JP3000066B2 - Robot for cleaning can-shaped formwork for concrete casting - Google Patents
Robot for cleaning can-shaped formwork for concrete castingInfo
- Publication number
- JP3000066B2 JP3000066B2 JP2213032A JP21303290A JP3000066B2 JP 3000066 B2 JP3000066 B2 JP 3000066B2 JP 2213032 A JP2213032 A JP 2213032A JP 21303290 A JP21303290 A JP 21303290A JP 3000066 B2 JP3000066 B2 JP 3000066B2
- Authority
- JP
- Japan
- Prior art keywords
- cleaning
- shaped
- formwork
- body frame
- main body
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
- 238000004140 cleaning Methods 0.000 title claims description 37
- 238000009415 formwork Methods 0.000 title claims description 29
- 238000005266 casting Methods 0.000 title claims description 8
- 238000003825 pressing Methods 0.000 claims description 2
- 239000003795 chemical substances by application Substances 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000002265 prevention Effects 0.000 description 4
- 239000007921 spray Substances 0.000 description 4
- 239000004570 mortar (masonry) Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000006082 mold release agent Substances 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 229920003002 synthetic resin Polymers 0.000 description 1
- 239000000057 synthetic resin Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- BQNXBSYSQXSXPT-UHFFFAOYSA-N yoda 1 Chemical compound ClC1=CC=CC(Cl)=C1CSC1=NN=C(C=2N=CC=NC=2)S1 BQNXBSYSQXSXPT-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Cleaning In General (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は、例えばトンネル覆工用の型枠のようなコン
クリート打設用缶体状型枠を清掃するロボットに関す
る。Description: TECHNICAL FIELD The present invention relates to a robot for cleaning a can-shaped formwork for concrete casting, such as a formwork for tunnel lining.
［従来の技術］ 従来、トンネル二次覆工用の型枠の清掃は、第９図に
示すように、シールド用スチール型枠Ｆの表面に人が腹
這いになって、手に持った工具で型枠表面に付着してい
るモルタル等の付着物を清掃除去すると共に、噴霧器に
より型枠の全周面に剥離剤を塗布しているのが大半であ
った。[Prior Art] Conventionally, a mold for secondary tunnel lining is cleaned by a tool held in a hand, as shown in FIG. In most cases, adhering substances such as mortar adhering to the surface of the mold are cleaned and removed, and a release agent is applied to the entire peripheral surface of the mold by a sprayer.
また、トンネル覆工用移動型枠の表面を機械により清
掃する方法としては、第10図に示すように、型枠Ｆの周
面にロープブラシ10を張って、その両端をロープ駆動装
置11により交互に引っ張って、ロープブラシ10を型枠表
面に擦り付けながら、清掃していた。As a method of cleaning the surface of the movable mold for tunnel lining with a machine, as shown in FIG. 10, a rope brush 10 is stretched around the peripheral surface of the mold F, and both ends thereof are controlled by a rope driving device 11. The cleaning was performed while alternately pulling the rope brush 10 against the surface of the formwork.
［発明が解決しようとする課題］ しかしながら、上記人力による方法は、縮小した型枠
Ｆと一次覆工セグメントＧとの間の作業空間が狭少であ
るため、作業が困難で能率が低いばかりでなく、円筒形
あるいは馬蹄形の型枠表面とセグメント若しくは地山と
の間で十分な作業足場が確保できなくて、危険であっ
た。特に、NATM工法の大断面に於いては、梯子または命
綱を掛けての危険な作業であった。[Problem to be Solved by the Invention] However, the above-mentioned method using human power is difficult and inefficient because the work space between the reduced formwork F and the primary lining segment G is small. In addition, it was not possible to secure a sufficient working platform between the surface of the cylindrical or horseshoe-shaped formwork and the segment or ground, which was dangerous. Especially on the large cross section of the NATM method, it was dangerous to put a ladder or a lifeline.
