WO1999067121A1 - Surface-sucking mobile device - Google Patents

Surface-sucking mobile device Download PDF

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Publication number
WO1999067121A1
WO1999067121A1 PCT/JP1999/003292 JP9903292W WO9967121A1 WO 1999067121 A1 WO1999067121 A1 WO 1999067121A1 JP 9903292 W JP9903292 W JP 9903292W WO 9967121 A1 WO9967121 A1 WO 9967121A1
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WO
WIPO (PCT)
Prior art keywords
pressure
partition wall
reducing
receiving body
region
Prior art date
Application number
PCT/JP1999/003292
Other languages
French (fr)
Japanese (ja)
Inventor
Fukashi Urakami
Original Assignee
Uragami Fukashi
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Uragami Fukashi filed Critical Uragami Fukashi
Priority to AU41693/99A priority Critical patent/AU4169399A/en
Publication of WO1999067121A1 publication Critical patent/WO1999067121A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
    • B63B59/06—Cleaning devices for hulls
    • B63B59/10—Cleaning devices for hulls using trolleys or the like driven along the surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Definitions

  • the present invention relates to a device capable of adsorbing on an object surface such as a wall surface by surrounding fluid pressure, and more particularly, but not exclusively, adsorbing on a surface and moving along the surface to clean the surface, etc.
  • the present invention relates to a device capable of performing the function of (1).
  • the above-described apparatus includes a pressure receiving body formed of a rigid or semi-rigid material, a partition wall that cooperates with the pressure receiving body and the wall surface to define a decompression region, and discharges a fluid from the decompression region to pass through the inside of the decompression region. It is provided with a decompression generating means for reducing the pressure, and a traveling means installed on the pressure receiving main body.
  • the apparatus when the pressure in the reduced pressure area is reduced by the reduced pressure generating means, the apparatus is adsorbed on the wall surface by the surrounding fluid pressure due to the fluid pressure difference inside and outside the reduced pressure area. Then, when the traveling means is operated, the device is moved along the wall while being adsorbed on the wall. Thus, such a device can be adsorbed on a wall and move along it.
  • the above-described apparatus has the following disadvantages to be solved. That is, with the movement of the device, the partition wall also moves with respect to the wall surface while being in contact with the wall surface. During such movement, dirt such as degraded coating film pieces, rust, scale, etc. adhered to the wall surface.
  • the dirt is peeled off by the scraping action of the water, and the dirt is scattered to the surroundings without being collected in the decompression area.Therefore, there is a risk of contaminating the air when used in the air and water when used in water. Was. Further, in the above-described apparatus, in an apparatus having a device for peeling off a deteriorated coating film by injecting ultrahigh-pressure water toward the wall surface inside the depressurized region, the peeled coating film piece is Treated by leaking from the contact between the partition wall and the wall surface ⁇ There was a problem of adhering to the surface, thereby deteriorating the processing quality.
  • An object of the present invention is to satisfy the practically important condition that the configuration is extremely simple and inexpensive, and to further prevent the dirt generated by using the apparatus from scattering around or deteriorating the processing quality.
  • An object of the present invention is to provide a device which can be reliably prevented and can be moved by being adsorbed on a wall surface.
  • a pressure receiving body formed of a rigid or semi-rigid material, a partition wall that defines a pressure reduction region in cooperation with the pressure receiving body and a surface, or in cooperation with a surface, and the pressure reduction region
  • a pressure-generating means for discharging fluid from the pressure-reducing region to reduce the pressure in the pressure-reducing region.
  • a pressure receiving body formed of a rigid or semi-rigid material, a partition wall defining a pressure reduction area in cooperation with the pressure receiving body and the surface or in cooperation with the surface, and discharging a fluid from the pressure reduction area.
  • a pressure-reducing means for reducing the pressure in the pressure-reducing region, wherein the device is capable of adsorbing on the surface by the pressure of the surrounding fluid and moving along the surface.
  • FIG. 1 is a front view showing a specific example of an apparatus configured according to the present invention.
  • FIG. 2 is a bottom view showing a specific example of the device configured according to the present invention.
  • FIG. 3 is a cross-sectional view taken along line AA in FIG.
  • FIG. 4 is a diagram showing a partition wall of the apparatus of FIG. 1 as viewed from a wall surface direction.
  • FIG. 5 is an enlarged cross-sectional view showing a contact portion between a partition wall and a wall surface in the apparatus shown in FIG.
  • FIG. 6 is an enlarged view of a portion E in FIG.
  • FIG. 7 is a cross-sectional view taken along line HH in FIG.
  • the illustrated apparatus includes a pressure receiving body 2 formed of a rigid or semi-rigid material such as steel.
  • the pressure receiving main body 2 may have an appropriate shape. .
  • Outwardly projecting support members 12 and 14 are fixed to both opposing portions of the side wall of the pressure receiving main body 2, and support frames 16 and 18 are further fixed to the support members 12 and 14.
  • the support frame 16 is further provided with an electric motor 24 constituting a traveling drive source.
  • the electric motor 24 is preferably capable of rotating in both directions and is drivingly connected to the wheels 22a and 22b via suitable transmission means such as a chain 26 and a sprocket to rotate the wheels 22a and 22b.
  • Two wheels 30a and 30b are also rotatably mounted on the other (upper in FIG. 1) support frame 18.
