JPH06126624A - Automatic blasting device for grinding and sweeping inner surface of box - Google Patents

Abstract

PURPOSE:To accomplish a blasting work safely in the man and power saving manner and sanitarily without interference of a hose in the case of changing the position and the direction of a blast nozzle. CONSTITUTION:An automatic blasting device comprises a first bent pipelike revolving member 12a which has the forward end area coaxially and air-tightly inserted in the rear end area of an inner cylinder 5a which is directed in the longitudinal direction and s supplied with a blasting material by high pressure air from the front end and the rear end bent downward to open, and rotated round the inner cylinder 5a in a set angle range relatively in the normal and reverse directions alternately and a blast nozzle 13 which has the forward end coaxially and air-tightly inserted in the rear end of the first revolving member 12a and the rear end extended backward with an angle theta of a little inclination. Further, the two-stage revolving blasting device comprises a second bent pipe-like revolving member 2c which has the forward end rotated round the rear end of the first revolving member 12a in a set angle range in the normal and reverse directions alternately, and the device is attached to a portal movable frame moved in the longitudinal direction in such a manner as to elevate and move laterally and installed on a manipulator expanded and contracted in the longitudinal direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic blasting device for scouring and cleaning the inner surface of a box used for pre-painting steel products, especially the inner surface of a long box such as a bridge box girder.

[0002]

2. Description of the Related Art Air blasting is mainly used for blasting work in narrow spaces such as the inner surface of bridge box girders. Conventionally,
In this type of work, an operator holds the air hose and the nozzle attached to the tip of the work by hand, and sprays a cleaning and cleaning material (eg, iron particles of about 1 mmφ) in a narrow space. A typical so-called 3 that is tight, dirty and dangerous
K work. Therefore, in order to perform the above work by a machine, for example, an arm of an articulated robot may be used, and the nozzle portion may be supported at the tip of the arm to freely change the direction of the nozzle. Since the air hose is swung around in accordance with the change in the direction, and it is difficult to avoid interference with the surroundings, such means is not practical and has not been put to practical use. .

[0003]

SUMMARY OF THE INVENTION The present invention has been proposed in view of the above circumstances, and there is no hose interference even if the position and direction of the blast nozzle are changed, which is safe, labor-saving, labor-saving and hygienic. It is an object of the present invention to provide an automatic blasting device for cleaning the inner surface of a box for blasting.

[0004]

For this reason, the invention of claim 1 is directed to the front-rear direction and the front end is coaxial and airtight to the rear end of the inner cylinder to which the abrasive is supplied from the front end by high pressure air. A first curved tubular swiveling member that is inserted and has its rear end curved and opened downward, and alternately turns relative to the inner cylinder in a set angle range in a forward direction and a reverse direction; The front end portion is coaxially and airtightly inserted in the rear end portion of the member, and the rear end portion has a blast nozzle extending forward with a slight inclination angle, and the front end portion is the rear end portion of the first turning member. Positive direction around,
A two-stage swivel-type polishing / cleaning material spraying device composed of a second curved tubular swiveling member which alternately turns a set angle range in the opposite direction, and a vertically movable and horizontally movable portal type movable platform. The above-mentioned first is attached to the rear end attached to the rear end extending in the front-back direction.
And a manipulator arm having a cylindrical joint for supporting the front end portion of the swiveling member mounted in the axial direction.

According to a second aspect of the invention, in the invention of the first aspect, the first swiveling member is inserted between the rear end portion and the front end portion of the second swiveling member, and the rear portion of the first swiveling member is inserted. The front end portion of the second turning member is coaxially and airtightly inserted into the rear end opening that is coaxially and airtightly inserted into the end portion and curved rearward, and the front end portion is the same as the first end portion. A third rotation unit that alternately rotates the set angle range in the forward and reverse directions around the rear end of the turning member.
And a curved tubular turning member of

According to a third aspect of the present invention, in the above-mentioned first or second aspect of the invention, the blast hose that constantly supplies the abrasive cleaning material to the front end opening of the inner cylinder into which the front end portion of the first curved tubular turning member is inserted. It is characterized in that a constant tension is applied so that the blast hose does not sag in spite of the movement of related members during the blasting work.

[0007]

According to this structure, the following actions are performed. (1) According to the invention of claim 1 and the invention of claim 2, a two-stage swirl type polishing / cleaning material injection device comprising a first swiveling member and a second swiveling member, a first swiveling member, and a second swiveling member, respectively. By remotely moving the three-stage swivel-type polishing / cleaning material injection device including the swiveling member and the third swiveling member back and forth, left and right, and up and down, the inner surface of the box-shaped work can be uniformly swept and swept. It will be possible. (2) Further, according to the invention of claim 3, the polishing agent is the first
And a second two-stage swiveling abrasive cleaning material injection device, or first and second
And, the blast hose is fed through the center hole of the third three-stage swiveling abrasive cleaning material injection device, and at that time, since the blast hose is stretched with a constant tension without sagging, the hose and related members are swung by the blast nozzle. Interference does not occur. (3) As a result, according to the present invention, there is no hose interference even if the position and direction of the blast nozzle are changed, and it is possible to obtain a safe, labor-saving, labor-saving and hygienic automatic blasting device for the inner surface of a box. it can.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to the drawings, an embodiment of the device of the present invention is shown in FIG.
1 is an overall side view of the automatic blasting device having the swirling nozzle mechanism of FIG. 1, FIG. 3 is a rear view taken along the line III-III of FIG. 2, and FIG. 4 is a side view and a front view showing the slack absorbing mechanism of the hose in FIG. 5 is a plan view taken along the line VV of FIG.

First, in FIG. 1, a, b, and c represent constituent elements of a first shaft, a second shaft, and a third shaft, respectively, and 1 is an air hose for blast, through which high-pressure air is passed to pass a polishing agent. Transport. 2 is a cylindrical joint with a flange that fixes the air hose 1 and connects the swivel device at the tip to the manipulator arm, and 9a is inserted between the front end of the cylindrical joint 2 and the rear end of the outer cylinder 3a to remove the polishing agent. Tapered flanges 4a that are difficult to flow into the sealing material 10a are a pair of front and rear bearings that support the outer cylinder 3a and the inner cylinder 5a so as to be relatively rotatable relative to each other, and 6a is fitted to the front end of the inner cylinder 5a. gear,
Reference numeral 7a is a gear fitted to the output shaft of a motor 8a fixed to the outer cylinder 3a, and both gears 6a and 7a cooperate with each other to form the inner cylinder 5a.
Rotate coaxially.

Therefore, the right-angled elbow 12a connected to the outer cylinder 3a can also be rotated 180 ° around the φ ₁ axis to change the conveying direction of the polishing and cleaning material. The same mechanism is used as a basic unit, and in this embodiment, three units (three axes) are connected,
The rotation axes of φ ₁ , φ ₂ , and φ _{3 with} the rotation angle of 360 ° are obtained. However, the illustration of the φ ₃ -axis motor part is omitted because it is on the front side of the drawing. At the tip of phi ₃ axes,
Inclined nozzle 1 with the injection direction inclined by angle θ with respect to the φ ₃ axis
3 is attached. Here, the φ ₃ axis is dedicated to weaving to realize a wide injection pattern. The inner cylinder 5a, the tapered flange 9a, the right-angled elbow 12a, and the nozzle 13 that come into contact with the polishing material are made of a wear-resistant material such as tungsten carbide.

2 to 3, reference numeral 14 denotes a telescopic manipulator tip end portion, to which the swivel type abrasive cleaning / injection device shown in FIG. 1 is attached via the tubular joint 2. Reference numeral 15 is a manipulator base end portion having a rectangular cross section in which a manipulator tip end portion 14 having a rectangular cross section is slidably inserted in the axial direction, and 16 is a pair of left and right guide units that move up and down along a gate-shaped column of a traveling carriage 17. , 17 'are traveling carriages on which the gate-shaped support 17 is mounted and which can be moved in the front-rear direction, and 18 is a traveling rail. Here, as shown in FIG. 3, the telescopic telescopic manipulator including the manipulator tip portion 14 and the manipulator tip portion 15 has a Z-axis direction along a horizontal horizontal beam having a pair of left and right guide units 16 as guides. Can be moved to. Reference numeral 19 is a bridge box girder member which is a work having a width and a height of 1 to 3 m and a length of 10 to 20 m, and vertical and horizontal ribs are provided inside for the purpose of improving the structural strength. In the device of the present invention, the telescopic manipulator is inserted into the work 19 as described above, and the bottom surface, both side surfaces, and the top surface of the work are pulled out while sequentially sweeping and cleaning by using the turning type polishing / cleaning material injection device at the tip end. The entire surface is cleaned.

FIGS. 4 and 5 show a hose processing mechanism for absorbing the slack of the blast hose, which is used for supplying a polishing / cleaning material connected to a swivel-type polishing / cleaning material spraying device attached to the tip 14 of the manipulator. The blast hose 1 is inserted through the rear end of the manipulator base end portion 15 into the manipulator front end portion 14 so as to be freely inserted and removed. The pressing pulley 20 and the drive pulley 21 cooperate to hold the blast hose 1 and follow the expansion and contraction of the manipulator arm, and the blast hose 1
Move in and out. The blast hoses coming out from both pulleys 20 and 21 are pulleys 22 and 2 provided on the guide unit 16.
3, the blast hose 32 is fixed through a pulley 24 provided on the gate mount 17 and a movable pulley 25 (25 is fixed to a trolley 26 movably mounted on a ceiling rail 27). Connected to the department. After the fixed portion, the abrasive cleaning material pressure-feeding device is connected by a fixed pipe or the like (not shown). Here, the trolley 26 has a fixed pulley 29 and a movable pulley 30.
Also, the weight 31 hung on the movable pulley 30 always pulls to the left with a constant tension, and as a result, the blast hose 1 is also pulled with a constant tension. Therefore, the blast hose is always kept slack free.

The swirling abrasive cleaning material spraying device is operated in the following procedure. As shown in FIG. 2, the traveling carriage 17 ′ is advanced along the traveling rail 18 and is inserted into the work 19 from the rear end opening. Here, the φ ₂ axis is turned by 90 °, and the inclined nozzle 13 is oriented in the direction perpendicular to the paper surface. Rotate the φ ₃ axis continuously. Rotate the φ ₂ axis repeatedly about ± 30 ° from the direction perpendicular to the paper in the forward and reverse directions. Rotate the φ ₁ axis at a speed according to the polishing capability. At this time, when the φ ₁ axis rotates 360 °, the four surfaces of the work are ground and swept at that location. The manipulator arm is driven in the direction to pull it forward in synchronization with the movement of. When the tip arm reaches the extension / contraction limit (shortest length), run the gate-type mount in the same direction. After that, the expansion and contraction are repeated until the end of the member is reached. In addition, it is necessary to check whether mechanical interference occurs before inserting the manipulator arm into the work. Further, the number of swivel axes of the swirling abrasive cleaning material injection device may be determined according to the structure of the target member. (2 to 3 axes)

[0014]

According to the present invention, a swivel type abrasive cleaning / injecting device is provided at the end of a telescopic arm to form a compact long blast head, and the manipulator arm is vertically (Y-axis) mounted on a gate-type traveling mount. ), And by movably supporting it to the left and right (Z axis), it is possible to mechanize the blasting work on the inner surface of a long and narrow box-shaped structure. Further, the blast work can be stabilized by the mechanism that absorbs the slack of the blast hose. Therefore, the hose structure (interference inside the box) and the compact structure for inserting into the narrow space cannot be made so far, so it is postponed and the box-like structure has been relied on manually (3K work). Pretreatment (blasting) on the inner surface is remote controlled, greatly improving work safety and work efficiency.

In short, according to the first aspect of the invention, the front end is coaxially and airtightly inserted into the rear end of the inner cylinder, which is oriented in the front-rear direction and is supplied with the high-pressure air from the front end. And a rear end of the first swiveling member, which is curved downward and opens around the inner cylinder so as to alternately rotate in a set angle range in the forward and reverse directions. Has a blast nozzle which is coaxially and airtightly inserted in the portion and extends forward at a slight inclination angle to the rear end, and the front end is in the forward direction around the rear end of the first swiveling member. ， Two-stage swivel-type polishing and cleaning material injection device consisting of a second curved tubular swiveling member that alternately turns the set angle range in the opposite direction, and can move up and down and laterally to a portal movable platform that moves in the front-back direction The front end of the first turning member is attached to the rear end of the first swivel member, which is attached to the rear end and extends in the front-back direction. Equipped with a manipulator arm that is equipped with a cylindrical joint in the axial direction, it is an economical box inner surface blasting system that can perform blasting and cleaning work by remote control in a quick working speed, labor saving, labor saving, and safety and hygiene. The present invention is extremely useful in the industry because it provides an automatic blasting device for use.

According to the invention of claim 2, in the invention of claim 1, the first swiveling member is inserted between the rear end portion of the first swiveling member and the front end portion of the second swiveling member. The front end portion of the second turning member is coaxially and airtightly inserted into the rear end opening which is coaxially and airtightly inserted into the rear end portion and is curved rearward, and the front end portion is coaxially and airtightly inserted. In addition to the effect according to claim 1, the blast nozzle is provided with the third curved tubular swiveling member which alternately turns the set angle range in the forward and reverse directions around the rear end of the swiveling member. Further, by finely moving along the inner surface of the work in a multidimensional manner, even a narrow corner portion can be swiftly and swiftly, labor-saving, labor-saving, and safety and hygiene thoroughly. Therefore, the present invention is industrially applicable. It is extremely useful.

According to the invention of claim 3, in the invention of claim 1 or 2, the blast hose for supplying the abrasive cleaning material to the front end opening of the inner cylinder into which the front end of the first curved tubular turning member is inserted. A constant tension is always applied to the blast hose so that slack does not occur in the blast hose despite the movement of related members during the blast work, so that hose interference does not occur even if the position and direction of the blast nozzle are changed. Therefore, the present invention is extremely useful industrially, because an automatic blasting device for blasting and cleaning the inner surface of a box is obtained which is safe, labor-saving, labor-saving and hygienic.

[Brief description of drawings]

FIG. 1 is a vertical sectional view showing a swirling nozzle mechanism of a device of the present invention.

2 is an overall side view of an automatic blasting device having the swirling nozzle mechanism of FIG. 1. FIG.

FIG. 3 is a rear view taken along the line III-III in FIG.

FIG. 4 is a side view and a front view showing a slack absorbing mechanism of the hose in FIG.

5 is a plan view taken along the line VV of FIG.

[Explanation of symbols]

 1 Air Hose (Blast Hose) 2 Cylindrical Joint 3a Outer Tube 3b Outer Tube 3c Outer Tube 4a Bearing 4b Bearing 4c Bearing 5a Inner Tube 5b Inner Tube 5c Inner Tube 6a Gear 6b Gear 7a Gear 7b Gear 8a Motor 8b Tapered Motor 9a 10a Sealing material 10b Sealing material 10c Sealing material 11a Sealing material 11b Sealing material 11c Sealing material 12a Right angle elbow 12b Right angle elbow 13 Blast nozzle 14 Manipulator tip part 15 Manipulator base end part 16 Guide unit 17 Gate type prop 17 'Traveling dolly 18 Running rail 19 Work (Bridge Box Girder Member) 20 Push Pulley 21 Drive Pulley 22 Pulley 23 Pulley 24 Pulley 25 Movable Pulley 26 Trolley 29 Fixed Pulley 30 Moving Pulley 31 Weight

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Masaru Yagasaki 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries Ltd. Hiroshima Works

Claims (3)

[Claims] 1. A front end portion is coaxially and airtightly inserted into a rear end portion of an inner cylinder in which a polishing and cleaning material is supplied from the front end in the front-rear direction by high pressure air, and the rear end is curved downward to open. A first curved tubular swivel member that relatively swivels around the inner cylinder in a set angle range alternately in forward and reverse directions, and a front end portion is coaxial and airtight with a rear end portion of the first swivel member. Has a blast nozzle that is inserted into the rear end and extends forward with a slight inclination angle, and the front end alternates between the set angle ranges in the forward and reverse directions around the rear end of the first swiveling member. A two-stage swivel-type polishing / cleaning material spraying device composed of a second curved tubular swiveling member that swivels in a vertical direction, and a gate-type movable platform that moves in the front-rear direction so that it can be moved up and down and laterally so that it can be expanded and contracted in the front-rear direction. A cylindrical joint for supporting the front end portion of the first turning member is attached to the extending rear end in the axial direction. An automatic blasting device for cleaning the inner surface of a box, which is equipped with a nipulator arm. 2. The front swivel member according to claim 1, wherein the swivel member is inserted between a rear end portion of the first swiveling member and a front end portion of the second swiveling member, and a front end portion is provided at a rear end portion of the first swiveling member. Is coaxially and airtightly inserted, and a front end portion of the second turning member is coaxially and airtightly inserted into a rear end opening that is curved rearward, and the front end portion is the rear end of the first turning member. An automatic blasting device for blasting and cleaning the inner surface of a box, comprising a third curved tubular swiveling member which alternately turns a set angle range in the forward and reverse directions around the part. 3. The invention according to claim 1 or 2, wherein a constant tension is constantly applied to a blast hose for supplying a polishing and cleaning material to a front end opening of an inner cylinder into which a front end portion of the first curved tubular turning member is inserted. An automatic blasting device for blasting and cleaning the inner surface of a box is characterized in that the blasting hose is prevented from sagging despite movement of related members during blasting work.