る流体圧力が、車輪よりもむしろ仕切壁を介して壁面に
伝えられ、仕切壁の先端と壁面との接触圧が車輪と壁面
との接触圧よりも相当大きな値となる。On the other hand, in order to prevent this, if a partition wall made of a relatively rigid material is used, the tip of the partition wall is attached to the wheel tread ( Because it must extend even slightly beyond the tread surface (tread surface) and come into close contact with the wall surface, when the fluid pressure inside the housing is reduced, the fluid pressure difference inside and outside the housing may cause damage to the housing. The applied fluid pressure is transmitted to the wall through the partition wall rather than through the wheels, and the contact pressure between the tip of the partition wall and the wall surface is considerably greater than the contact pressure between the wheel and the wall surface.

これは、壁面が平坦な面でなく湾曲面である時或いは凹
凸のある荒い面である時に特に著しい。This is particularly noticeable when the wall surface is not a flat surface but a curved surface or a rough surface with unevenness.

それ故に、車輪に駆動力を供給しても、車輪と壁面との
摩擦抵抗よりも仕切壁の先端と壁面との摩擦抵抗の方が
大きい故に、車輪がスリップして空回りし、ハウジング
を移動せしめることが不可能乃至極めて困難である。Therefore, even if driving force is supplied to the wheels, the frictional resistance between the tip of the partition wall and the wall surface is greater than the frictional resistance between the wheels and the wall surface, so the wheels slip and spin idly, causing the housing to move. It is impossible or extremely difficult to do so.

第２に、公知の吸着自走式装置においては、清掃材噴射
手段から噴射された清掃材を周囲に散逸せしめることな
く効果的に回収することができず、それ故に、大気或い
は海洋を汚染せしめると共に、研掃材粒子の如き清掃材
が１回の使用のみで消失される。Secondly, in the known self-propelled adsorption device, the cleaning material injected from the cleaning material injection means cannot be effectively collected without dissipating it into the surroundings, and therefore contaminating the atmosphere or ocean. Additionally, cleaning materials such as abrasive particles are eliminated after only one use.

本考案は上記の通りの事実に鑑みてなされたものであり
、その主目的は、比較的低能力の減圧手段によって減圧
領域（ハウジング内）内の流体圧力を充分に低減するこ
とができると共に、壁面に沿って比較的容易に移動せし
めることができ、そして更に、壁面の清掃のために壁面
に向けて噴射された研掃材粒子の如き清掃材を、上記減
圧領域内の流体圧力を低減するための減圧手段を巧みに
利用して再使用のために回収することができるように改
良された新規且つ優れた吸着自走式清掃装置を提供する
ことである。The present invention has been developed in view of the above-mentioned facts, and its main purpose is to be able to sufficiently reduce the fluid pressure within the pressure reduction area (inside the housing) using a pressure reduction means with relatively low capacity; The cleaning material, such as abrasive particles, can be moved relatively easily along the wall surface and further reduces the fluid pressure in the reduced pressure region, such as abrasive particles that are sprayed toward the wall surface for cleaning the wall surface. It is an object of the present invention to provide a new and excellent adsorption self-propelled cleaning device which is improved so that it can be recovered for reuse by skillfully utilizing a depressurizing means.

本考案によれば、壁面に面して且つ該壁面に対して間隔
を置いて位置せしめられる受圧本体；該受圧本体に装着
された自走機構であって、該壁面に接触せしめられる複
数個の車輪又は無端軌道と該車輪又は無端軌道を駆動す
るための駆動源とを含むところの自走機構；該受圧本体
に連結された基部から該壁面に向って延び、自由端部が
該壁面に接触せしめられて、該受圧本体及び該壁面と協
働して実質上気密な減圧領域を規定する、少なくとも該
自由端部は柔軟な材料から形成された非通気性環状仕切
壁；該受圧本体に装着され、該減圧領域内の該壁面に清
掃材を噴射する清掃材噴射手段；及び清掃材分離捕集器
と減圧源とを有する減圧及び清掃材回収手段であって、
可撓性ホースを介して該減圧領域に連通され、該減圧領
域から流体を吸引して該減圧領域内の流体圧力を低減せ
しめると共に、該清掃材噴射手段から噴射された清掃材
を回収するところの減圧及び清掃材回収手段を具備し、
該仕切壁は、該受圧本体に連結された該基部から該壁面
に垂下した線が該壁面と交差する位置よりも外側の位置
にて該自由端部が該壁面に接触せしめられると共に、比
較的小さい力によって該自由端部が該受圧本体に対して
該壁面に向う方向及びこれらから離れる方向に移動する
ことができ、該減圧領域内外の流体圧力差に起因して該
受圧本体に作用する流体圧力は、実質上鉄車輪又は該無
端軌道を介して該壁面に伝えられ、該減圧領域内外の流
体圧力差に起因して該仕切壁に作用する流体圧力は該仕
切壁の該自由端部を該壁面に実質上気密に接触せしめ、
該車輪又は該無端軌道と該壁面との間を摩擦力は、該仕
切壁の該自由端部と該壁面との間の摩擦力よりも大きく
なるようにせしめられている、ことを特徴とする吸着自
走式清掃装置が提供される。According to the present invention, a pressure receiving body is positioned facing a wall surface and spaced from the wall surface; a self-propelled mechanism attached to the pressure receiving body includes a plurality of self-propelled mechanisms that are brought into contact with the wall surface; A self-propelled mechanism that includes wheels or endless tracks and a drive source for driving the wheels or endless tracks; extends from a base connected to the pressure receiving body toward the wall surface, and has a free end in contact with the wall surface. an impermeable annular partition wall, at least the free end of which is formed of a flexible material, and which cooperates with the pressure receiving body and the wall surface to define a substantially airtight reduced pressure area; a cleaning material injection means for injecting a cleaning material onto the wall surface in the depressurized area; and a depressurization and cleaning material recovery means having a cleaning material separation collector and a depressurization source,
A section that is connected to the reduced pressure area via a flexible hose, sucks fluid from the reduced pressure area to reduce the fluid pressure in the reduced pressure area, and collects the cleaning material sprayed from the cleaning material injection means. Equipped with depressurization and cleaning material recovery means,
The free end of the partition wall is brought into contact with the wall surface at a position outside a position where a line hanging from the base connected to the pressure receiving body to the wall surface intersects the wall surface, and the free end portion is brought into contact with the wall surface at a relatively The free end can be moved with respect to the pressure receiving body in the direction toward and away from the wall surface by a small force, and the fluid acting on the pressure receiving body due to the fluid pressure difference inside and outside the reduced pressure area Pressure is transmitted to the wall via substantially iron wheels or the endless track, and the fluid pressure acting on the partition wall due to the fluid pressure difference inside and outside the reduced pressure area causes the free end of the partition wall to in substantially airtight contact with the wall surface;
The frictional force between the wheel or the endless track and the wall surface is made to be larger than the frictional force between the free end of the partition wall and the wall surface. A suction self-propelled cleaning device is provided.

