JP5583641B2 - Structure inspection device - Google Patents

Description

  The present invention relates to a structure inspection apparatus for photographing and inspecting a part of a structure that is difficult to be visually inspected directly, such as a lower surface of a bridge or the like, or a floor under a building or the like.

  In recent years, deterioration of strength has become a problem with the aging of bridges and structures. For example, many existing bridges were built during the high growth period from the 1950s to the 1973s. These bridges need to be replaced and reinforced.

  For such bridges, it is necessary to conduct periodic inspections every few years, and work is being carried out to create and update bridge management charts during inspections. However, in the inspection of bridges, it is necessary to inspect parts that are difficult to visually inspect, such as floor slabs, bridge girders, bearings and piers on the lower side of the bridge, and installation facilities such as water pipes installed in the space between the bridge girders. Therefore, large-scale facilities such as a truck crane and an inspection scaffold were necessary for the inspection work.

  Such large-scale equipment takes a long working day and has a large inspection cost. Therefore, an inspection device for photographing an inspection portion using a photographing camera has been proposed. For example, in Patent Document 1, a horizontal arm is arranged below an object to be inspected via a vertical rod attached to an inspection carriage so as to be movable up and down, and a photographic camera is mounted on a holding arm standing on a traveling carriage that runs on the horizontal arm. And an inspection device for photographing the inspection location on the lower surface of the inspection object by rotating the holding arm and rotating the photographing camera in the vertical direction to set the photographing direction. Further, in Patent Document 2, an articulated movable arm configured to be changeable in three axial directions of the X axis, the Y axis, and the Z axis is attached to the vehicle body, and the structure is constituted by a photographing device mounted on the tip of the movable arm. An inspection device for photographing the lower surface of an object is described.

JP 2009-275385 A JP 2008-020426 A

  In Patent Document 1, the vertical rod connects the split rod members to set the length in the vertical direction, and the vertical rod can be moved in the vertical direction by the lifting winch to adjust the height. The rod is rotated to adjust the position of the horizontal arm. However, since the movement of the equipment is performed by a carriage equipped with the equipment, many workers are required for the movement of the carriage, installation of the apparatus, and the like. In addition, since the work space is on both sides of the bridge, work on the sidewalk occupies the majority, and it is necessary to cope with the steps and inclined surfaces present on the sidewalk. There must be a large number of people.

  In Patent Document 2, an articulated movable arm that can be changed in three axis directions is operated hydraulically or electrically to position an imaging device. However, the movable arm has a large number of joint portions and a complicated structure. The weight is also heavy, and there are difficulties in performing an accurate operation. In addition, although equipment is mounted on the vehicle and moved, it is legally prohibited to enter the vehicle on the sidewalks provided on both sides of the bridge, and the device will be set from the roadside. Therefore, there is a problem that it is necessary to lengthen the arm and configure the device according to the length of the arm, and traffic regulation is required during inspection work.

  Accordingly, an object of the present invention is to provide an inspection device that can be positioned close to both sides of a bridge and can perform inspection work efficiently and safely.

The structure inspection device according to the present invention includes a traveling unit having an endless track mounted on both sides of a chassis including a body frame, a driving unit provided at a rear portion of the body frame, and a front side of the driving unit. An inspection unit that is mounted on the machine frame and that inspects and inspects the inspection object from below, and an operation display unit that is provided between the operation unit and the inspection unit and that displays the operation of the inspection unit and the inspection result. The inspection unit includes a column member that is vertically fixed with a lower end fixed to the body frame, and a support arm member that is movably attached to the column member in a horizontal direction. Elevating means for elevating and lowering the support arm member along the support member, and the elevating means is attached to the support arm member and around the support member. A lifting / lowering base that is slidable only in the direction, a hydraulic cylinder that is attached to the inside of the column member and has a drive rod that moves up and down along the axial direction of the column member, and the front end side of the lifting / lowering table is stopped. A chain that is attached to the support member and has a rear end fixed thereto, and a sprocket that is rotatably attached to an upper end of the drive rod and that suspends the chain . Further, the inspection unit is arranged by shifting the column member from the center of the traveling unit to one of the left and right sides, and a weight member is arranged on the side opposite to the side where the column member is arranged. Yes. Further, the inspection section includes a vertical rod member attached to the support arm member along the vertical direction, a horizontal arm member attached to the lower end portion of the vertical rod member along the horizontal direction, and a horizontal arm member The vehicle includes a traveling carriage that is attached so as to be able to travel in the longitudinal direction, and a photographing camera that is attached to the traveling carriage.

