JPH06214B2 - Obstacle avoidance device for hangers for wall work - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial field of application) The present invention hangs a work robot, a gondola, etc. for performing wall surface work such as coating work on a wall surface of a cylindrical storage tank, a ship, a concrete structure or the like. Obstacle avoidance device for a wall work hanger cart for avoiding obstacles such as pipes provided vertically along the wall surface when the wall work hanger cart that moves vertically and horizontally moves laterally Is.

(Prior Art) For example, scaffolding work, blasting work, painting ground work, painting work, plumbing work, inspection work, etc. are performed as the wall work of the structure. It is necessary to suspend the wall work equipment such as a gondola or a moving ladder and move it up, down, left and right. To suspend this wall work equipment, the edge that is projected laterally on the wall surface of the building. Conventionally, a hanger cart that is supported by and moves laterally has been used.

When moving this hanger cart laterally, the rising pipes along the wall surface may be an obstacle, and in the past, in order to climb over such obstacles, the wall work equipment was conventionally removed to a position beyond the obstacle. The method of suspending was adopted.

A device for avoiding the eaves-like protrusions protruding on the wall surface during wall surface work is disclosed in Japanese Patent Application Publication No. 58156 of 1985, which is related to the application of the present applicants. Obstacles are inevitable.

(Problems to be Solved by the Invention) In the above-described conventional method of suspending the wall surface work equipment, the work is interrupted, and a large amount of time is wasted, and a large tow truck is used to suspend the work. For that reason, a large amount of cost is required, and there are various problems that it is dangerous because it is a work at a high place that handles heavy objects, and a means for avoiding obstacles without performing this suspension replacement has been a problem. .

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above problems and provide an obstacle avoidance device in a wall work hanger cart that can avoid obstacles such as rising pipes while suspending wall work equipment. is there.

(Means for Solving the Problem) In order to achieve the above object, the present invention hangs a wall surface work device such as a work robot so as to be able to move up and down, and is provided so as to extend laterally on a wall surface of a building. An obstacle avoidance device for a wall work hanger truck for avoiding obstacles such as rising pipes provided on the wall surface when the hanger truck supported by the edge moves laterally, From the upper end of the frame-shaped hanger trolley frame arranged substantially in parallel, a hanger arm extending parallel to the upper surface of the edge portion in the wall surface direction is projected, and a vertical hanger shaft is provided at the tip of the hanger arm. It is rotatably supported, and a plurality of avoiding arms are radially arranged on the lower end of this hanger shaft to fix the base end. A rotation avoidance device having wheels contacting the above-mentioned edge rotatable with respect to one vertical axis and for passing over an obstacle while rotating is inserted through the central portion thereof, while the edge of the hanger carriage frame is provided. At a position lower than the portion, a rotating arm having a touch roller attached to the wall surface is attached to a tip end portion of the arm so as to project toward the wall surface and supported by a support pin so as to be rotatable left and right.
This is an obstacle avoidance device in a wall work hanger carriage, which is provided with an automatic return means for returning to a state before the rotation after the rotation arm rotates around the obstacle to avoid it.

(Operation) In the hanger cart that suspends the wall surface work equipment, the wheels of the rotation avoidance device provided at the upper end contact the upper surface of the edge of the building to support its weight and are attached to the outer periphery of the edge. When moving horizontally along a rack rail, if there is an obstacle such as a rising pipe on the wall surface of the building during this horizontal movement, one of the multiple avoiding arms of the rotation avoidance device is an obstacle. When the rotation avoidance device rotates and crosses over the rotation avoiding device, if the tip of the rotation arm hits an obstacle, the rotation avoiding device rotates around the support pin to get over the obstacle, and then the automatic return means is rotated by the rotation arm. When the wall surface work equipment is hung on the rotating arm, the wall work equipment can avoid obstacles as the rotation arm rotates.

However, if the obstacle does not become an obstacle at a position where the wall surface work equipment is distant from the wall surface, the wall surface work equipment may be hung on the frame of the hanger carriage instead of the rotating arm.

(Embodiment) Hereinafter, the present invention will be described in detail based on an embodiment shown in the drawings.

FIG. 1 is a front view showing a wall storage work hanger cart mounted on a cylindrical storage tank in use as an embodiment of the present invention, and FIG. 2 is a side view of the same. Is a wall surface. The wall surface (1) is provided with an edge portion (2) generally called a wind garter in the circumferential direction, and a rising pipe (3) which hinders wall surface work is added to the edge portion. It is installed upright through (2).

(4) is a hanger trolley, which is a frame-shaped first hanger trolley frame (5) in which a square is placed on top of a horizontally long rectangle, and a second hanger trolley frame (5a) having only a horizontally long rectangle. ) Are arranged side by side in the lateral direction and are connected by a connecting fitting (6), and the first hanger carriage frame (5) and the second hanger carriage frame (5a) are attached to the protruding end portion of the edge portion (2). Two guide roller units (8) are attached to the rack rail (7) attached along the edge (2), two for each of the first hanger carriage frame (5) and the second hanger carriage frame (5a). ，
(8), (8), and (8) are movably engaged in the lateral direction to prevent falling, and are attached to the first hanger trolley frame (5) to include an electric motor (not shown),
A lateral movement unit (9) driven by this electric motor and provided with a pinion (not shown) that meshes with the rack of the rack rail (7) moves the hanger carriage (4) along the rack rail (7).

Reference numeral (10) is a work robot which is a wall surface work equipment, and is suspended by the electric winch (11) attached to the first hanger trolley frame (5) from the lower end of the rope (12) so that the wall surface (1) can be lifted and lowered. Is to be processed.

The cable (13) for the work robot (10) is hung on the second hanger carriage frame (5a) by a hanging jig (14) with a cord, and the cable (13) between the work robot (10) and the work robot (10). The work robot (10) is provided with a loop so that the work robot (10) can be moved up and down.

In addition, what is hung on the first hanger trolley frame (5) is
In addition to the work robot (10), it may be a gondola, a moving ladder, etc., and the second hanger frame (5a) has a suction hose for dust collection, a sand hose for blasting work, etc. in addition to the cable (13). A flexible object is hung depending on the type of wall work.

The upper end of the first hanger trolley frame (5) has an edge (2)
A hanger arm (1) that projects further upward and extends from the upper end thereof in the direction of the wall surface (1) parallel to the edge (2).
5) is provided, and the hanger arm (15) has a hanger shaft (16) substantially parallel to the wall surface (1) as shown in FIGS.
It is rotatably supported via 7) and (17). Further, at the lower end of the hanger shaft (16), six avoiding arms (18a) are radially arranged at equal intervals and the base ends thereof are arranged. Wheels (18b) that are fixed at the center and are in contact with the edge (2) that is rotatable and rotatable with respect to a vertical axis are attached to the lower surfaces of the tips of the six avoiding arms (18a). Further, the rotation avoidance device (18) is attached by inserting it through the central portion thereof, and the tip end surface of each avoidance arm (18a) is rotated when it hits the rising pipe (3) which is a work obstacle. A roller (18c) is attached to facilitate movement and crossing.

In this rotation avoidance device (18), three to four wheels (18b) are always in contact with the upper surface of the edge portion (2), and the work robot (10) is
Is to support the weight of the hanger dolly (4) that has been suspended, and when the hanger dolly (4) moves laterally in the direction of the arrow P as shown in FIG. As shown in Fig. A, the roller (18c) at the tip of one avoiding arm (18a) hits the rising pipe (3), and then the rotation avoidance device (18) in the order of Fig. B, C, and D.
Is rotated so that the roller (18c) rises and rolls around the outer circumference of the pipe (3) to cross over and avoid it.

Reference numeral (19) is a rotating arm, and as shown in FIGS. 7, 8 and 9, a tip end is bent downward and a touch roller (20) contacting the wall surface (1) is rotatably attached to the lower end thereof. The support pin (21) protruding near the center of the upper surface in the front-rear direction is attached to the first hanger carriage frame (5).
Is rotatably inserted through thrust bearings (22) and (22), and is supported with its tip end facing the wall surface (1).

(23) and (23a) are shock absorbers, which are similar to a generally known door check, and which are attached to both sides behind the support pin (21) of the rotating arm (19) in a pair, Rollers (24), (24a) at the tip
Levers (25), (25a) having a base end are rotatably attached to the levers (25), (25a).
Support pin (21) of tip of a) and rotation arm (19)
Tension springs (26), (2
6a) is stretched, and the rollers (24), (24a) are in contact with the outer surface of the laterally elongated member (5 ') of the first hanger carriage frame (5).

The shock absorbers (23) and (23a) and the tension springs (26) and (26a) automatically return the swing arm (19) to the state before the swing when the swing arm (19) swings left and right. It constitutes a means.

The rotating arm (19) having the above structure prevents the hanger carriage (4) from shaking by stabilizing the touch roller (20) against the wall surface (1) and stabilizes the hanger carriage (4). 4) When the lateral movement of the rotating arm (1
9) rises and hits the pipe (3), the rotating arm (19) moves the support pin (2) as shown by the phantom line in FIG.
It rotates around 1) and rises over the pipe (3).

At this time, in the lever (25) of the one shock absorber (23), the roller (24) at the tip is engaged with the laterally long member (5 ') of the first hanger carriage frame (5).
When the turning arm (19) climbs over the rising pipe (3), the restoring force of the tension spring (26) and the shock absorber (23) pulls the turning arm (19) back to the state before turning indicated by the solid line. It is a thing.

As described above, the hanger carriage (4) stands up while the hanger carriage (4) is moving laterally, and the pipe (3) is located above the edge (2) to prevent the rotation avoidance device (18).
Is rotated to avoid it, and below the edge portion (2), the rotating arm (19) is rotated to avoid, so that it is not necessary to suspend the work robot and suspend the work as in the conventional case. It is a thing.

The work obstacle in this case is not limited to the rising pipe (3), and except for the case where there is a particularly large staircase, the reinforcing ribs and small projections on the wall surface can be similarly avoided. .

(Effects of the Invention) According to the obstacle avoidance device for the wall work hanger dolly according to the present invention described above, the wall surface construction work such as painting on the wall surface of a building such as a cylindrical storage tank, a ship, or a concrete structure. When installing a hanger, such as a work robot, for suspending the wall work equipment so that it can be lifted up and down, and suspending it on the edge so that it can move laterally along the wall, raise obstacles such as pipes on the wall. By providing the rotation avoidance device for avoiding and the rotating arm, it is possible to easily avoid the obstacle without interrupting the work. It is no longer necessary to remove the heavy work equipment once and re-suspend it, which greatly improves work efficiency and eliminates the cost of a tow truck for re-suspending it. The danger associated with the suspension of heavy objects is eliminated, and the safety of the work is enhanced, which is a great effect.

[Brief description of drawings]

The drawings show an embodiment of the present invention. FIG. 1 is an overall front view, and FIG. 2 is a side view of FIG. 1 viewed in the direction of arrow S.
FIG. 3 is a partial perspective view showing a main part of a structure for avoiding rotation of an obstacle, FIG. 4 is a plan view of a rotation avoidance device, and FIG. 5 is of FIG.
FIG. 6 is a side view of a longitudinal section of a main part taken along the line II-II, FIG. 6 is an explanatory view of the action of the rotation avoidance device for avoiding an obstacle, FIG. Side view, 9th
Similarly, the figure is a plan view of the rotating arm and also shows the action of avoiding an obstacle. 1 ... Wall surface 2 ... Edge 3 ... Standing pipe (obstacle) 4 ... Hanger cart 5 ... 1st hanger cart frame 5a ... 2nd hanger cart frame 7 ... Rack rail 10 ... Working robot ( Wall work equipment 15 ・ ・ Hanger arm 16 ・ ・ Hanger shaft 18 ・ ・ Rotation avoider 18a ・ ・ Avoiding arm 18b ・ ・ Wheel 18c ・ ・ Roller 19 ・ ・ Rotating arm 20 ・ ・ Touch roller 21 ・ ・ Support pin 23 ..Shock absorber (automatic return means) 23a..Shock absorber (automatic return means) 26..Tension spring (automatic return means) 26a ..

Claims (1)

[Claims] 1. A wall work device such as a work robot is hung up and down so that a hanger carriage supported by an edge projecting laterally on a wall surface of a building laterally moves, An obstacle avoidance device for a wall work hanger carriage for avoiding obstacles such as rising pipes provided on the wall surface, from an upper end of a frame-shaped hanger carriage frame arranged substantially parallel to the wall surface. , A hanger arm extending in the wall surface direction in parallel with the upper surface of the edge portion is projected, and a vertical hanger shaft is rotatably supported at the tip of the hanger arm, and a plurality of hanger arms are provided at the lower end of the hanger shaft. Obstacles in which the avoiding arms are radially arranged and the base ends are fixed, and wheels are attached to the lower surfaces of the respective tip ends of the avoiding arms in contact with the edges that are rotatable and rotatable with respect to a vertical axis. A rotation avoidance device for overcoming while rotating is attached by inserting the center part thereof, while a touch roller that abuts against the wall surface is attached to the tip part at a position lower than the edge part of the hanger trolley frame. An automatic return means is provided for projecting the arm in the direction of the wall surface so as to be rotatable left and right by a support pin, and for the arm to rotate against an obstacle to avoid it, and then to return to the state before the rotation. An obstacle avoidance device for a wall work hanger cart, which is characterized by being provided.