以下、本考案に従って構成された吸着自走式清掃装置の
好適具体例を図示している添付図面を参照して、更に詳
細に説明する。DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a suction self-propelled cleaning device constructed in accordance with the present invention will be described in more detail with reference to the accompanying drawings.

第１図を参照して説明すると、清掃すべき壁面１に吸着
し且つ壁面１に沿って移動しながら壁面１を清掃するこ
とができる図示の吸着自走式清掃装置は、例えば鋼板の
如き適宜の剛性又は半剛性材料から形成することができ
る受圧本体４を具備している。To explain with reference to FIG. 1, the illustrated suction self-propelled cleaning device, which can clean the wall surface 1 while adsorbing it to the wall surface 1 to be cleaned and moving along the wall surface 1, is capable of cleaning an appropriate material such as a steel plate, for example. The pressure receiving body 4 is provided with a pressure receiving body 4 which can be formed from a rigid or semi-rigid material.

この受圧本体４は、上記壁面１及び後に詳述する仕切壁
５と協働して実質上気密な減圧領域６を形成することが
できるものである限り任意の形状のものでよいが、図示
の具体例においては、壁面１から離れる方向に向って漸
次先細にせしめられた円錐台形状である。This pressure-receiving body 4 may have any shape as long as it can form a substantially airtight pressure-reduced area 6 in cooperation with the wall surface 1 and the partition wall 5, which will be described in detail later. In a specific example, it has a truncated conical shape that is gradually tapered away from the wall surface 1.

受圧本体４の外側にはフレーム部材が固定され、そして
このフレーム部材には、回転可能に装着された複数個の
車輪２（図面にはそのうちの２個を図示している）とか
かる車輪２を回転駆動するための電動モータの如き駆動
源３とから構成された自走機構が装着されている。A frame member is fixed to the outside of the pressure receiving body 4, and a plurality of wheels 2 (two of which are shown in the drawing) rotatably mounted on this frame member and the wheels 2 are mounted on the frame member. A self-propelled mechanism comprising a drive source 3 such as an electric motor for rotational driving is installed.

自走機構を構成する車輪２は、所望ならば、それ自体は
周知の無端軌道に代えることもできる。The wheels 2 constituting the self-propelled mechanism can, if desired, be replaced by endless tracks, which are known per se.

フレーム部材に装着された車輪２（又は無端軌道）は、
後に詳細に説明する如く、減圧領域６の内外の流体圧力
差に起因して受圧本体４に作用する包囲空気の如き流体
の圧力によって、壁面１に押付けられこれに接触せしめ
られる。The wheel 2 (or endless track) attached to the frame member is
As will be explained in detail later, the pressure of a fluid such as surrounding air acting on the pressure receiving body 4 due to the fluid pressure difference between the inside and outside of the depressurized region 6 causes it to be pressed against the wall surface 1 and brought into contact therewith.

受圧本体４の周縁部には、非通気性筒状仕切壁５が連結
されている。A non-ventilated cylindrical partition wall 5 is connected to the peripheral edge of the pressure receiving body 4 .

この仕切壁５は、受圧本体４の周縁部に連結された基部
から壁面１に向って延び、その自由端部が壁面１に接触
せしめられ、かくして壁面１及び受圧本体４と協働して
実質上気密な減圧領域６を規定する。This partition wall 5 extends toward the wall surface 1 from a base connected to the peripheral edge of the pressure receiving body 4, and its free end is brought into contact with the wall surface 1, thus cooperating with the wall surface 1 and the pressure receiving body 4 to substantially An airtight reduced pressure area 6 is defined.