  The present invention has the above-described configuration, so that an operator who has boarded the driving unit can visually locate the front inspection unit while driving and can be surely positioned. In addition, since an operation display unit is provided between the operation unit and the inspection unit, one operator can also operate the inspection unit while driving, and the inspection work can be performed efficiently and safely with a small number of people. It becomes possible.

  In addition, when using a cart or a general vehicle as in the prior art, it is necessary to fix the entire device to the installation surface with a jack or the like when extending an arm or the like during the inspection work. Therefore, it was difficult to change the installation position during the inspection work. In the present invention, since the traveling part equipped with the endless track belt is provided, even if it is downsized, the weight is large and the position of the center of gravity can be set low and the ground contact area is large, so that it is stable without using a fixing means such as a jack. Inspection work can be performed in a state, and the apparatus can be accurately positioned while moving along both sides of a bridge or the like. Therefore, the apparatus can be moved even during the inspection work, and the efficiency of the inspection work can be improved.

  And if there are sidewalks attached to both sides of the bridge, etc., using a general vehicle as in the prior art, the vehicle will occupy the sidewalk and hinder pedestrian traffic. In the invention, since the entire apparatus can be downsized by downsizing the traveling unit, it is possible to perform the inspection work using only a part of the sidewalk. Therefore, the inspection work can be performed while minimizing the influence on pedestrian traffic, and a very practical device can be obtained.

It is the side view seen from the left side regarding the embodiment concerning the present invention. It is the front view seen from the front side regarding the embodiment concerning the present invention. It is the top view which looked at the mounting base part from upper direction. It is AA sectional drawing of FIG. It is a partially expanded view regarding the lifting mechanism. It is explanatory drawing which shows the operation state of a raising / lowering mechanism. It is explanatory drawing which shows the state which inspects the lower side of a test target object by an inspection part.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are preferable specific examples for carrying out the present invention, and thus various technical limitations are made. However, the present invention is particularly limited in the following description. Unless otherwise specified, the present invention is not limited to these forms.

  FIG. 1 is a side view of an embodiment according to the present invention viewed from the left side, and FIG. 2 is a front view viewed from the front side. The inspection device 1 is configured to be installed on the upper surface of an inspection object such as a bridge and perform inspection work. A traveling unit 2 in which endless track belts are mounted on both sides of a chassis including a body frame 20, a traveling unit The operation unit 3 provided in the rear part of the machine body frame 2, the mounting table part 4 attached to the machine frame on the front side of the operation unit 3, and the inspection object placed on the mounting table part 4 are photographed from below. An inspection unit 5 to be inspected, and an operation display unit 6 provided between the operation unit 3 and the inspection unit 5 to operate the inspection unit 5 and display the inspection result are provided.

  The traveling unit 2 includes a chassis in which an airframe frame 20 and left and right track frames 21 are combined. The airframe frame 20 includes a pair of left and right plate-like front and rear frames 20a and 20 that are set in parallel along the front-rear direction. A plurality of left and right frames 20b laid horizontally between the two are integrated. In addition, a plurality of lower wheels 22 and upper wheels 23 are rotatably supported on the left and right track frames 21, and a front wheel 24 is rotatably mounted via a tension mechanism. Further, the rear drive wheel 25 is fixed to an axle projecting from a drive mechanism (not shown), and the crawler 26 which is an endless track zone is provided with a lower roller 22, an upper roller 23, a front roller 24, and The rear drive wheel 25 is mounted so as to be wound. Therefore, when the rear drive wheel 25 is rotationally driven, the crawler 26 rotates and the traveling operation is performed.