また、清掃後には剥離剤を塗布するため、ますます滑
り易い状態となり、それらの危険要素が作業に含まれる
ため、手抜き施工となり易く、清掃や剥離剤塗布の作業
にムラが生じて、仕上がりコンクリートの美観と品質の
低下を招く恐れがあるばかりでなく、剥離剤の消費量に
おいてもムラがあって不経済であった。In addition, since the release agent is applied after cleaning, it becomes more and more slippery, and these danger elements are included in the work. Not only may the aesthetic appearance and quality deteriorate, but also the consumption of the release agent is uneven and uneconomical.
さらに、上記従来の機械による方法は、自動無人化は
されているものの、型枠目地部より生じる表面段差にお
いてケレン効果が十分に発揮されず、また、運転スピー
ドが一定しているため表面性状合わせたスピードコント
ロールが出来ない等の欠点があった。In addition, although the above-mentioned conventional machine method is automatically unmanned, the Keren effect is not sufficiently exerted on the surface steps generated from the form joints, and the surface properties are adjusted because the operation speed is constant. There was a drawback that speed control could not be performed.
本発明は、上記従来の問題点を解決するためになされ
たもので、その目的とするところは、作業能率や精度を
向上することができるコンクリート打設用缶体状型枠の
清掃ロボットを提供することにある。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and an object of the present invention is to provide a cleaning robot for a concrete casting can-shaped formwork capable of improving work efficiency and accuracy. Is to do.
［課題を解決するための手段］ 本発明のコンクリート打設用缶体状型枠の清掃ロボッ
トは、本体フレームと、該本体フレームの下側に配設さ
れ、駆動手段により回転駆動される複数の走行車輪と、
缶体状型枠の表面から適宜クリアランスを隔てて吸引し
て上記走行車輪を缶体状型枠の表面に押し付ける平板型
のマグネットと、上記缶体状型枠の表面を清掃する回転
ブラシと、上記本体フレームの側部に設けられていて、
前記回転ブラシによる清掃後の缶体状型枠の表面に剥離
剤を塗布する塗布ノズルから構成したことを特徴とす
る。また、上記走行車輪がほぼ90゜に走行方向を変える
ように構成したことも特徴とする。さらに、上記マグネ
ットを缶体状型枠の表面から引き離したり近づけて吸引
力を変化させ、上記本体フレームを缶体状型枠に対して
着脱可能に構成したことも特徴とする。さらにまた、上
記回転ブラシをバランサーにより缶体状型枠の表面に所
定押圧力で押し付けるように構成したことも特徴とす
る。またさらに、上記本体フレームを屈曲自在に構成し
て、上記走行車輪を回転ブラシに関して回動可能に構成
したことも特徴とする。Means for Solving the Problems A cleaning robot for a concrete casting can-shaped formwork of the present invention comprises a main body frame, and a plurality of robots disposed below the main body frame and driven to rotate by driving means. Running wheels,
A flat-plate-type magnet that presses the traveling wheel against the surface of the can-shaped form by sucking it from the surface of the can-shaped form with an appropriate clearance therebetween, and a rotating brush that cleans the surface of the can-shaped form, It is provided on the side of the body frame,
It is characterized by comprising an application nozzle for applying a release agent to the surface of the can-shaped mold after cleaning by the rotating brush. Further, the present invention is characterized in that the running wheels change the running direction to approximately 90 °. Further, it is characterized in that the magnet is pulled away from or close to the surface of the can-shaped form to change the attraction force, and the main body frame is configured to be detachable from the can-shaped form. Still further, the rotating brush is configured to be pressed against the surface of the can-shaped formwork with a predetermined pressing force by a balancer. Still further, the main body frame is configured to be bendable, and the traveling wheel is configured to be rotatable with respect to the rotating brush.
［実施例］ 以下、本発明の一実施例について図面を参照しながら
説明する。Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
第１図および第２図において、１は本体フレームであ
って、その下側部には走行車輪２が配設されている。該
走行車輪２は油圧モータや電動機等の適宜駆動手段2aに
より回転駆動される。該走行車輪２の回転速度すなわち
走行スピードは変えることができ、また回転方向も転換
することができる。さらに、該走行車輪２は、第３図に
示すように、垂直軸2bの回りに90゜回転して、直交する
XY方向にステアリングが可能となっている。In FIGS. 1 and 2, reference numeral 1 denotes a main body frame, on the lower side of which a traveling wheel 2 is disposed. The traveling wheels 2 are rotationally driven by appropriate driving means 2a such as a hydraulic motor or an electric motor. The rotation speed of the running wheel 2, that is, the running speed, can be changed, and the direction of rotation can also be changed. Further, as shown in FIG. 3, the traveling wheels 2 rotate 90 ° around the vertical axis 2b and cross at right angles.