実質上気密な減圧領域６を規定するためには、仕切壁５
の自由端部が壁面１に充分気密に接触せしめられること
が重要であり、そのためには、仕切壁５の少なくとも自
由端部は、ゴムの如き柔軟な材料から形成されているこ
とが重要である。In order to define a substantially airtight reduced pressure area 6, a partition wall 5 is used.
It is important that the free end of the partition wall 5 is brought into sufficiently airtight contact with the wall surface 1, and for this purpose, it is important that at least the free end of the partition wall 5 is made of a flexible material such as rubber. .

本考案に従って構成された吸着自走式清掃装置において
は、後に詳細に説明する如く、減圧領域６の内外の流体
圧力差に起因して受圧本体４に作用する包囲空気の如き
流体の圧力は、実質上仕切壁５ではなくて車輪２（又は
無限軌道）を介して壁面１に伝えられ、一方仕切壁５は
、減圧領域６の内外の流体圧力差に起因して仕切壁５自
体に作用する包囲空気の如き流体の圧力によって、その
自由端が壁面１に接触せしめられるように構成されてい
ることが重要である。In the adsorption self-propelled cleaning device configured according to the present invention, as will be explained in detail later, the pressure of fluid such as surrounding air acting on the pressure receiving body 4 due to the fluid pressure difference between the inside and outside of the depressurized region 6 is is transmitted to the wall 1 via the wheels 2 (or tracks) rather than the partition wall 5, while the partition wall 5 acts on itself due to the fluid pressure difference inside and outside the reduced pressure area 6. It is important that the free end is brought into contact with the wall 1 by the pressure of a fluid such as surrounding air.

このためには、まず第１に、第２図或いは第３図に図示
する如く、仕切壁５は受圧本体４に連結された基部Ａか
ら全体として外側へ延びていて、上記基部Ａから壁面１
に垂下した線ｌが壁面１と交差する位置Ｂよりも外側の
位置Ｃにて仕切壁５の自由端部が壁面１に接触せしめら
れるように構成することが重要である。For this purpose, first of all, as shown in FIG. 2 or 3, the partition wall 5 extends outward as a whole from the base A connected to the pressure receiving body 4, and the partition wall 5 extends outward from the base A to the wall surface 1.
It is important that the free end of the partition wall 5 is configured to come into contact with the wall surface 1 at a position C outside of the position B where the line l hanging down intersects the wall surface 1.

仕切壁５の自由端部が上記位置Ｂよりも内側の位置で壁
面１に接触せしめられるように構成されている場合には
、減圧領域６の内外の流体圧力差に起因して仕切壁５自
体に作用する力は、仕切壁５の自由端部を壁面１に接触
せしめる方向ではなくて、仕切壁５の自由端部を内側に
移動せしめる方向に作用し、これによって仕切壁５の自
由端部は内側にめくられて壁面１から離され、減圧領域
６の気密性が毀損されてしまう。If the free end of the partition wall 5 is configured to come into contact with the wall surface 1 at a position inside the position B, the partition wall 5 itself may The force acting on the partition wall 5 does not act in the direction of bringing the free end of the partition wall 5 into contact with the wall surface 1, but acts in the direction of moving the free end of the partition wall 5 inward, thereby causing the free end of the partition wall 5 to is turned inward and separated from the wall surface 1, and the airtightness of the depressurized area 6 is impaired.

第２に、仕切壁５は、比較的小さい力でその自由端部が
壁面１に向う方向及びこれから離れる方向に移動し得る
ように構成することが重要である。Secondly, it is important that the partition wall 5 is configured such that its free end can be moved towards and away from the wall surface 1 with a relatively small force.

かような要件を満足せしめるには、例えば仕切壁５の少
なくとも一部、特に基部Ａの近傍を柔軟な材料で形成し
、仕切壁５自体の柔軟性によって受圧本体４に対して仕
切壁５が比較的小さい力で撓むことによって、仕切壁５
の自由端部が上記方向に比較的小さい力で移動せしめら
れるようになせばよい。In order to satisfy such requirements, for example, at least a portion of the partition wall 5, especially the vicinity of the base A, is formed of a flexible material, and the flexibility of the partition wall 5 itself allows the partition wall 5 to be By bending with a relatively small force, the partition wall 5
It is only necessary that the free end of the holder be moved in the above direction with a relatively small force.

仕切壁５の自由端部が上記方向に比較的小さい力で移動
することができない場合には、減圧領域６の内外の流体
圧力差に起因して受圧本体４に作用する力が車輪２（又
は無限軌道）よりもむしろ仕切壁５を介して壁面１に伝
えられ、車輪２（又は無限軌道）と壁面１との接触圧よ
りも仕切壁５の自由端部と壁面１との接触圧の方が大き
くなり、これによって車輪２（又は無限軌道）による自
走が不可能になってしまう（この点については、後に更
に詳述する）。If the free end of the partition wall 5 cannot be moved in the above direction with a relatively small force, the force acting on the pressure receiving body 4 due to the fluid pressure difference between the inside and outside of the depressurized area 6 will be transferred to the wheels 2 (or The contact pressure between the free end of the partition wall 5 and the wall surface 1 is transmitted to the wall surface 1 through the partition wall 5 rather than the contact pressure between the wheels 2 (or the endless track) and the wall surface 1. becomes large, which makes self-propulsion by the wheels 2 (or endless track) impossible (this point will be explained in more detail later).