  In addition, in this example, although the well-known crawler traveling apparatus is used as the traveling part 2, the traveling apparatus using an endless track other than this can also be used, and it is not specifically limited.

  The driving unit 3 is mounted with a seat 30 on which the operator sits on the body frame 20, and in front of the seat 30, a left / right steering lever for changing the traveling unit 2 to the left and right, and an engine speed of the driving mechanism are adjusted. There are provided operation levers 31 such as an accelerator lever, a raising / lowering operating lever for raising / lowering an inspection unit 5 described later, and a switching lever for moving the traveling unit 2 forward or backward.

  The mounting table 4 includes a support frame 40 assembled on the upper surface of the body frame 20, and the support frame 40 is configured in a frame shape by combining a plurality of square pipes in the front-rear direction and the left-right direction. And the floor board 41 which bent and formed the peripheral part by the predetermined width is being fixed to the upper surface of the support frame 40, and the upper surface of the floor board 41 is a mounting surface. In this example, weight blocks 42 for balancing the apparatus during inspection work are stacked on the mounting surface of the floor board 41. In addition, a weight block 43 is attached and fixed to the support frame 40 below the weight block 42.

  The inspection unit 5 includes a lifting column 50 that is a column member attached and fixed to the body frame 20, and the lifting column 50 is erected at a position shifted to the right side from the central axis in the front-rear direction of the traveling unit 2. Has been. The lifting column 50 is provided with a lifting mechanism 51, and the horizontal movement mechanism 52 is lifted and lowered by a hydraulic cylinder as will be described later.

  FIG. 3 is a plan view of the mounting table 4 viewed from above. The floor board 41 is formed in a size that covers the entire chassis, and an installation space for the pedestal member 50 a fixed to the lower end of the lifting column 50 is cut out. The pedestal member 50a is formed in a rectangular shape, and a lifting column 50 is erected on the right side of the upper surface thereof. A pair of ribs 50b are formed on the upper surface of the pedestal member 50a along the left-right direction so as to sandwich the lifting column 50, and small ribs are formed on the outer side of the rib 50b in the front-rear direction. Strength is increased.

  4 is a cross-sectional view taken along line AA in FIG. Four anchor bolts 50c are respectively attached to the left and right sides of the pedestal member 50a along the front-rear direction. The lower ends of the anchor bolts 50c are attached and fixed to a bottom plate 50d fixed to the body frame 20. With such a fixing structure, the pedestal member 50a can be secured to the body frame 20 with sufficient strength and can have sufficient durability against vibrations when a load is applied. As will be described later, a load in the right direction is applied to the lifting column 50 during the inspection work, but the lifting column 50 can maintain a stable standing state without being tilted.

  FIG. 5 is a partially enlarged side view (FIG. 5A) and a partially enlarged front view (FIG. 5B) regarding the lifting mechanism 51. The elevating mechanism 51 includes an elevating platform 51 a that is slidably mounted only in the axial direction around the elevating support column 50 and a hydraulic cylinder 51 b that is installed inside the elevating support column 50. A horizontal movement mechanism 52 is attached to the lifting platform 51a, and a plurality of pairs of guide rollers that are in contact with the outer peripheral surface of the lifting column 50 from both sides are attached to the inside thereof. The lifting platform 51a is provided so as to move up and down along the axial direction of the lifting column 50 by a guide roller. The lower end of the hydraulic cylinder 51b is swingably attached to the pedestal member 50a, and the drive rod provided on the upper part is set so as to move up and down along the axial direction of the lifting column 50.