  • the support frame 18 is also provided with an electric motor 32 constituting a traveling drive source, and the electric motor 32 is preferably capable of rotating in both directions.
  • the electric motor 32 may be rotated through appropriate transmission means such as a chain 34 and a sprocket. And is drivingly connected to the wheels 30a and 30b to rotate the wheels 30a and 30b.
  • These wheels 22a, 22b, 30a and 30b constitute a traveling means for moving the device along the wall W, and in a specific example, as described later in detail, the wheels 22a, 22b, 30a and 30b are applied to the wall W by the surrounding fluid pressure acting on the pressure receiving body 2. It is pressed and brought into contact with it.
  • four wheels are used as the traveling means, but three or five or more wheels may be used instead, and two or more wheels themselves may be used instead of the wheels.
  • a partition wall 36 is disposed adjacent to the opening 8 of the lower wall 6 of the pressure receiving main body 2.
  • two flange-shaped mounting portions are connected to the lower wall 6, and an annular lip portion 48 is disposed close to and parallel to the wall surface W.
  • the contact portion 48a of the outer peripheral portion of the lip portion 48b is brought into contact with the wall surface W.
  • the partition wall 36 defines a pressure reduction region 50 in cooperation with the pressure receiving main body 2 and the wall surface W.
  • an extension 48c extends outward from the contact portion 48a toward the outermost peripheral portion and away from the wall surface W.
  • the partition wall 36 is formed of a non-breathable and relatively flexible material such as polyurethane rubber, and therefore, itself is elastically deformed by a relatively small force, so that the contact portion 48a is formed on the wall surface. It can be deformed freely according to the irregularities of W.
  • the decompression space 50 defined by the pressure receiving main body 2, the wall surface W, and the partition wall 36 is communicated with the decompression generating means 64.
  • a connection portion 10a is provided on a side wall 10 of the pressure receiving main body 2, one end of a flexible flexible suction hose 66 is connected to the connection portion 10a, and the other end is a separator ( (Not shown), and connected to a reduced pressure generating means (not shown).
  • the depressurization generating means may be a well-known device that drains fluid from the depressurization region 50 to depressurize the depressurization region 50. For example, when the above-mentioned device is used in the atmosphere, an exhaust pump or an exhaust pump is used.
  • a drain pump or the like can be used.
  • a vacuum breaker it is preferable to provide a vacuum breaker in order to prevent the pressure in the pressure reduction region 50 from being reduced to a predetermined value or more.
  • a plurality of thin plates 70 are attached or welded to at least the contact portion 48a of the partition wall 36.
  • a thin plate provided with a plurality of grooves 81 communicating the inside and outside of the decompression region 50 is attached or welded to the contact portion 48a of the partition wall 36.
  • the thin plate has abrasion resistance and low A material having a coefficient of friction of 0 is desirable.
  • a fluorine resin or ultra-high molecular weight polyethylene can be used.
  • the above-mentioned equipment is used to remove radioactive corrosion products, so-called clad, adhering to the walls and floors of various swimming pools in nuclear facilities in the air or water, and to clean algae attached to the bottom of ships, and It can be conveniently used for coating film peeling work using ultra-high pressure water jets such as a spherical gas holder.
  • the decompression area is generated by the operation of the decompression generating means.
  • the fluid in the 50 e.g., air for use in the atmosphere, or water for use in water, for example
  • the pressure is reduced.
  • the surrounding fluid pressure acting on the pressure receiving body 2 due to the fluid pressure difference between the inside and outside of the pressure reducing region 50 is substantially applied from the pressure receiving body 2 to the wall W via the support frames 16 and 18 and the wheels 22a, 22b, 30a and 30b.
  • the device is adsorbed on the wall W by this.
  • the surrounding fluid pressure acting on the partition wall 36 due to the fluid pressure difference between the inside and outside of the decompression region 50 causes the partition wall 36 to be biased toward the wall surface W so that the contact portion 48a contacts the wall surface W. Act on. Accordingly, the contact portion 48a of the partition wall 36 is brought into contact with the wall surface W, and the wall surface can be cleaned by the contact pressure between the contact portion 48a and the wall surface W. In the above-mentioned suction state, the decompression region 50 is depressurized as required.On the other hand, a plurality of substantially rectangular thin plates 70 are attached to the contact portion 48a of the partition wall 36 at intervals in the circumferential direction.
  • a plurality of grooves 68 are formed, and therefore, the flow of fluid from the outside through the grooves 68 to the inside of the decompression region 50 is substantially constantly generated. Accordingly, the dirt (degraded coating film pieces, rust, scale, etc.) peeled off near the contact portion 48a of the partition wall 36 outside the pressure reduction region 50 due to the movement of the device of the present invention rides on the flow of the above-described fluid to form a groove. 6 Dirt transferred to the decompression area 50 through 8 and thus generated during cleaning b is reliably prevented from scattering around. In the specific example, the presence of the groove 68 generates a flow inward of the partition wall 36 in the radial direction, thereby preventing the dirt from scattering.
  • the dirt transferred into the decompression area 50 is conveyed to the separator (not shown) through the suction hose 66 together with the liquid in the decompression area 50 by the action of the decompression means (not shown).
  • the separator In this separator, the liquid is separated as required, and the separated clean liquid is discharged to the outside.
  • a thin plate having a plurality of grooves may be attached or welded.