本考案に従って構成された吸着自走式清掃装置の受圧本
体４には、更に、減圧領域６内に位置する壁面１に研掃
材粒子（鋼製グリッド等）の如き清掃材を噴射し、壁面
１を所要の通りに清掃する清掃材噴射手段が配設されて
いる。The pressure-receiving body 4 of the adsorption self-propelled cleaning device constructed according to the present invention is further equipped with a cleaning material such as abrasive particles (steel grid, etc.) injected onto the wall surface 1 located within the depressurized area 6. Cleaning material injection means are provided to clean the cleaning material 1 as required.

図示の具体例における清掃材噴射手段は、円錐台形状の
受圧本体４の先細先端部に装着された噴射ノズル７から
構成されている。The cleaning material spraying means in the illustrated example is comprised of a spray nozzle 7 attached to the tapered tip of the truncated conical pressure receiving body 4.

かかる噴射ノズル７は、適宜のホース８を介して清掃材
送給手段（図示してない）に接続される。The injection nozzle 7 is connected to a cleaning material supply means (not shown) via a suitable hose 8.

それ自体は周知の形態のものでよい清掃材送給手段は、
清掃材を圧縮空気の如き流体と共にホース８を介して噴
射ノズル７に送給し、噴射ノズル７はかかる清掃材を壁
面１に向けて噴射して壁面１を所要の通りに清掃する。The cleaning material delivery means may be of a form known per se.
The cleaning material is fed along with a fluid such as compressed air to a spray nozzle 7 through a hose 8, and the spray nozzle 7 sprays the cleaning material toward the wall 1 to clean the wall 1 as desired.

本考案に従って構成された吸着自走清掃装置には、更に
、減圧領域６から流体を吸引して減圧領域６内の流体圧
力を低減すると共に上記清掃材噴射手段から噴射された
清掃材を回収するための分離捕集器１０及び減圧源１１
を含む減圧及び清掃材回収手段が装備されている。The suction self-propelled cleaning device configured according to the present invention further includes sucking fluid from the depressurized region 6 to reduce the fluid pressure in the depressurized region 6, and collects the cleaning material injected from the cleaning material injecting means. Separation collector 10 and reduced pressure source 11 for
Equipped with vacuum and cleaning material recovery means including:

図示の具体例においては、受圧本体４に連通孔が形成さ
れており、可撓性ホース９を介して分離捕集器１０及び
減圧源１１が上記連通孔に従って減圧領域６に連通され
ている。In the specific example shown, a communication hole is formed in the pressure receiving body 4, and a separation collector 10 and a reduced pressure source 11 are communicated with the reduced pressure region 6 via the flexible hose 9 according to the communication hole.

吸込ポンプの如き適宜の手段から構成することができる
減圧源１１は、減圧領域６内の流体を、清掃材噴射手段
（図示の具体例においては噴射ノズル７）から壁面１に
噴射された清掃材及び壁面１から剥離された被剥離物と
共に、可撓性ホース９を介して吸引し、かくして減圧領
域６内の流体圧力を低減する。The reduced pressure source 11, which can be constituted by suitable means such as a suction pump, directs the fluid in the reduced pressure region 6 to the cleaning material injected onto the wall surface 1 from the cleaning material injection means (in the illustrated example, the injection nozzle 7). Together with the material to be peeled off from the wall surface 1, it is suctioned through the flexible hose 9, thus reducing the fluid pressure in the depressurized area 6.

一方、それ自体は周知の形態のものでよい分離捕集器１
０は、流体と共に吸引された清掃材及び被剥離物を流体
から分離して捕集し、清掃材を再使用することを可能に
する。On the other hand, the separation collector 1 may be of a well-known form.
0 makes it possible to separate and collect the cleaning material and the object to be peeled, which are sucked together with the fluid, from the fluid, and to reuse the cleaning material.

次に、本考案に従って構成された上記の通りの吸着自走
式清掃装置の作用効果を要約して説明する。Next, the effects of the suction self-propelled cleaning device as described above constructed according to the present invention will be summarized and explained.

地上或いは船舶の甲板上等に装備された減圧源１１を作
動せしめると、減圧領域６内の流体が可撓性ホース９を
介して吸引され、減圧領域６内の流体圧力が低減される
。When the reduced pressure source 11 installed on the ground or on the deck of a ship is activated, the fluid within the reduced pressure area 6 is sucked through the flexible hose 9, and the fluid pressure within the reduced pressure area 6 is reduced.

かくすると、減圧領域６内外の流体圧力差に起因して、
受圧本体４及び仕切壁５には包囲流体の流体圧力が作用
する。Thus, due to the fluid pressure difference inside and outside the decompression area 6,
Fluid pressure of the surrounding fluid acts on the pressure receiving body 4 and the partition wall 5.

而して仕切壁５は比較的小さい力によってその自由端部
が受圧本体４に対して壁面１に向う方向及びこれから離
れる方向に移動し得るように構成されているのに対して
、車輪２（又は無端軌道）は受圧本体４に固定された剛
性のフレーム部材に装着されている故に、受圧本体４に
作用する包囲流体の流体圧力は、実質上仕切壁５ではな
くて車軸２（又は無限軌道）を介して壁面１に伝えられ
、かくして車輪２（又は無限軌道）が壁面１に所要の圧
力で接触せしめられ受圧本体４が壁面１に吸着される。The partition wall 5 is constructed so that its free end can be moved with respect to the pressure receiving body 4 in the direction toward and away from the wall surface 1 with a relatively small force, whereas the wheels 2 ( Since the pressure-receiving body 4 is attached to a rigid frame member fixed to the pressure-receiving body 4, the fluid pressure of the surrounding fluid acting on the pressure-receiving body 4 is substantially transmitted not to the partition wall 5 but to the axle 2 (or the endless track). ), the wheels 2 (or endless tracks) are brought into contact with the wall 1 with the required pressure, and the pressure receiving body 4 is attracted to the wall 1.