  A sprocket 51c is rotatably attached to the upper end of the drive rod. The upper half of the front side of the lifting column 50 is cut away to form a groove 50e, and the rear end side of the chain 51d suspended from the sprocket 51c is disposed inside the lifting column 50 through the groove 50e. ing. The rear end of the chain 51d is fastened to a stopper 51f attached to the inside of the lifting column 50. The front end of the chain 51d passes through the front of the lifting column 50 and the front end is attached to the inside of the lifting platform 51a. It is fastened to the stopper 51g.

  FIG. 6 is an explanatory diagram showing the operating state of the elevating mechanism 51. FIG. 6A shows a state in which the drive rod of the hydraulic cylinder 51b is retracted, and the lifting platform 51a is set at the lowest position. In FIG. 6 (b), the drive rod of the hydraulic cylinder 51b moves forward and the sprocket 51c rises as shown by the arrow, and the chain 51d is wound up accordingly, so that the elevator 51a rises to the highest position. Is set.

  By providing such an elevating mechanism 51, the horizontal movement mechanism 52 can be raised and lowered in a stable state, and the position can be adjusted with high accuracy. In this example, an elevating mechanism using a hydraulic cylinder, a sprocket and a chain is used. However, other elevating mechanisms may be used and there is no particular limitation. For example, the horizontal movement mechanism may be moved up and down directly by a hydraulic cylinder.

  The horizontal movement mechanism 52 horizontally moves the support arm 53 in the left-right direction. As shown in FIG. 5, the support arm 53 is interposed between two pairs of guide rollers 52b pivotally supported by the arm holding unit 52a. Is supported so as to be movable in the horizontal direction. Rack teeth 52d are linearly attached to the support arm 53 along the longitudinal direction, and a drive motor 52c having a drive gear is attached to the arm holding unit 52a. Then, by driving the drive motor 52c with the rack teeth 52d engaged with the drive gear, the support arm 53 can be moved in the horizontal direction to adjust the horizontal position.

  As shown in FIG. 2, an operating mechanism 55 is mounted and fixed on the right end portion of the support arm 53 as viewed from the seat 30 to perform the vertical rod 54 elevating and rotating operations. A plurality of split rods 54a each configured to be insertable from below are inserted into the vertical rod 54. The lower end of the wire 55a suspended from the operating mechanism 55 is attached to the lower end portion of the lowermost split rod 54a, and the vertical rod 54 moves downward by feeding the wire 55a. When the rod is lowered to a predetermined position, the dividing rod 54a is sequentially pulled out downward, and the length of the vertical rod 54 is extended. In this way, by adjusting the length of the wire 55a, the vertical rod 54 can be expanded and contracted to be set at a predetermined lift position. Further, the operating mechanism 55 includes a gear mechanism and a drive motor for rotating a holding frame that holds the vertical rod 54 so as to be movable up and down. By rotating the vertical rod 54 about its axis, the lowermost side is provided. The horizontal arm attached to the attachment member 54b fixed to the lower end of the split rod 54a can be rotated and set in a predetermined direction.

  The operation display unit 6 includes a separator 60 disposed on the front side of the operation unit 3, and a handrail 62 is attached to the upper part of the separator 60. A mounting table 61 is attached and fixed to the upper end of the separator plate 60, and an operating device 64 including a display unit 63 made of a liquid crystal panel is installed on the upper surface of the mounting table 61.

  FIG. 7 is an explanatory diagram illustrating a state in which the inspection unit 5 performs the inspection work on the lower side of the inspection object M. In the inspection device 1, an operator who gets on the driving unit 3 operates the traveling unit 2 to position the inspection device 1 at a position close to an end portion on one side of the inspection object M. In this case, since the operator who boarded the driving unit 3 can view and operate the front inspection unit 5 while driving, the inspection device 1 can be positioned reliably. In addition, since the traveling unit 2 is a traveling mechanism using a crawler that is an endless track belt, even when sidewalks are attached on both sides like an inspection object such as a bridge, it is positioned at a position close to the side end. can do.

  After positioning the inspection device 1 at the side end of the inspection object M, the lifting mechanism 51 is driven to raise the horizontal movement mechanism 52 along the lifting column 50 to a predetermined height position. Then, the horizontal movement mechanism 52 is driven to move the support arm 53 toward the outside of the inspection object M, and the vertical rod 54 is positioned so as to protrude outside the inspection object M.