  • the device when the electric motors 24 and 32 are operated to rotate the wheels 22a and 22b and the wheels 30a and 30b in the same direction, the device goes straight along the wall surface W and the wheels 22a and And 22b and wheels 30a and 30b are rotated in opposite directions, the device is rotated about its central axis and directed in the desired direction.
  • the present invention is not limited to such a specific example, and can be applied to a device that can be adsorbed on various wall surfaces. That is, as disclosed in, for example, Japanese Patent No. 1323843, one end of a partition wall is connected to a pressure receiving main body, and the pressure receiving main body is equipped with surface treatment means such as an ultra-high pressure water jetting means or a polishing material projecting means, The present invention can also be applied to an apparatus in which the surface treatment means treats a wall surface in the decompression region as required.
  • the contact portion that contacts the wall surface of the partition wall is provided with a plurality of grooves that communicate inside and outside the decompression region. Even if the thin plate piece that forms the groove is worn by abrasion, it can be easily attached or welded again. ⁇

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Transportation (AREA)
  • Cleaning In General (AREA)

Abstract

A device which is movable while being sucked to a wall surface and which can satisfy practically important requirements such as simplicity and low-cost and prevent more positively scattering of stains produced by a device to the surrounding or lowering in treating quality. Specifically, a device which is sucked to a surface by the pressure of a surrounding fluid and can move along the surface, and which comprises a pressure receiving body formed of a rigid or semi-rigid material, a partition wall defining a depressurized area in cooperation with the pressure receiving body and the surface and a pressure-reduction producing means for discharging fluid from the depressurized area to reduce the pressure in the depressurized area, characterized in that a plurality of thin strips or grooved thin strips are pasted or welded to a contact portion with the surface of the partition wall at intervals in a circumferential direction of the contact portion.

Description

明細書  Specification
表面に吸着し移動可能な装置  A device that can be adsorbed and moved on the surface
技術分野 Technical field
本発明は、 包囲流体圧力によって壁面等の物体表面に吸着することが できる装置、 更に詳しくは、 それに限定されないが、 表面に吸着し且つそ れに沿って移動し、 該表面のクリ一ニング等の作用を遂行することができ る装置に関する。  The present invention relates to a device capable of adsorbing on an object surface such as a wall surface by surrounding fluid pressure, and more particularly, but not exclusively, adsorbing on a surface and moving along the surface to clean the surface, etc. The present invention relates to a device capable of performing the function of (1).
背景技術 Background art
船舶の外側壁面、 貯油タンクの外壁面等の鉛直な又は傾斜した壁面の クリーニング作業等をする装置としては、 例えば特許第 1323843 号に開 示された装置が提案されている。 上述した装置は、 剛性乃至半剛性材料か ら形成された受圧本体と、 受圧本体及び壁面と協働して減圧領域を規定す る仕切壁と、 減圧領域から流体を排出して減圧領域内を減圧せしめるため の減圧生成手段と、 受圧本体に設置された走行手段とを具備している。 かくの通りの装置においては、 減圧生成手段によって減圧領域内を減 圧せしめると、 減圧領域内外の流体圧力差に起因して装置が包囲流体圧力 によって壁面に吸着せしめられる。 そして、 走行手段を作動せしめると、 装置は壁面に吸着した状態でそれに沿って移動せしめられる。 従って、 か くの通りの装置は、壁面に吸着し且つそれに沿って移動することができる。 しかしながら、 上述した装置には、 次の通りの解決すべき欠点が存在 する。 即ち、 装置の移動に伴い仕切壁もまた壁面と接触したまま壁面に対 して移動するが、 かかる移動の際に壁面に付着している劣化塗膜片、 サビ、 水あか等の汚れが仕切壁のスクレープ作用により剥離除去され、 それらの 汚れが減圧領域内に回収されないまま周囲に飛散し、 大気中で使用する場 合には大気、 また水中で使用する場合には水を汚染するおそれがあった。 また、 上述した装置において、 該減圧領域の内部に該壁面に向け超高圧 水を噴射することにより劣化塗膜を剥離する装置を具備している装置にお いては、 剥離された塗膜片が該仕切壁と該壁面の接触部より漏出して処理 ^ 面に付着し、 よって処理品質を低下させる問題があった。 As a device for cleaning a vertical or inclined wall surface such as an outer wall surface of a ship or an outer wall of an oil storage tank, for example, a device disclosed in Japanese Patent No. 1323843 is proposed. The above-described apparatus includes a pressure receiving body formed of a rigid or semi-rigid material, a partition wall that cooperates with the pressure receiving body and the wall surface to define a decompression region, and discharges a fluid from the decompression region to pass through the inside of the decompression region. It is provided with a decompression generating means for reducing the pressure, and a traveling means installed on the pressure receiving main body. In such an apparatus, when the pressure in the reduced pressure area is reduced by the reduced pressure generating means, the apparatus is adsorbed on the wall surface by the surrounding fluid pressure due to the fluid pressure difference inside and outside the reduced pressure area. Then, when the traveling means is operated, the device is moved along the wall while being adsorbed on the wall. Thus, such a device can be adsorbed on a wall and move along it. However, the above-described apparatus has the following disadvantages to be solved. That is, with the movement of the device, the partition wall also moves with respect to the wall surface while being in contact with the wall surface. During such movement, dirt such as degraded coating film pieces, rust, scale, etc. adhered to the wall surface. The dirt is peeled off by the scraping action of the water, and the dirt is scattered to the surroundings without being collected in the decompression area.Therefore, there is a risk of contaminating the air when used in the air and water when used in water. Was. Further, in the above-described apparatus, in an apparatus having a device for peeling off a deteriorated coating film by injecting ultrahigh-pressure water toward the wall surface inside the depressurized region, the peeled coating film piece is Treated by leaking from the contact between the partition wall and the wall surface ^ There was a problem of adhering to the surface, thereby deteriorating the processing quality.