一方、仕切壁５は受圧本体４に連結された基部Ａから全
体として外側に延びていて、上記基部Ａから壁面１に垂
下した線ｌが壁面１と交差する位置Ｂよりも外側の位置
Ｃにて仕切壁５の自由端部が壁面１に接触せしめられる
ように構成されている故に、仕切壁５自体に作用する包
囲流体の流体圧力は、仕切壁５を壁面１に向う方向に強
制するように作用し、かくして仕切壁５の自由端部を壁
面１に気密に接触せしめる。On the other hand, the partition wall 5 extends outward as a whole from a base A connected to the pressure receiving body 4, and extends to a position C outside a position B where a line l hanging from the base A to the wall surface 1 intersects with the wall surface 1. Since the free end of the partition wall 5 is configured to be brought into contact with the wall surface 1, the fluid pressure of the surrounding fluid acting on the partition wall 5 itself forces the partition wall 5 in the direction toward the wall surface 1. thus bringing the free end of the partition wall 5 into airtight contact with the wall surface 1.

仕切壁５の自由端部が接触せしめられる壁面１に凹部又
は凸部が存在していても、或いは壁面１が湾曲面であっ
ても、仕切壁５は比較的小さい力で受圧本体４に対して
壁面１に向う方向及びこれから離れる方向に移動するこ
とができると共に、仕切壁５の少なくとも自由端部は柔
軟な材料で形成されている故に、壁面１と受圧本体４と
の間の間隔、即ち車輪２（又は無限軌道）のトレッドと
受圧本体４との間の間隔に応じて仕切壁５の自由端部は
適宜に移動して壁面１に充分気密に接触せしめられる。Even if the wall surface 1 with which the free end of the partition wall 5 comes into contact has a concave or convex portion, or even if the wall surface 1 is a curved surface, the partition wall 5 will be able to move against the pressure-receiving body 4 with a relatively small force. Since at least the free end of the partition wall 5 is made of a flexible material, the distance between the wall surface 1 and the pressure-receiving body 4, i.e. Depending on the distance between the tread of the wheel 2 (or endless track) and the pressure-receiving body 4, the free end of the partition wall 5 is moved appropriately and brought into sufficiently airtight contact with the wall surface 1.

本考案に従って構成された吸着自走式清掃装置において
は、上述した通り、仕切壁５の自由端部が常に壁面１に
実質上気密に接触せしめられ、従つて受圧本体４、仕切
壁５及び壁面１によって規定される減圧領域６が実質上
気密である故に、比較的低能力の減圧源１１によって減
圧領域６内の流体圧力を充分に低減することができる。In the suction self-propelled cleaning device constructed according to the present invention, as described above, the free end of the partition wall 5 is always brought into substantially airtight contact with the wall surface 1, so that the pressure receiving body 4, the partition wall 5, and the wall surface Since the reduced pressure region 6 defined by 1 is substantially airtight, the fluid pressure within the reduced pressure region 6 can be sufficiently reduced by a relatively low capacity reduced pressure source 11.

勿論、仕切壁５の自由端部が壁面１に実質上気密に接触
せしめられるといっても、清掃すべき壁面１、即ち船舶
の外側壁面、貯油タンクの外壁面、高層建築物の外壁面
等の壁面１は、一般に、平滑な壁面ではなくて相当な凹
凸が存在するざらざらの荒い壁面であり、仕切壁５の自
由端部が壁面１に完全に気密に接触せしめられるもので
はなく、仕切壁５の自由端部と壁面１との間から減圧領
域６内に幾分かの包囲流体が進入する。Of course, even though the free end of the partition wall 5 is brought into substantially airtight contact with the wall surface 1, the wall surface 1 to be cleaned, i.e., the outer wall surface of a ship, the outer wall surface of an oil storage tank, the outer wall surface of a high-rise building, etc. The wall surface 1 is generally not a smooth wall surface but a rough wall surface with considerable unevenness, and the free end of the partition wall 5 is not in complete airtight contact with the wall surface 1; Some surrounding fluid enters into the reduced pressure area 6 between the free end of 5 and the wall 1.

従って、減圧源１１による吸引の程度は、仕切壁５の自
由端部と壁面１との間から減圧領域６内に進入する包囲
流体の量及び清掃材噴射手段（図示の具体例では噴射ノ
ズル７）を通して減圧領域６内に導入される流体の量に
応じて適宜に設定される。Therefore, the degree of suction by the reduced pressure source 11 depends on the amount of surrounding fluid that enters the reduced pressure area 6 from between the free end of the partition wall 5 and the wall surface 1 and the cleaning material injection means (in the illustrated example, the injection nozzle 7). ) is set appropriately depending on the amount of fluid introduced into the depressurized region 6 through.

他方、壁面１が相当平滑な面である場合には、仕切壁５
の自由端部はほとんど完全に気密に接触せしめられ、従
って減圧領域６がほとんど完全に気密なものにせしめら
れる。On the other hand, if the wall surface 1 is a fairly smooth surface, the partition wall 5
The free ends of are brought into almost completely gas-tight contact, thus rendering the vacuum area 6 almost completely gas-tight.