  Next, the actuating mechanism 55 is driven to extend the vertical rod 54, and the horizontal arm 56 attached to the lower end of the split rod 54a is lowered to be set at a predetermined height position lower than the lower side of the inspection object M. . Then, the operating mechanism 55 is driven to rotate the horizontal arm 56 to position the horizontal arm 56 below the inspection object M.

  The horizontal arm 56 is preliminarily provided with a traveling carriage 57 attached so as to be able to travel in the longitudinal direction, and a photographing camera 58 attached to the traveling carriage 57, and the traveling carriage 57 and the photographing camera 58 are operated by the operation device 64. Then, the lower side of the inspection object M is photographed, and the photographed image is displayed on the display unit 63.

  During the inspection work, the vertical rod 54 and the horizontal arm 56 are installed outside the inspection object M, so that the weight of the vertical rod 54 and the horizontal arm 56 is added to the support arm 53 and the lifting column 50 is inspected. A force that falls to the outside of the object M acts. For this reason, the lifting column 50 is placed upright on the right side of the mounting table part 4 and a weight block is loaded on the left side of the mounting table part 4 so as to balance the inspection device so as not to fall down. The traveling unit 2 is in a state where the crawler, which is an endless track, is in contact with the ground, and since the ground contact area is large and the center of gravity is set low, a stable state is maintained even when a weight balance is loaded.

  In addition, since the operation display unit 6 is placed on the front side of the driving unit 3, it is possible to adjust the position by moving the inspection device while viewing the captured image displayed on the operation display unit 6. The optimum position can be set efficiently. Therefore, it is possible to efficiently perform the inspection work with a small number of workers.

DESCRIPTION OF SYMBOLS 1 ... Inspection apparatus, 2 ... Traveling part, 20 ... Airframe frame, 3 ... Operation part, 4 ... Mounting stand part, 42 ... Weight block, 43 ... Weight block, DESCRIPTION OF SYMBOLS 5 ... Inspection part, 50 ... Elevating support column, 51 ... Elevating mechanism, 52 ... Horizontal moving mechanism, 53 ... Support arm, 54 ... Vertical rod, 55 ... Actuating mechanism 56 ... Horizontal arm, 57 ... Traveling carriage, 58 ... Camera, 6 ... Operation display

Claims (3)

A traveling unit having endless track belts mounted on both sides of a chassis equipped with a fuselage frame, a driving unit provided at the rear of the fuselage frame, and attached to the fuselage frame on the front side of the driving unit and with an inspection object below An inspection part that is photographed and inspected, and an operation display part that is provided between the operation part and the inspection part and that displays the operation of the inspection part and the inspection result . A strut member having a lower end fixed to the body frame and erected upward, a support arm member attached to the strut member so as to be movable in the horizontal direction, and the support arm member along the strut member Elevating means for elevating and lowering, and the elevating means is attached to the support arm member and is slidably attached only in the axial direction around the support member. A lifting cylinder, a hydraulic cylinder that is attached to the inside of the column member and has a drive rod that moves up and down along the axial direction of the column member, and a front end side that is fixed to the platform and is attached to the column member An inspection apparatus for a structure, comprising: a chain having an end attached thereto; and a sprocket that is rotatably attached to an upper end of the drive rod and suspends the chain . The inspection unit is configured such that the support member is shifted from the center of the traveling unit to one of the left and right sides, and a weight member is provided on the opposite side of the support member. Item 1. The inspection device according to Item 1. The inspection unit includes a vertical rod member attached to the support arm member along a vertical direction, a horizontal arm member attached to a lower end portion of the vertical rod member along a horizontal direction, and a longitudinal direction of the horizontal arm member The inspection apparatus according to claim 1, further comprising a traveling carriage attached to the traveling carriage and a photographing camera attached to the traveling carriage.

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