Steering is possible in the XY direction.
尚、走行車輪２をアルミニウムや合成樹脂等の摩擦抵
抗の小さい材料により構成して、走行抵抗およびステア
リング抵抗を小さくするのが好ましい。Preferably, the traveling wheels 2 are made of a material having a low frictional resistance, such as aluminum or synthetic resin, so as to reduce the traveling resistance and the steering resistance.
３はマグネットであって、磁性材料から構成されてい
る缶体状型枠Ａに適宜クリアランスを隔てて吸引し、上
記走行車輪２を缶体状型枠Ａの表面に押し付ける。該マ
グネット３が永久磁石の場合には、該マグネットを缶体
状型枠Ａから引き離してクリアランスを大きくし、上記
吸引力を弱くすることにより、本体フレーム１を缶体状
型枠Ａから離脱せしめる。マグネット３が電磁石の場合
には、電流を遮断することにより吸引を解除して、本体
フレーム１を缶体状型枠Ａから離脱せしめる。Reference numeral 3 denotes a magnet which is sucked into a can-shaped form A made of a magnetic material with an appropriate clearance therebetween, and presses the traveling wheel 2 against the surface of the can-shaped form A. When the magnet 3 is a permanent magnet, the main frame 1 is detached from the can-shaped form A by separating the magnet from the can-shaped form A to increase the clearance and weaken the attraction force. . When the magnet 3 is an electromagnet, the current is cut off to release the suction, and the main body frame 1 is detached from the can-shaped formwork A.
４は回転ブラシであって、油圧モータや電動機等の適
宜駆動手段（図示せず）により回転駆動される。該回転
ブラシ４の回転数は可変とし、付着物の種類、付着状態
等に応じて効果的な回転速度に調節できるようにする。
また回転方向も転換し得るようになっている。Reference numeral 4 denotes a rotating brush, which is rotationally driven by a suitable driving means (not shown) such as a hydraulic motor or an electric motor. The number of rotations of the rotating brush 4 is made variable so that it can be adjusted to an effective rotation speed according to the type of attached matter, the attached state, and the like.
The direction of rotation can also be changed.
５はバランサーであって、特に本体フレーム１が缶体
状型枠Ａの側部や下部に位置する時に、上記回転ブラシ
４を缶体状型枠Ａの表面に適度な力で押し付けて、清掃
能力を維持できるようになている。Reference numeral 5 denotes a balancer, particularly when the main body frame 1 is located at a side portion or a lower portion of the can-shaped formwork A, and the rotating brush 4 is pressed against the surface of the can-shaped formwork A with an appropriate force to perform cleaning. The ability to maintain.
６は塗布ノズルであって、上記本体フレーム１の側部
に設けられていて、清掃後の缶体状型枠Ａの表面に剥離
剤等を噴霧して塗布する。Reference numeral 6 denotes an application nozzle which is provided on a side portion of the main body frame 1 and sprays and applies a release agent or the like to the surface of the can-shaped form A after cleaning.
７はリミットスイッチ、８は脱落防止センサーであっ
て、本体フレーム１が缶体状型枠Ａの端部に来た時、停
止させるようになっている。上記本体フレーム１には、
コンピュータ等から成る制御器（図示せず）が設けられ
ていて、上記走行車輪２の回転数、回転方向およびステ
アリング等の制御、マグネット３の吸着切換制御、回転
ブラシ４の回転数、回転方向等の制御、塗布ノズル６に
よる噴霧量や方向等の制御、リミットスイッチや脱落防
止センサー８からの情報に基づく停止制御等のコントロ
ール管理を行う。Reference numeral 7 denotes a limit switch, and reference numeral 8 denotes a falling-off prevention sensor, which stops when the main body frame 1 reaches the end of the can-shaped formwork A. In the main body frame 1,
A controller (not shown) composed of a computer or the like is provided, and controls the rotation speed, rotation direction, and steering of the traveling wheel 2, control for switching the suction of the magnet 3, rotation speed, rotation direction, and the like of the rotating brush 4. Control, such as control of the spray amount and direction by the application nozzle 6, and stop control based on information from the limit switch and the drop-out prevention sensor 8.