かような場合、減圧源１１の作用によって減圧領域６内
の流体圧力が過度に低減され、従って受圧本体４に過度
の流体圧力が作用して受圧本体４自体、フレーム部材及
び車輪２（又は無端軌道）に過度の応力が生成され、こ
れらの構成要素が破損される恐れがある。In such a case, the fluid pressure in the reduced pressure region 6 is excessively reduced by the action of the reduced pressure source 11, and therefore, excessive fluid pressure acts on the pressure receiving body 4, causing damage to the pressure receiving body 4 itself, the frame member, and the wheels 2 (or the endless excessive stress can be created on the track) and damage these components.

それ故に、減圧領域６内の流体圧力が所定の値になると
開かれて包囲流体を減圧領域６内に導入するそれ自体は
公知の所謂安全弁乃至減圧調整弁（図示してない）を受
圧本体４に装備し、これによって減圧領域６内の流体圧
力が所定の値以下になるのを確実に防止するのが望まし
い。Therefore, when the fluid pressure in the pressure reduction area 6 reaches a predetermined value, a so-called safety valve or pressure reduction regulating valve (not shown), which is opened and introduces the surrounding fluid into the pressure reduction area 6 and is known per se, is installed in the pressure receiving body 4. It is desirable that the fluid pressure in the reduced pressure region 6 be reliably prevented from falling below a predetermined value.

上記の通りにして壁面１に吸着せしめられた受圧本体４
は、例えば遠隔操作によって駆動源３を作動せしめ車輪
２（又は無端軌道）を駆動することによって適宜の方向
に移動せしめられる。Pressure receiving body 4 adsorbed to wall surface 1 as described above
is moved in an appropriate direction by, for example, operating the drive source 3 by remote control and driving the wheels 2 (or endless track).

この点に関しては、特に次の事実が注目されるべきであ
る。In this regard, the following facts should be particularly noted.

即ち、本考案に従って構成された吸着自走式清掃装置に
おいては、上述した通り、仕切壁５は比較的小さい力に
よってその自由端部が受圧本体４に対して壁面１に向う
方向及びこれから離れる方向に移動し得るように構成さ
れており、それ故に減圧領域６の内外の流体圧力差に起
因して受圧本体４に作用する包囲流体の流体圧力の実質
上全ては車輪２（又は無端軌道）を介して壁面１に伝え
られ、仕切壁５の自由端部は減圧領域６の内外の流体圧
力差に起因して仕切壁５自体に作用する包囲流体の圧力
によって壁面１に接触せしめられる。That is, in the suction self-propelled cleaning device constructed according to the present invention, as described above, the free end of the partition wall 5 is moved in the direction toward and away from the wall surface 1 relative to the pressure receiving body 4 by a relatively small force. Therefore, substantially all of the fluid pressure of the surrounding fluid acting on the pressure receiving body 4 due to the fluid pressure difference between the inside and outside of the decompression area 6 is transferred to the wheels 2 (or the endless track). The free end of the partition wall 5 is brought into contact with the wall surface 1 by the pressure of the surrounding fluid acting on the partition wall 5 itself due to the fluid pressure difference inside and outside the reduced pressure area 6.

かくの通りであるので、減圧領域６内外の流体圧力差を
■ｋｇ／ｃｍ３、受圧本体４の有効受圧面積をＤ１０ｍ
２、車輪２（又は無端軌道）と壁面１との間の摩擦係数
をに１とすると、車輪２（又は無端軌道）と壁面１との
間の摩擦力Ｆ１ｋｇは、 Ｆ１＝に１・■・Ｄ工 となる。As shown above, the fluid pressure difference between the inside and outside of the decompression area 6 is kg/cm3, and the effective pressure receiving area of the pressure receiving body 4 is D10m.
2. If the coefficient of friction between wheel 2 (or endless track) and wall 1 is 1, then the frictional force F1kg between wheel 2 (or endless track) and wall 1 is as follows: F1=1・■・Becomes a D-engineer.

一方、仕切壁５の有効受圧面積をＤ２ｃｍ２、仕切壁５
の自由端部と壁面１との間の摩擦係数をに２とすると、
仕切壁５の自由端部と壁面１との間の摩擦力Ｆｚｋｇは
、 Ｆ２＝に２・■・Ｄ２ となる。On the other hand, the effective pressure receiving area of the partition wall 5 is D2cm2, and the partition wall 5
If the coefficient of friction between the free end of and wall surface 1 is 2, then
The frictional force Fzkg between the free end of the partition wall 5 and the wall surface 1 is as follows: F2=2·■·D2.

従って、Ｆ １ ＞ Ｆ ２、即ちに工・Ｄ工＞ Ｆ
２・Ｄ２の条件さえ満足せしめれば、車輪２（又は無端
軌道）を駆動することによって受圧本体４を所要の通り
に移動せしめることができる。Therefore, F 1 > F 2, that is, engineering/D engineering > F
As long as the condition 2.D2 is satisfied, the pressure receiving body 4 can be moved as required by driving the wheels 2 (or the endless track).