発明の開示 Disclosure of the invention
本発明の目的は、 構成が著しく簡単で安価である、 との実用的に重要 な条件を満足させながら、 装置を使用することによって発生する汚れの周 囲への飛散あるいは処理品質の低下を一層確実に防止することができる、 壁面に吸着し移動可能な装置を提供することである。  It is an object of the present invention to satisfy the practically important condition that the configuration is extremely simple and inexpensive, and to further prevent the dirt generated by using the apparatus from scattering around or deteriorating the processing quality. An object of the present invention is to provide a device which can be reliably prevented and can be moved by being adsorbed on a wall surface.
本発明によれば、 剛性乃至半剛性材料から形成された受圧本体と、 該 受圧本体及び表面と協働して、 又は表面と協働して減圧領域を規定する仕 切壁と、 該減圧領域から流体を排出して該減圧領域内を減圧せしめるため の減圧生成手段とを具備する、 包囲流体の圧力によって表面に吸着し且つ 該表面に沿って移動可能な装置において、該仕切壁の表面との接触部には、 複数個の薄板片が該接触部の周方向に間隔を置いて貼付もしくは溶着され ている、 ことを特徴とする装置、 が提供される。 または、 剛性乃至半剛性 材料から形成された受圧本体と、 該受圧本体及び表面と協働して、 又は表 面と協働して減圧領域を規定する仕切壁と、 該減圧領域から流体を排出し て該減圧領域内を減圧せしめるための減圧生成手段とを具備する、 包囲流 体の圧力によって表面に吸着し且つ該表面に沿って移動可能な装置におい て、 該仕切壁の該表面との接触部には、 該減圧領域の内外を連通する溝が つけられた薄板片が貼付もしくは溶着されている、ことを特徴とする装置、 が提供される。  According to the present invention, a pressure receiving body formed of a rigid or semi-rigid material, a partition wall that defines a pressure reduction region in cooperation with the pressure receiving body and a surface, or in cooperation with a surface, and the pressure reduction region A pressure-generating means for discharging fluid from the pressure-reducing region to reduce the pressure in the pressure-reducing region. A device capable of adsorbing on the surface and moving along the surface by the pressure of the surrounding fluid, The contact portion is provided with a plurality of thin plate pieces attached or welded at intervals in a circumferential direction of the contact portion. Or a pressure receiving body formed of a rigid or semi-rigid material, a partition wall defining a pressure reduction area in cooperation with the pressure receiving body and the surface or in cooperation with the surface, and discharging a fluid from the pressure reduction area. And a pressure-reducing means for reducing the pressure in the pressure-reducing region, wherein the device is capable of adsorbing on the surface by the pressure of the surrounding fluid and moving along the surface. An apparatus characterized in that a thin plate having a groove communicating with the inside and outside of the decompression region is attached or welded to the contact portion.
図面の簡単な説明 BRIEF DESCRIPTION OF THE FIGURES
第 1図は、 本発明に従って構成された装置の一具体例を示す正面図。 FIG. 1 is a front view showing a specific example of an apparatus configured according to the present invention.
第 2図は、 本発明に従って構成された装置の一具体例を示す底面図。 FIG. 2 is a bottom view showing a specific example of the device configured according to the present invention.
第 3図は、 第 1図における A— A線による断面図。 FIG. 3 is a cross-sectional view taken along line AA in FIG.
第 4 図は、 第 1 図の装置における仕切壁を壁面方向から見たところを示 す図。 FIG. 4 is a diagram showing a partition wall of the apparatus of FIG. 1 as viewed from a wall surface direction.
第 5図は、 第 3図の装置における仕切壁と壁面との接触部位を拡大して示 す断面図。 第 6図は、 第 4図における E部の拡大図。 FIG. 5 is an enlarged cross-sectional view showing a contact portion between a partition wall and a wall surface in the apparatus shown in FIG. FIG. 6 is an enlarged view of a portion E in FIG.
第 7図は、 第 6図における H— H線による断面図。 FIG. 7 is a cross-sectional view taken along line HH in FIG.
発明を実施するための最良の形態 BEST MODE FOR CARRYING OUT THE INVENTION
以下、 添付図面を参照して、 本発明に従って構成された装置の一具体 例を説明する。  Hereinafter, a specific example of an apparatus configured according to the present invention will be described with reference to the accompanying drawings.
第 1図乃至第 3図において、 図示の装置は、 例えば鋼の如き剛性乃至 半剛性の材料から形成された受圧本体 2 を具備している。 受圧本体 2 は 適宜の形状でよいが、 図示の具体例では、 略円筒の箱の開口部の周囲に壁 面 Wに対向する環状の板すなわち下壁 6が溶着された形状を成している。  1 to 3, the illustrated apparatus includes a pressure receiving body 2 formed of a rigid or semi-rigid material such as steel. The pressure receiving main body 2 may have an appropriate shape. .
この受圧本体 2 の側壁の対向する両部位には、 外方に突出する支持部 材 12及び 14が固定され、 支持部材 12及び 14には更に支持フレ一ム 16 及び 18が固定されている。 片方 (第 1図において下方）の支持フレーム 16 には 2個の車輪 22a 及び 22b が回転自在に装着されている。 支持フレー ム 16 には、 更に、 走行駆動源を構成する電動モータ 24 が設置されてい る。 電動モー夕 24 は、 両方向に回転することができるのが好ましく、 チ エーン 26及びスプロケッ トの如き適宜の伝動手段を介して車輪 22a及び 22b に駆動連結されていて車輪 22a 及び 22b を回転駆動する。 また、 他 方 (第 1 図において上方）の支持フレーム 18 にも 2個の車輪 30a及び 30b が回転自在に装着されている。 支持フレーム 18 にも走行駆動源を構成す る電動モー夕 32 が設置されており、 電動モータ 32 は両方向に回転する ことができるのが好ましく、 チェーン 34 及びスプロケッ 卜の如き適宜の 伝動手段を介して車輪 30a及び 30b に駆動連結されていて車輪 30a及び 30b を回転駆動する。 これら車輪 22a,22b,30a及び 30b は装置を壁面 W に沿って移動せしめるための走行手段を構成し、 具体例においては後に詳 述する如く、 受圧本体 2に作用する包囲流体圧力によって壁面 W に押付 けられてこれに接触せしめられる。 尚、 具体例においては、 走行手段とし て 4個の車輪を用いているが、 これに代えて 3個又は 5個以上の車輪を用 いてもよく、 更に車輪に代えて 2個以上のそれ自体周知のェンドレストラ ックを用いてもよい。 Outwardly projecting support members 12 and 14 are fixed to both opposing portions of the side wall of the pressure receiving main body 2, and support frames 16 and 18 are further fixed to the support members 12 and 14. On one (lower in FIG. 1) support frame 16, two wheels 22a and 22b are rotatably mounted. The support frame 16 is further provided with an electric motor 24 constituting a traveling drive source. The electric motor 24 is preferably capable of rotating in both directions and is drivingly connected to the wheels 22a and 22b via suitable transmission means such as a chain 26 and a sprocket to rotate the wheels 22a and 22b. . Two wheels 30a and 30b are also rotatably mounted on the other (upper in FIG. 1) support frame 18. The support frame 18 is also provided with an electric motor 32 constituting a traveling drive source, and the electric motor 32 is preferably capable of rotating in both directions. The electric motor 32 may be rotated through appropriate transmission means such as a chain 34 and a sprocket. And is drivingly connected to the wheels 30a and 30b to rotate the wheels 30a and 30b. These wheels 22a, 22b, 30a and 30b constitute a traveling means for moving the device along the wall W, and in a specific example, as described later in detail, the wheels 22a, 22b, 30a and 30b are applied to the wall W by the surrounding fluid pressure acting on the pressure receiving body 2. It is pressed and brought into contact with it. In the specific example, four wheels are used as the traveling means, but three or five or more wheels may be used instead, and two or more wheels themselves may be used instead of the wheels. Well-known endless tiger May be used.
第 3図及び第 5図を参照して、 受圧本体 2の下壁 6の開口 8に隣接し て仕切壁 36 が配設されている。 仕切壁 36 の形状構成については、 2個 のフランジ状の取付部が下壁 6に連結され、 また環状のリップ部 4 8 が 壁面 Wに近接レてかつ壁面 Wに平行に配設され、 またリップ部 4 8 bの外 周部分の接触部 48aが壁面 W に接触せしめられており、 具体例において 仕切壁 36は受圧本体 2及び壁面 Wと協働して減圧領域 50を規定してい る。 また上記接触部 48aから最外周部に向けて外方に且つ壁面 Wから離 れる方向に延びる延長部 48c を有している。 かかる仕切壁 36 は、 ポリウ レ夕ンゴムの如き非通気性で且つ比較的柔軟な材料から形成されており、 従って比較的小さな力によってそれ自体が弾性変形し、 これによつて接触 部 48aが壁面 Wの凹凸に倣って自在に変形せしめられる。  Referring to FIG. 3 and FIG. 5, a partition wall 36 is disposed adjacent to the opening 8 of the lower wall 6 of the pressure receiving main body 2. Regarding the configuration of the partition wall 36, two flange-shaped mounting portions are connected to the lower wall 6, and an annular lip portion 48 is disposed close to and parallel to the wall surface W. The contact portion 48a of the outer peripheral portion of the lip portion 48b is brought into contact with the wall surface W. In a specific example, the partition wall 36 defines a pressure reduction region 50 in cooperation with the pressure receiving main body 2 and the wall surface W. Further, an extension 48c extends outward from the contact portion 48a toward the outermost peripheral portion and away from the wall surface W. The partition wall 36 is formed of a non-breathable and relatively flexible material such as polyurethane rubber, and therefore, itself is elastically deformed by a relatively small force, so that the contact portion 48a is formed on the wall surface. It can be deformed freely according to the irregularities of W.
受圧本体 2、 壁面 W及び仕切壁 36 によって規定される減圧空間 50は 減圧生成手段 64 に連通されている。 具体例では、 受圧本体 2 の側壁 10 には接続部 10a が設けられており、 可撓性のフレキシブルサクシヨンホ ース 66 の一端部が上記接続部 10a に接続され、 その他端部が分離器 (図 示せず）を介して減圧生成手段 （図示せず） に接続されている。 該減圧生 成手段は減圧領域 50 から流体を排して減圧領域 50 内を減圧せしめるそ れ自体周知のものでよく、 上記装置を例えば大気中で使用する場合には排 気ポンプ又はェゼク夕等を用いることができ、 また上記装置を例えば水中 又は海中で使用する場合には排水ポンプ等を用いることができる。 尚、 図 示していないが、 減圧領域 50 内の圧力が所定値以上に減圧されるのを防 止するために、 真空ブレーカを付設するのが好ましい。  The decompression space 50 defined by the pressure receiving main body 2, the wall surface W, and the partition wall 36 is communicated with the decompression generating means 64. In a specific example, a connection portion 10a is provided on a side wall 10 of the pressure receiving main body 2, one end of a flexible flexible suction hose 66 is connected to the connection portion 10a, and the other end is a separator ( (Not shown), and connected to a reduced pressure generating means (not shown). The depressurization generating means may be a well-known device that drains fluid from the depressurization region 50 to depressurize the depressurization region 50. For example, when the above-mentioned device is used in the atmosphere, an exhaust pump or an exhaust pump is used. For example, when the above-mentioned apparatus is used in water or in the sea, a drain pump or the like can be used. Although not shown, it is preferable to provide a vacuum breaker in order to prevent the pressure in the pressure reduction region 50 from being reduced to a predetermined value or more.
本発明に従う装置においては、 第 4図乃至第 7図に示す通り、 仕切壁 36 の少なく とも接触部 48aに複数の薄板 70が貼付又は溶着されていること が重要である。 又、 図示していないが、 仕切壁 36の接触部 48aに減圧領 域 50 の内外を連通する溝 81 が複数個設けられた薄板が貼付又は溶着さ れていることが重要である。 具体例においては、 該薄板は、 耐摩耗性と低 0 摩擦係数を備えた材料であることが望ましく、 例えばフッソ樹脂や超高分 子ポリエチレンを適用することができる。 In the apparatus according to the present invention, as shown in FIGS. 4 to 7, it is important that a plurality of thin plates 70 are attached or welded to at least the contact portion 48a of the partition wall 36. Although not shown, it is important that a thin plate provided with a plurality of grooves 81 communicating the inside and outside of the decompression region 50 is attached or welded to the contact portion 48a of the partition wall 36. In a specific example, the thin plate has abrasion resistance and low A material having a coefficient of friction of 0 is desirable. For example, a fluorine resin or ultra-high molecular weight polyethylene can be used.
かくの通りの装置は、 原子力施設における各種プールの壁面、 床面に 付着した放射性腐蝕生成物いわゆるクラッ ドを気中或いは水中において除 去する作業や、 船底に付着した藻類のクリーニング作業、 更には球形ガス ホルダー等の超高圧水噴射による塗膜剥離作業に好都合に用いることがで さる。  The above-mentioned equipment is used to remove radioactive corrosion products, so-called clad, adhering to the walls and floors of various swimming pools in nuclear facilities in the air or water, and to clean algae attached to the bottom of ships, and It can be conveniently used for coating film peeling work using ultra-high pressure water jets such as a spherical gas holder.
次に、 上述した装置の作用効果について説明する。  Next, the operation and effect of the above-described device will be described.
減圧生成手段が作動すると、 この減圧生成手段の作用によって減圧領域 When the decompression generating means operates, the decompression area is generated by the operation of the decompression generating means.
50 内の流体 (例えば大気中で使用する場合には空気、 また例えば水中で使 用する場合には水）がサクションホース 66を通って外部に排出され、 これ によって減圧領域 50 内が所要の通り減圧される。 減圧領域 50 の内外の 流体圧力差に起因して受圧本体 2 に作用する包囲流体圧力は実質上受圧 本体 2 から支持フレーム 16及び 18、 並びに車輪 22a,22b,30a及び 30b を介して壁面 Wに伝達され、 これによつて装置が壁面 Wに吸着せしめら れる。 他方、 減圧領域 50 の内外の流体圧力差に起因して仕切壁 36 に作 用する包囲流体圧力は、 仕切壁 36 を壁面 W に向けて偏倚せしめてその 接触部 48a を壁面 W に接触せしめるように作用する。 従って、 これによ つて仕切壁 36の接触部 48aが壁面 Wに接触せしめられ、かかる接触部 48a と壁面 W との間に接触圧力によって壁面のクリーニング作業が可能にな る。 上記吸着状態においては減圧領域 50 が所要の通り減圧せしめられて おり、 一方、 仕切壁 36の接触部 48aには周方向に間隔を置いて略矩形の 薄板 7 0が複数個貼付されていることにより複数個の溝 6 8が形成されて おり、 それ故に、 外部から溝 6 8を通って減圧領域 50 内に至る流体の流 れが実質上常時生成されている。 従って、 本発明装置の移動にともない減 圧領域 50外の仕切壁 36の接触部 48a近傍において剥離された汚れ (劣化 塗膜片、 サビ、 水あか等）は、 上述した流体の流れに乗って溝 6 8内を通 つて減圧領域 50 内に移送され、 かくしてクリーニング時に発生した汚れ b が周囲に飛散することが確実に防止される。 具体例では、 溝 6 8が存在す る故に仕切壁 36 の半径方向内方に向う流れが生成され、 これによつて汚 れが飛散することが防止される。 The fluid in the 50 (e.g., air for use in the atmosphere, or water for use in water, for example) is exhausted to the outside through the suction hose 66, and as a result, the inside of the decompression area 50 is required. The pressure is reduced. The surrounding fluid pressure acting on the pressure receiving body 2 due to the fluid pressure difference between the inside and outside of the pressure reducing region 50 is substantially applied from the pressure receiving body 2 to the wall W via the support frames 16 and 18 and the wheels 22a, 22b, 30a and 30b. The device is adsorbed on the wall W by this. On the other hand, the surrounding fluid pressure acting on the partition wall 36 due to the fluid pressure difference between the inside and outside of the decompression region 50 causes the partition wall 36 to be biased toward the wall surface W so that the contact portion 48a contacts the wall surface W. Act on. Accordingly, the contact portion 48a of the partition wall 36 is brought into contact with the wall surface W, and the wall surface can be cleaned by the contact pressure between the contact portion 48a and the wall surface W. In the above-mentioned suction state, the decompression region 50 is depressurized as required.On the other hand, a plurality of substantially rectangular thin plates 70 are attached to the contact portion 48a of the partition wall 36 at intervals in the circumferential direction. Thus, a plurality of grooves 68 are formed, and therefore, the flow of fluid from the outside through the grooves 68 to the inside of the decompression region 50 is substantially constantly generated. Accordingly, the dirt (degraded coating film pieces, rust, scale, etc.) peeled off near the contact portion 48a of the partition wall 36 outside the pressure reduction region 50 due to the movement of the device of the present invention rides on the flow of the above-described fluid to form a groove. 6 Dirt transferred to the decompression area 50 through 8 and thus generated during cleaning b is reliably prevented from scattering around. In the specific example, the presence of the groove 68 generates a flow inward of the partition wall 36 in the radial direction, thereby preventing the dirt from scattering.
減圧領域 50 内に移送された汚れは、 減圧生成手段 （図示せず） の作用 によって減圧領域 50 内の液体と一緒にサクシヨンホース 66 を通って分 離機（図示せず）に搬送され、 この分離機において所要の通り分離され、 分 離された後のきれいな液体が外部に排出される。  The dirt transferred into the decompression area 50 is conveyed to the separator (not shown) through the suction hose 66 together with the liquid in the decompression area 50 by the action of the decompression means (not shown). In this separator, the liquid is separated as required, and the separated clean liquid is discharged to the outside.
次に、 図示していないが、 複数個の溝を備えた薄板を貼付又は溶着し てもよい。  Next, although not shown, a thin plate having a plurality of grooves may be attached or welded.
尚、 容易に理解される如く、 電動モー夕 24 及び 32 を作動せしめて車 輪 22a及び 22b と車輪 30a及び 30b を同方向に回転駆動すると、 装置は 壁面 W に沿って直進し、 また車輪 22a及び 22b と車輪 30a及び 30b を 逆方向に回転駆動すると、 装置はその中心軸線の回りを回転移動して所望 の方向に向けられる。  As will be easily understood, when the electric motors 24 and 32 are operated to rotate the wheels 22a and 22b and the wheels 30a and 30b in the same direction, the device goes straight along the wall surface W and the wheels 22a and And 22b and wheels 30a and 30b are rotated in opposite directions, the device is rotated about its central axis and directed in the desired direction.
以上、 本発明に従って構成された装置の一具体例について説明したが、 本発明はかかる具体例に限定されることなく種々の壁面に吸着することが できる装置に適用することができる。 即ち、 例えば特許第 1323843 号に 開示されている如く、 仕切壁の一端部が受圧本体に連結され、 受圧本体に は超高圧水噴射手段や研掃材投射手段の如き表面処理手段が装備され、 該 表面処理手段が減圧領域内の壁面を所要の通り処理する形態の装置にも適 用することができる。 この形態の装置においては、 減圧領域の外側から内 側へ向かう流れの作用により減圧領域の内側で剥離された劣化塗膜片など の異物を減圧領域の外側へ漏出させることなく効果的に吸引回収すること ができる。  As described above, one specific example of the device configured according to the present invention has been described. However, the present invention is not limited to such a specific example, and can be applied to a device that can be adsorbed on various wall surfaces. That is, as disclosed in, for example, Japanese Patent No. 1323843, one end of a partition wall is connected to a pressure receiving main body, and the pressure receiving main body is equipped with surface treatment means such as an ultra-high pressure water jetting means or a polishing material projecting means, The present invention can also be applied to an apparatus in which the surface treatment means treats a wall surface in the decompression region as required. In this type of apparatus, foreign substances such as degraded coating film pieces peeled inside the decompression region due to the action of the flow from the outside to the inside of the decompression region are effectively sucked and collected without leaking to the outside of the decompression region. can do.
本発明によれば次のような効果が達成される。  According to the present invention, the following effects are achieved.
(1)仕切壁の壁面と接触する接触部には、 減圧領域内外を連通する溝が複 数個設けられている。 前記溝を生成せしめる薄板片は摩耗により損耗して も、 簡単に再度貼付または溶着することができる。 ^ (1) The contact portion that contacts the wall surface of the partition wall is provided with a plurality of grooves that communicate inside and outside the decompression region. Even if the thin plate piece that forms the groove is worn by abrasion, it can be easily attached or welded again. ^
(2)前記溝の個数及び断面積を適宜設定することはきわめて容易であるこ とから、 単位時間あたりの該溝を通過する流体量を所望の量に設定するこ とが可能で、 よって汚れを吸引回収する能力を適切に設定することができ る。 (2) Since it is extremely easy to appropriately set the number and cross-sectional area of the grooves, it is possible to set the amount of fluid passing through the grooves per unit time to a desired amount. The ability to suction and collect can be set appropriately.
(3)溝の生成方法において、 成形金型を加工することが不要で著しく簡単 となり、 製造コストも大幅に低減される。  (3) In the method of forming grooves, it is not necessary to machine a molding die, which is extremely simple, and the manufacturing cost is greatly reduced.
(4)仕切壁の半径方向内方に向かう流れが生成され、 減圧領域外の流体は 上記溝を通して減圧領域内に流入する。 かく して汚れが周囲に飛散するこ とが防止される。  (4) A flow is generated inward of the partition wall in the radial direction, and the fluid outside the decompression region flows into the decompression region through the groove. This prevents dirt from scattering around.
また、 剥離された塗膜片が該仕切壁と該壁面の接触部より漏出して処理 面に付着し、 よって処理品質を低下させる問題を解決することができる。  Further, it is possible to solve the problem that the peeled coating film pieces leak from the contact portion between the partition wall and the wall surface and adhere to the processing surface, thereby deteriorating the processing quality.

Claims

請求の範囲 The scope of the claims
1 . 剛性乃至半剛性材料から形成された受圧本体と、 該受圧本体及び表 面と協働して、 又は表面と協働して減圧領域を規定する仕切壁と、 該減圧 領域から流体を排出して該減圧領域内を減圧せしめるための減圧生成手段 とを具備する、 包囲流体の圧力によって表面に吸着し且つ表面に沿って移 動可能な装置において、 該仕切壁の該表面との接触部には、 複数個の薄板 片が該接触部の周方向に間隔を置いて貼付もしくは溶着されている、 こと を特徴とする装置。  1. A pressure-receiving body formed of a rigid or semi-rigid material, a partition wall that defines a pressure-reducing area in cooperation with the pressure-receiving body and the surface or in cooperation with the surface, and discharges fluid from the pressure-reducing area. A pressure-reducing means for reducing the pressure in the pressure-reducing region. , Wherein a plurality of thin plate pieces are attached or welded at intervals in a circumferential direction of the contact portion.
2 . 剛性乃至半剛性材料から形成された受圧本体と、 該受圧本体及び表面 と協働して、 又は表面と協働して減圧領域を規定する仕切壁と、 該減圧領 域から流体を排出して該減圧領域内を減圧せしめるための減圧生成手段と を具備する、 包囲流体の圧力によって表面に吸着し且つ表面に沿って移動 可能な装置において、 該仕切壁の該表面との接触部には、 該減圧領域の内 外を連通する溝がつけられた薄板片が貼付もしくは溶着されている、 こと を特徴とする装置。  2. A pressure receiving body formed of a rigid or semi-rigid material, a partition wall defining a pressure reduction area in cooperation with the pressure receiving body and the surface or in cooperation with the surface, and discharging fluid from the pressure reduction area. And a pressure-reducing means for reducing the pressure in the pressure-reducing region. A device capable of adsorbing on the surface by the pressure of the surrounding fluid and moving along the surface, comprising: The device according to claim 1, wherein a thin plate having a groove communicating with the inside and outside of the decompression region is attached or welded.
PCT/JP1999/003292 1998-06-23 1999-06-21 Surface-sucking mobile device WO1999067121A1 (en)

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JPH0853081A (en) * 1995-08-10 1996-02-27 Fukashi Uragami Device capable of being sucked on wall surface and shifted along the wall surface
JPH0999877A (en) * 1995-10-03 1997-04-15 Bill Daiko:Kk Vacuum box for wall face sucking/moving device
JPH1053173A (en) * 1987-04-01 1998-02-24 Fukashi Uragami Device sucked on wall surface and moving therealong

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52130398U (en) * 1976-03-26 1977-10-04
JPH0645102B2 (en) * 1985-02-25 1994-06-15 不可止 浦上 Surface treatment equipment
JPS6341285A (en) * 1986-08-05 1988-02-22 Fukashi Uragami Device capable of being adsorbed to wall surface
JPH1053173A (en) * 1987-04-01 1998-02-24 Fukashi Uragami Device sucked on wall surface and moving therealong
JPH04166480A (en) * 1990-10-30 1992-06-12 Chubu Electric Power Co Inc Wall sucking fit device
JPH07125661A (en) * 1993-05-04 1995-05-16 Fukashi Uragami Device capable of absorbing surface and to move along the same
JPH0733054A (en) * 1993-07-23 1995-02-03 Fukashi Uragami Device sucked to object surface and movable along the surface
JPH0853081A (en) * 1995-08-10 1996-02-27 Fukashi Uragami Device capable of being sucked on wall surface and shifted along the wall surface
JPH0999877A (en) * 1995-10-03 1997-04-15 Bill Daiko:Kk Vacuum box for wall face sucking/moving device

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AU4169399A (en) 2000-01-10

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