次に、上記実施例の装置の作用について説明する。 Next, the operation of the device of the above embodiment will be described.
まず、回転ブラシ４の回転軸4aが缶体状型枠Ａの中心
軸線と平行になるように、清掃ロボットＲを缶体状型枠
Ａの表面上にセットしてマグネット３により吸着せし
め、走行車輪２を缶体状型枠Ａの表面に押し付ける。
（第４図参照） 続いて、走行車輪２を缶体状型枠Ａの表面の円周方向
に向けて回転駆動せしめると、清掃ロボットＲは表面の
円周方向に移動する。First, the cleaning robot R is set on the surface of the can-shaped form A so that the rotating shaft 4a of the rotating brush 4 is parallel to the central axis of the can-shaped form A, and is attracted by the magnet 3, and travels. The wheel 2 is pressed against the surface of the can-shaped formwork A.
(See FIG. 4.) Subsequently, when the traveling wheels 2 are rotationally driven in the circumferential direction of the surface of the can-shaped formwork A, the cleaning robot R moves in the circumferential direction of the surface.
この状態で回転ブラシ４を回転させて、缶体状型枠Ａ
の表面上のモルタル等の付着物を除去する。回転ブラシ
４は、第５図に示すように、清掃されたゴミが下方に掻
き落とされるように、缶体状型枠Ａの右側では左回転せ
しめ、缶体状型枠Ａの最小部と最下部で逆転せしめる。By rotating the rotating brush 4 in this state, the can-shaped form A
Removes deposits, such as mortar, on the surface of. As shown in FIG. 5, the rotating brush 4 is rotated leftward on the right side of the can-shaped formwork A so that the cleaned garbage is scraped downward, and the smallest part of the can-shaped formwork A Turn it upside down at the bottom.
第１周目の清掃作業が終了したら、第３図に仮想線で
示すように、走行車輪を90゜向きを変えて、横方向（缶
体状型枠Ａの軸線方向）の清掃ロボットＲを清掃幅（１
ピッチ）だけ移動させる。（第４図参照） 移動が完了したら、再び走行車輪２を元の円周方向に
戻してから、清掃作業を再開させる。When the cleaning operation of the first cycle is completed, the running wheels are turned 90 ° as shown by the imaginary line in FIG. 3 to move the cleaning robot R in the lateral direction (the axial direction of the can-shaped form A). Cleaning width (1
(Pitch). (See FIG. 4.) When the movement is completed, the traveling wheel 2 is returned to the original circumferential direction again, and the cleaning operation is restarted.
この第２周目の清掃作業が完了したら、第６図に示す
ように、塗布ノズル６から第１周目の清掃面に剥離剤を
噴出させて、清掃後の缶体状型枠Ａの表面に塗布する。
この剥離剤の塗布作業は、第２周目の清掃作業と同時に
行ってもよい。When the cleaning operation in the second cycle is completed, as shown in FIG. 6, a release agent is ejected from the application nozzle 6 to the cleaning surface in the first cycle to clean the surface of the can-shaped mold A after cleaning. Apply to.
The operation of applying the release agent may be performed simultaneously with the cleaning operation of the second round.
缶体状型枠Ａの端部においては、第７図に示すよう
に、上記リミットスイッチ７により打設終了側コンクリ
ート構造物Ｃの端面を検知して、清掃ロボットＲを停止
させる。また、脱落防止センサー８により、逸脱の恐れ
がある缶体状型枠Ａの端部を検知せしめて、清掃ロボッ
トＲを停止せしめ、落下を防止する。At the end of the can-shaped formwork A, as shown in FIG. 7, the limit switch 7 detects the end face of the concrete structure C on the side where casting is completed, and stops the cleaning robot R. In addition, the falling-off prevention sensor 8 detects an end of the can-shaped formwork A that may deviate, stops the cleaning robot R, and prevents the cleaning robot R from falling.
第８図は別の実施例を示すものであって、上記本体フ
レーム１を３つに分割して、ヒンジ９により屈曲自在に
連結し、各種の曲率を有する缶体状型枠Ａの表面に対し
て、常に最適な状態で回転ブラシ４が作用して、効果的
に清掃し得るようにする。FIG. 8 shows another embodiment, in which the main body frame 1 is divided into three parts, and the main body frame 1 is flexibly connected by hinges 9 to the surface of a can-shaped form A having various curvatures. On the other hand, the rotating brush 4 always operates in an optimal state, so that the cleaning can be performed effectively.
［発明の効果］ （１）ブラシによるモルタル掻落とし作業とコンクリー
ト剥離剤の塗布作業を同時に行うことのできる。また、
剥離剤の塗布（噴霧スプレー）を効果的に行うことがで
きる。[Effects of the Invention] (1) The mortar scraping operation using a brush and the application of a concrete release agent can be performed simultaneously. Also,
The release agent can be effectively applied (spray spray).
（２）マグネットが缶体状型枠の表面から適宜クリアラ
ンスを缶体状型枠Ａの表面に鉄粉などが付着しても、走
行が妨げられる心配がない。(2) Even if iron powder or the like adheres to the surface of the can-shaped form A by the magnet having an appropriate clearance from the surface of the can-shaped form, there is no concern that running is hindered.
（３）平板型のマグネットを使用しているので、強い吸
引力を得ることができる。(3) Since a flat magnet is used, a strong attractive force can be obtained.
（４）トンネル工事に於いては、二次覆工でのコンクリ
ート巻圧が基準化されている狭少空間に於いて、人力作
業に代わりロボットにより無人化を図って、省力化と作
業の安全施工が確保できる。(4) In tunnel construction, in a narrow space where the concrete winding pressure in the secondary lining is standardized, unmanned robots are used instead of human labor to save labor and improve work safety. Construction can be secured.
（５）ロボット作業により制そう作業が標準化され、均
一にムラなく行うことができるので、コンクリート覆工
面の仕上がり美観を向上させることができる。(5) Since the work to be controlled by the robot work is standardized and can be performed uniformly without unevenness, the finish appearance of the concrete lining surface can be improved.
（６）作業精度を高める事により品質向上につながる。(6) Improving work accuracy leads to quality improvement.
（７）本発明装置は、次のような作業に適用することが
できる。(7) The device of the present invention can be applied to the following operations.
ａ）シールド工法及びNATM工法等に於ける、二次覆工に
伴う移動型枠のケレン清掃剥離剤スプレー作業。a) Spraying the release mold release agent for the movable formwork with the secondary lining in the shield method and NATM method.
ｂ）搭上コンクリート構造物のコンクリート型枠の清掃
および剥離剤塗布作業。b) Cleaning the concrete formwork of the on-board concrete structure and applying a release agent.
ｃ）管路内面の自動スケール落とし。c) Automatic descaling of the inner surface of the pipeline.
ｄ）特殊な条件下に於ける円筒缶体状型枠の清掃塗布作
業。d) Cleaning and application of cylindrical can-shaped formwork under special conditions.
第１図は本発明の清掃ロボットの一実施例を示す側断面
図、第２図は第１図のII−II線に沿った平断面図、第３
図は走行車輪のステアリング説明図、第４図は清掃作業
の説明図、第５図は回転ブラシの回転方向の説明図、第
６図は塗布作業の説明図、第７図はリミットスイッチ及
び脱落防止センサーの作用説明図、第８図は清掃ロボッ
トの別の実施例を示す説明図、第９図及び第10図は従来
の缶体清掃作業の説明図である。 １……本体フレーム、２……走行車輪、2a……駆動手
段、2b……垂直軸、３……マグネット、４……回転ブラ
シ、4a……回転軸、５……バランサー、６……塗布ノズ
ル、７……リミットスイッチ、８……脱落防止センサ
ー、９……ヒンジ、Ａ……缶体状型枠、Ｃ……コンクリ
ート構造物、Ｒ……清掃ロボット。FIG. 1 is a side sectional view showing an embodiment of the cleaning robot of the present invention, FIG. 2 is a plan sectional view taken along the line II-II of FIG.
FIG. 4 is an explanatory view of a steering wheel, FIG. 4 is an explanatory view of a cleaning operation, FIG. 5 is an explanatory view of a rotating direction of a rotating brush, FIG. 6 is an explanatory view of a coating operation, FIG. FIG. 8 is an explanatory view of another embodiment of the cleaning robot, and FIGS. 9 and 10 are explanatory views of a conventional can body cleaning operation. DESCRIPTION OF SYMBOLS 1 ... Body frame, 2 ... Running wheel, 2a ... Driving means, 2b ... Vertical axis, 3 ... Magnet, 4 ... Rotary brush, 4a ... Rotary axis, 5 ... Balancer, 6 ... Application Nozzle 7, Limit switch 8, Dropout prevention sensor 9, Hinge A A Canned formwork C Concrete structure R Robot cleaning robot.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 伊藤 嘉和 東京都世田谷区経堂４―11―14 (72)発明者 依田 章 神奈川県横浜市金沢区釜利谷町１番地 東急車輌製造株式会社内 (72)発明者 鈴木 喜久雄 神奈川県横浜市金沢区釜利谷町１番地 東急車輌製造株式会社内 (56)参考文献 特開 昭61−79588（ＪＰ，Ａ) 特開 昭60−259386（ＪＰ，Ａ) 特開 昭52−127690（ＪＰ，Ａ) 特開 昭56−112696（ＪＰ，Ａ) 特開 昭53−18253（ＪＰ，Ａ) 実開 昭48−54629（ＪＰ，Ｕ) 実開 昭60−80885（ＪＰ，Ｕ) 実開 平３−19682（ＪＰ，Ｕ) (58)調査した分野(Int.Cl.7，ＤＢ名) B08B 1/00 - 1/04 B08B 9/02 - 9/06 B25J 5/00 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshikazu Ito 4-11-14 Kyodo, Setagaya-ku, Tokyo (72) Inventor Akira Yoda 1 Kamariyacho, Kanazawa-ku, Yokohama-shi, Kanagawa Prefecture Tokyu Vehicle Manufacturing Co., Ltd. Inventor Kikuo Suzuki 1 Kamariya-cho, Kanazawa-ku, Yokohama City, Kanagawa Prefecture Tokyu Vehicle Manufacturing Co., Ltd. (56) References JP-A-61-79588 (JP, A) JP-A-60-259386 (JP, A) 52-127690 (JP, A) JP-A-56-112696 (JP, A) JP-A-53-18253 (JP, A) JP-A 48-54629 (JP, U) JP-A 60-80885 (JP, A) U) Japanese Utility Model Hei 3-19682 (JP, U) (58) Fields surveyed (Int. Cl. 7 , DB name) B08B 1/00-1/04 B08B 9/02-9/06 B25J 5/00
Claims (5)
配設され、駆動手段により回転駆動される複数の走行車
輪と、缶体状型枠の表面から適宜クリアランスを隔てて
吸引して上記走行車輪を缶体状型枠の表面に押し付ける
平板型のマグネットと、上記缶体状型枠の表面を清掃す
る回転ブラシと、上記本体フレームの側部に設けられて
いて、前記回転ブラシによる清掃後の缶体状型枠の表面
に剥離剤を塗布する塗布ノズルから構成したことを特徴
とするコンクリート打設用缶体状型枠の清掃ロボット。1. A main body frame, a plurality of traveling wheels disposed below the main body frame and driven to rotate by a driving means, and suctioned from a surface of the can-shaped mold with an appropriate clearance therebetween. A flat-plate type magnet that presses the traveling wheel against the surface of the can-shaped formwork, a rotating brush that cleans the surface of the can-shaped formwork, and a cleaning brush that is provided on a side of the main body frame and is provided by the rotating brush. A cleaning robot for a can-shaped formwork for concrete casting, comprising an application nozzle for applying a release agent to the surface of a can-shaped formwork after the above.
るように構成したことを特徴とする請求項１に記載のコ
ンクリート打設用缶体状型枠の清掃ロボット。2. The cleaning robot according to claim 1, wherein the traveling wheel changes the traveling direction to approximately 90 °.
き離したり近づけて吸引力を変化させ、上記本体フレー
ムを缶体状型枠に対して着脱可能に構成したことを特徴
とする１または２に記載のコンクリート打設用缶体状型
枠の清掃ロボット。3. The apparatus according to claim 1, wherein the magnet is pulled away from or close to the surface of the can-shaped mold to change the attraction force, and the main body frame is detachably attached to the can-shaped mold. 3. The robot for cleaning a can-shaped formwork for concrete casting according to item 2.
型枠の表面に所定押圧力で押し付けるように構成したこ
とを特徴とする請求項１、２または３に記載のコンクリ
ート打設用缶体状型枠の清掃ロボット。4. A can body for concrete casting according to claim 1, wherein the rotating brush is pressed against the surface of the can body mold by a predetermined pressing force by a balancer. Formwork cleaning robot.
上記走行車輪を回転ブラシに関して回動可能に構成した
ことを特徴とする請求項１、２、３または４に記載のコ
ンクリート打設用缶体状型枠の清掃ロボット。5. The apparatus according to claim 5, wherein the main body frame is bendable.
5. The cleaning robot according to claim 1, wherein the traveling wheel is rotatable with respect to a rotary brush.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2213032A JP3000066B2 (en) | 1990-08-10 | 1990-08-10 | Robot for cleaning can-shaped formwork for concrete casting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2213032A JP3000066B2 (en) | 1990-08-10 | 1990-08-10 | Robot for cleaning can-shaped formwork for concrete casting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0494778A JPH0494778A (en) | 1992-03-26 |
| JP3000066B2 true JP3000066B2 (en) | 2000-01-17 |
Family
ID=16632383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2213032A Expired - Fee Related JP3000066B2 (en) | 1990-08-10 | 1990-08-10 | Robot for cleaning can-shaped formwork for concrete casting |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3000066B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101247598B1 (en) * | 2011-06-17 | 2013-03-26 | (주)케이에이치하우징솔루션스 | Semi-Automatic Form Panel Surface Cleaning Device |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2334186B1 (en) * | 2006-08-11 | 2010-12-28 | Ventol España S.L. | ROBOT TREPADOR CLEANER. |
| JP6170065B2 (en) * | 2011-12-02 | 2017-07-26 | ヘリカル ロボティクス，リミティド ライアビリティ カンパニー | Mobile robot |
| CN104984939B (en) * | 2015-07-27 | 2017-07-07 | 苏州热工研究院有限公司 | A kind of rotor clean robot |
| ES2603434B1 (en) * | 2015-08-17 | 2017-12-22 | Gamesa Innovation & Technology, S.L. | External cleaning machine in wind turbine towers |
| ES2955632B2 (en) * | 2022-04-26 | 2024-04-18 | Randal Systems Electronica De Control Integral S L | BOAT HULL CLEANING EQUIPMENT |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5045808Y2 (en) * | 1971-10-23 | 1975-12-25 | ||
| JPS52127690A (en) * | 1976-04-19 | 1977-10-26 | Kikuchi Tadao | Sflfftravelling floor surface grtnding and cleaning machine |
| JPS6080885U (en) * | 1983-11-11 | 1985-06-05 | 海洋機器株式会社 | Underwater cleaning robot |
| JPS60259386A (en) * | 1984-06-01 | 1985-12-21 | バブコツク日立株式会社 | Falling-off preventive type wall-surface travelling robot device |
| JPS6179588A (en) * | 1984-09-28 | 1986-04-23 | 株式会社東芝 | Multi-joint robot |
-
1990
- 1990-08-10 JP JP2213032A patent/JP3000066B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101247598B1 (en) * | 2011-06-17 | 2013-03-26 | (주)케이에이치하우징솔루션스 | Semi-Automatic Form Panel Surface Cleaning Device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0494778A (en) | 1992-03-26 |
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