上記の条件を満足せしめるための具体的設計寸法等の一
例を挙げて説明すると、壁面１が鉄である場合、合成ゴ
ムから形成された通常の車輪２と壁面１との間の摩擦係
数に１は約０．５である。To explain this by citing an example of specific design dimensions to satisfy the above conditions, if the wall surface 1 is made of iron, the friction coefficient between the normal wheel 2 made of synthetic rubber and the wall surface 1 is 1. is approximately 0.5.

仕切壁５の全体を合成ゴムから形成すると、仕切壁５の
自由端部□と壁面１との間の摩擦係数に２も約０．５で
ある。When the entire partition wall 5 is made of synthetic rubber, the coefficient of friction between the free end □ of the partition wall 5 and the wall surface 1 is approximately 0.5.

受圧本体４の外径ｄ１を９０ ｃｒｎ、仕切壁５の外径
ｄ２を１０８ ｃｍとすると、受圧本体４の有効受圧面
積Ｄ１ 仕切壁５の有効受圧面積 となる。When the outer diameter d1 of the pressure receiving body 4 is 90 crn and the outer diameter d2 of the partition wall 5 is 108 cm, the effective pressure receiving area D1 of the pressure receiving body 4 is equal to the effective pressure receiving area of the partition wall 5.

減圧源１１の作用によって減圧領域６内の流体圧力を１
８０ｍｍＨｇ低減せしめると、車輪２と壁面１との間の
摩擦力 へへ２ 噌へへ 仕切壁５の自由端部と壁面１との間の摩擦力となり、上
記の条件Ｆ １＞ Ｆ ２を充分に満たすことができる
。The fluid pressure in the reduced pressure region 6 is reduced to 1 by the action of the reduced pressure source 11.
When 80 mmHg is reduced, the frictional force between the wheel 2 and the wall surface 1 increases to the frictional force between the free end of the partition wall 5 and the wall surface 1, and the above condition F 1 > F 2 is satisfied. can be met.

これに対して、仕切壁を備えた従来の清掃装置において
は、仕切壁は受圧本体に対して壁面に向う方向及びこれ
から離れる方向に変位乃至移動することができない故に
、減圧領域内外の流体圧力差に起因して受圧本体に作用
する包囲流体の流体圧力は、車輪（又は無端軌道）では
なくてむしろ仕切壁を介して壁面に伝えられる。On the other hand, in conventional cleaning devices equipped with a partition wall, the partition wall cannot be displaced or moved in the direction toward or away from the wall surface relative to the pressure receiving body, so the difference in fluid pressure inside and outside the depressurized area is The fluid pressure of the surrounding fluid acting on the pressure-receiving body due to this is transmitted to the wall surface through the partition wall rather than through the wheels (or the endless track).

それ故に、車輪（又は無端軌道）と壁面との間の摩擦力
Ｆ０を仕切壁と壁面との間の摩擦力Ｆ２よりも大きくす
ることができず、従って車輪（又は無端軌道）を駆動す
ることによって受圧本体を自走せしめることが不可能乃
至極めて困難であった。Therefore, the frictional force F0 between the wheel (or endless track) and the wall surface cannot be made larger than the frictional force F2 between the partition wall and the wall surface, and therefore the wheel (or endless track) cannot be driven. Therefore, it is impossible or extremely difficult to make the pressure receiving body move on its own.

上述した通りにして受圧本体４が壁面１に吸着され且つ
壁面１に沿って移動せしめられる際には、清掃材噴射手
段を構成する噴射ノズル７から研掃材粒子の如き適宜の
清掃材が減圧領域６内に位置する壁面１に向けて噴射さ
れ、かくして壁面１が所要の通りに清掃される。When the pressure-receiving body 4 is attracted to the wall surface 1 and moved along the wall surface 1 as described above, an appropriate cleaning material such as abrasive particles is discharged under reduced pressure from the injection nozzle 7 constituting the cleaning material injection means. It is sprayed towards the wall 1 located within the area 6, thus cleaning the wall 1 as required.

そして壁面１に向けて噴射された清掃材は、周囲に散逸
することなく減圧領域６内に保持され、清掃材の作用に
よって壁面１から剥離された被剥離物と共に、減圧源１
１の吸引作用によって可撓性ホース９を通して吸引され
分離捕集器１０に回収される。The cleaning material injected toward the wall surface 1 is held within the reduced pressure area 6 without dissipating to the surroundings, and together with the object to be peeled off from the wall surface 1 by the action of the cleaning material, the reduced pressure source 1
1 through the flexible hose 9 and collected in the separation collector 10.

かくの通りであるので、本考案に従って構成された吸着
自走式清掃装置によれば、清掃材及びその作用によって
壁面１から剥離された被剥離物を大気や海洋中に散逸せ
しめて大気や海洋を汚染せしめることがなく、そしてま
た研掃材粒子の如き清掃材を１回の使用により消失せし
めることなく再使用のために回収することかで゛きる。As described above, the suction self-propelled cleaning device configured according to the present invention allows the cleaning material and the objects to be peeled off from the wall surface 1 by its action to be dissipated into the atmosphere and the ocean. It also allows cleaning materials, such as abrasive particles, to be recovered for reuse without being lost after a single use.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は、本考案に従って構成された吸着自走式清掃装
置の一具体例を示す簡略断面図。 第２図は、第１図に図示する吸着自走式清掃装置に用い
られている仕切壁の構成及び作用効果を説明するための
簡略部分断面図。 第３図は、仕切壁の変形例を示す第２図と同様の簡略部
分断面図。 １・・・・・・壁面、２・・・・・・車輪、３・・・・
・・駆動源、４・・・・・・受圧本体、５・・・・・・
仕切壁、６・・・・・・減圧領域、７・・・・・・噴射
ノズル（清掃材噴射手段）、９・・・・・・可撓性ホー
ス、１０・・・・・・分離捕集器、１１・・・・・・減
圧源。FIG. 1 is a simplified sectional view showing a specific example of a suction self-propelled cleaning device constructed according to the present invention. FIG. 2 is a simplified partial cross-sectional view for explaining the configuration and effects of the partition wall used in the suction self-propelled cleaning device shown in FIG. 1. FIG. 3 is a simplified partial sectional view similar to FIG. 2 showing a modification of the partition wall. 1... Wall surface, 2... Wheels, 3...
...Drive source, 4...Pressure receiving body, 5...
Partition wall, 6... Decompression area, 7... Injection nozzle (cleaning material injection means), 9... Flexible hose, 10... Separation trap Collector, 11...Reduced pressure source.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 壁面１に面して且つ該壁面１に対して間隔を置いて位置
せしめられる受圧本体４；該受圧本体４に装着された自
走機構であって、該壁面１に接触せしめられる複数個の
車輪２又は無端軌道と該車輪２又は無端軌道を駆動する
ための駆動源３とを含むところの自走機構：該受圧本体
４に連結された基部Ａから該壁面１に向って延び、自由
端部が該壁面１に接触せしめられて、該受圧本体４及び
該壁面１と協働して実質上気密な減圧領域６を規定する
、少なくとも該自由端部は柔軟な材料から形成された非
通気性環状仕切壁５：該受圧本体４に装着され、該減圧
領域６内の該壁面１に清掃材を噴射する清掃材噴射手段
７；及び清掃材分離捕集器１０と減圧源１１とを有する
減圧及び清掃材回収手段であって、可撓性ホース９を介
して該減圧領域６に連通され、該減圧領域６から流体を
吸引して該減圧領域６内の流体圧力を低減せしめると共
に、該清掃材噴射手段７から噴射された清掃材を回収す
るところの減圧及び清掃材回収手段；を具備し、該仕切
壁５は、該受圧本体４に連結された該基部Ａから該壁面
１に垂下した線ｌが該壁面１と交差する位置Ｂよりも外
側の位置Ｃにて該自由端部が該壁面１に接触せしめられ
ると共に、比較的小さい力によって該自由端部が該受圧
本体４に対して該壁面１に向う方向及びこれから離れる
方向に移動することができ、該減圧領域６内外の流体圧
力差に起因して該受圧本体４に作用する流体圧力は、実
質上該車輪２又は該端限軌道を介して該壁面１に伝えら
れ、該減圧領域６内外の流体圧力差に起因して該仕切壁
５に作用する流体圧力は該仕切壁５の該自由端部を該壁
面１に実質上気密に接触せしめ、該車輪２又は該無端軌
道と該壁面１との間の摩擦力Ｆ１は、該仕切壁５の該自
由端部と該壁面１との間の摩擦力Ｆ２よりも大きくなる
ようにせしめられている、ことを特徴とする吸着自走式
清掃装置。A pressure receiving body 4 facing the wall surface 1 and positioned at a distance from the wall surface 1; a self-propelled mechanism mounted on the pressure receiving body 4, and a plurality of wheels that are brought into contact with the wall surface 1; 2 or an endless track and a drive source 3 for driving the wheels 2 or the endless track: a self-propelled mechanism that extends from a base A connected to the pressure receiving body 4 toward the wall surface 1 and has a free end part; is brought into contact with the wall surface 1 and defines, in cooperation with the pressure-receiving body 4 and the wall surface 1, a substantially air-tight reduced pressure area 6, at least the free end of which is made of a flexible material. An annular partition wall 5: a cleaning material injection means 7 attached to the pressure receiving body 4 and spraying a cleaning material onto the wall surface 1 in the reduced pressure area 6; and a vacuum cleaner having a cleaning material separation collector 10 and a reduced pressure source 11. and a cleaning material recovery means, which is communicated with the reduced pressure area 6 via the flexible hose 9, sucks fluid from the reduced pressure area 6 to reduce the fluid pressure in the reduced pressure area 6, and is capable of collecting the cleaning material. The partition wall 5 is provided with a depressurizing and cleaning material recovery means for recovering the cleaning material injected from the material injection means 7, and the partition wall 5 hangs down from the base A connected to the pressure receiving body 4 to the wall surface 1. The free end portion is brought into contact with the wall surface 1 at a position C outside the position B where the line l intersects the wall surface 1, and the free end portion is brought into contact with the pressure receiving body 4 by a relatively small force. The fluid pressure acting on the pressure-receiving body 4 due to the fluid pressure difference inside and outside the depressurized area 6 is substantially movable toward and away from the wall surface 1, The fluid pressure transmitted to the wall 1 via the track and acting on the partition wall 5 due to the fluid pressure difference inside and outside the reduced pressure area 6 causes the free end of the partition wall 5 to substantially contact the wall 1. The wheels 2 or the endless track are in airtight contact with each other, and the frictional force F1 between the wheels 2 or the endless track and the wall 1 is greater than the frictional force F2 between the free end of the partition wall 5 and the wall 1. A suction self-propelled cleaning device characterized by: