JP6545987B2 - Mobile frame device - Google Patents

Description

  The present invention relates to a movable movable frame apparatus having at least one function of a counterforce and a scaffold.

  When working on the outer wall and windows of a high-rise building such as a building, work may be performed by suspending a work suspension scaffold from the roof. Patent Document 1 discloses a working suspension scaffold configured of a variable-shape truss frame that can be deformed according to the shape of an outer wall surface having a protrusion and a recess.

  On the other hand, Patent Document 2 discloses a tunnel-shaped open / close roof structure. A variable shape truss structure is also incorporated in this structure, and the roof is opened and closed by deforming the variable shape truss structure.

  Furthermore, it is disclosed by patent document 3-5 that the building which makes a main structure the shape-variable truss frame of various forms can be built by combining a plurality of minimum unit truss.

Patent No. 3489447 gazette JP 2003-268874 A Patent No. 3544862 Patent No. 3540161 gazette Japanese Patent Application Laid-Open No. 60-228097

  However, since the working suspension scaffold disclosed in Patent Document 1 is configured to be suspended from above, although movement in the vertical direction is possible, lateral movement on the ground is not assumed. Also, as a precondition, a strong structure is required to support the work suspension scaffold upward.

  On the other hand, those disclosed in Patent Literatures 2-5 are buildings having a variable-shape truss frame as a main structure, and although opening and closing of a roof can be performed, for a horizontally extending object It can not be used as a moving platform for

  Therefore, it is an object of the present invention to provide a moving frame apparatus capable of lateral movement and capable of being easily deformed in accordance with the shape of an opposing object.

  In order to achieve the above object, a mobile frame apparatus of the present invention is a movable mobile frame apparatus having a function of at least one of a reaction force body and a scaffold, and at least a part of which is configured to be deformable. And a traveling part provided at the lower end of the frame to allow movement along the ground contact surface, and the frame may include a truss frame having a variable shape. It features.

  Here, the frame portion may be formed in an arch shape or a gate shape, and the traveling portion may be provided at both ends of the frame portion. Further, the frame portion may be configured to include a variable portion into which the truss frame is incorporated, and a planar portion provided below the variable portion.

  Furthermore, the truss frame can be formed by combining a plurality of unit truss units. And it can also be set as the composition provided with the slide part which can move along the truss frame of the above-mentioned shape change.

  In the mobile frame apparatus of the present invention configured as described above, the lower end portion of the elongated frame portion at least a part of which is configured to be deformable is provided with a traveling portion that enables movement along the ground surface. ing. And in the frame portion, a truss frame of variable shape is incorporated.

  For this reason, it can be moved laterally along a laterally extending structure such as a tunnel or viaduct, and can be used as a reaction body or scaffold for inspection or repair.

  In addition, even if there are equipment or shapes such as lighting and piping on the inner circumferential surface of the tunnel or the lower surface of the viaduct, the shape of the variable truss structure of the frame is deformed according to the shape of the opposing object. It can be avoided.

  Furthermore, if the frame portion is formed in an arch shape or a gate shape, the ceiling surface or wall surface of a tunnel, a large cross section pipeline, a box culvert or the like can be inspected and repaired continuously and efficiently.

  In addition, if the frame portion includes the variable portion into which the truss frame is incorporated and the planar portion provided therebelow, when performing inspection or repair using the variable portion, it passes below the planar portion. Vehicles and the like can be protected from falling objects and the like.

  Furthermore, the variable shape truss frame can be easily assembled into a desired form by combining a plurality of unit truss units. And it becomes possible to perform an inspection automatically by setting it as the structure provided with the slide part which can move along a shape-variable truss frame.

It is explanatory drawing which showed the use condition of the inspection apparatus of embodiment of this invention, Comprising: (a) is a figure which showed the state before deformation | transformation, (b) is the figure which showed the state after deformation. It is a perspective view explaining the operation | movement of a truss frame, Comprising: (a) is a figure which showed the state which raised it upwards, (b) is a figure which showed the state which depressed downward. It is a figure explaining the structure of an inspection apparatus, Comprising: (a) is a perspective view of the whole, (b) is the figure which expanded and showed leg part periphery. It is a figure explaining the composition of a check unit, and (a) is a perspective view of the whole, and (b) is a figure expanding and showing wheel circumference. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the structure of the truss frame of Example 1, Comprising: (a) is a perspective view, (b) is a disassembled perspective view. It is a figure explaining the structure of the truss frame of Example 2, Comprising: (a) is a perspective view, (b) is a disassembled perspective view. It is a figure explaining the structure of the truss frame of Example 3, Comprising: (a) is a perspective view, (b) is a disassembled perspective view. FIG. 14 is an explanatory view showing a use state of the one-side inspection device of the fourth embodiment. FIG. 18 is a perspective view for explaining the configuration of a cantilever inspection device of a fourth embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a view for explaining an entire configuration including a place where an inspection device 1 as a mobile frame apparatus of the present embodiment is used.

  This inspection apparatus 1 is used when inspecting or repairing the lower surface side of an object extending in the lateral direction (longitudinal direction) such as a tunnel T, a large cross section pipeline, a box culvert, etc. Etc. It is an apparatus for making it a reaction body or a scaffold. Below, the case where the inner skin of tunnel T which is a road tunnel is inspected is made into an example, and it explains.

  As shown in FIG. 1 (a), the tunnel T is covered with a concrete lining T1 of which the inner periphery is semicircular in cross section, and a roadway T2 on which a vehicle M,. There is. Further, audit roads T3 and T3 (or sidewalks) that are higher are provided on both sides of the roadway T2.

  Here, in the tunnel T, an architectural limit T4 in which a structure or facility can not be protruded is set inside the tunnel T so as not to hinder the traveling of the vehicle M. For this reason, the inspection device 1 is also formed to fall outside the building limit T4.

  On the other hand, the cross sections of the tunnel T are not all formed identically in the extending direction (longitudinal direction), and as shown in FIG. 1 (b), equipment such as ventilation ducts T5 and T5 and illuminations T6 and T6 are used. It may protrude to the inner air side, or the cross sectional shape of the lining T1 may be different.

  For this reason, the inspection device manufactured only to a certain cross section can not be used with cross sections different in shape. Also, such inspection devices can not be moved continuously in the longitudinal direction of the tunnel T.

  Therefore, the inspection device 1 according to the present embodiment is provided on the elongated frame portion 2 configured to be at least partially deformable and the leg portion 22 serving as the lower end portion of the frame portion 2 along the ground contact surface. It is mainly composed of a traveling unit 3 which makes it possible to move.

  A variable shape truss frame as shown in FIG. 2 is incorporated in the frame portion 2 as a variable portion 21. FIG. 3 is a perspective view showing the entire configuration of the inspection device 1.

  The frame portion 2 formed in a long arch shape includes an arc-shaped variable portion 21 having a width, legs 22 provided on both sides thereof, and a frame member connecting them. Further, below the variable portion 21, a protection portion 23 as a planar portion is provided.

  The protection portion 23 is formed in a band plate shape by a steel frame and a steel plate, and is bridged substantially horizontally between the upper ends of the leg portions 22 and 22. The protective portion 23 can be an extendable type capable of changing the length in the longitudinal direction (tunnel transverse direction) in accordance with the deformation of the variable portion 21.

  Further, at the lower end of the leg portion 22, tires 31, 31 to be the traveling portion 3 are attached so as to be able to travel in a direction substantially perpendicular to the longitudinal direction of the frame portion 2 (longitudinal direction of tunnel T). The tires 31, 31 run on the inspection path T3 of the tunnel T.

  Further, at the lower end of the leg portion 22, suction portions 221,... Are provided as shown in FIG. The suction portions 221,... Have the suction portions 221,... The inner peripheral surface of the tunnel T when the force or the like in which the frame portion 2 is inclined inward in the tunnel T acts with the deformation of the variable portion 21. It is provided to reduce its power by adsorbing to Further, by providing such adsorption portions 221, ..., it becomes easy to make the inspection device 1 move to change in the tunnel T linear.

  The details of the variable unit 21 will be described later in the embodiment, but an example concept will be described using the schematic view of FIG. 2. The truss frame of the variable section 21 is mainly composed of fixed length axial force members (211, 213), variable length axial force members (212), and a nodal point portion 215 connecting the ends of these axial force members. Configured

  A pair of upper chord members 211 and 211 on the upper side of the truss frame are formed by arranging steels or the like having a constant length substantially in parallel. The spacing between the upper chords 211, 211 is maintained by shafts 214, 214 which connect between their respective ends.

  Further, the end of the upper chord member 211 is connected as a rotatable hinge to the nodal point portion 215 which is the end of the shaft 214. Further, on the lower side of the truss frame facing the upper chord members 211, an expandable lower chord member 212 whose length can be changed is disposed.

  The expandable lower chord member 212 can be configured by a hydraulic cylinder, an electric cylinder, or the like. Further, both ends of the expandable lower chord member 212 are also connected as rotatable hinges to the nodal point portion 215.

  Further, the joint portion 215 to which the end of the upper chord member 211 is connected and the joint portion 215 to which the end of the expandable lower chord member 212 is connected are diagonal members 213 and 213 formed of steel or the like having a constant length. It is connected.

  The upper ends of the diagonal members 213 and 213 are rotatably connected to the node portions 215 and 215 as hinges, respectively. On the other hand, at the lower end side node 215, the four diagonal members 213,... Are gathered together as a non-rotatable node.

  In this unit truss unit 210 of this truss frame, a pair of upper chord members 211, 211 and a shaft 214 connecting one end thereof (a shaft 214 connecting the other end is included in the adjacent unit truss unit 210) , One stretchable lower chord member 212, and four diagonal members 213,...

  The variable portion 21 is configured as a whole by continuously connecting a plurality of unit truss units 210,. And the variable part 21 of the truss frame structure comprised in this way becomes a strip | belt shape with a width | variety by the upper side, and the variable side becomes linear.

  FIG. 2A shows a state in which the center of the variable portion 21 is raised upward by contracting the expandable lower chord member 212. That is, when the stretchable lower chord 212 shrinks and shortens, the node in which the diagonal members 213,... Are concentrated is rotated at the node portions 215, 215 at both ends of the stretch lower chord 212, and the stretchable lower chord 212 and the diagonal 213 The angle increases.

  Also, along with this, the upper chord member 211 is rotated with respect to the oblique members 213, ... at the nodal point portions 215, 215 at both ends of the upper chord member 211, and the upper chord member 211 goes upward. Are arched like an arch.

  FIG. 2B shows a state in which the center of the variable portion 21 is depressed downward by extending the expandable lower chord member 212. That is, when the stretchable lower chord 212 expands and becomes longer, the node in which the diagonal members 213,... Are concentrated is rotated at the node portions 215, 215 at both ends of the stretch lower chord 212, and the stretchable lower chord 212 and the diagonal 213 The angle is smaller.

  Also, along with this, the upper chord member 211 is rotated with respect to the oblique members 213, ... at the nodal point portions 215, 215 at both ends of the upper chord member 211, and the upper chord member 211 goes downward. Will flex and become depressed.

  As described above, the variable portion 21 can deform the truss frame into a desired shape by controlling the expandable lower chord member 212 such that the unbalanced force of the nodal point portion 215 becomes zero.

  A measuring device for checking the state of the lining work T1 can be attached to the variable portion 21 at intervals in the extending direction. For example, if measuring devices such as a camera, a microphone, and a laser range finder are arranged at regular intervals, only moving the inspection device 1 using the traveling unit 3 will cause the covering of the tunnel T to which the measuring device contacts or approaches. The condition of the concrete of T1 can be inspected continuously.

  Moreover, the inspection unit 4 as a slide part can also be moved along the frame part 2 in which the variable part 21 was provided. That is, the variable portion 21 is a reaction force body for causing the inspection unit 4 to travel. FIG. 4 is a diagram for explaining the configuration of the inspection unit 4.

  The inspection unit 4 is mainly configured by a box 41, an inspection unit 43 for inspection housed inside the box 41, and a traveling wheel 42 connected to the lower part of the box 41. The wheel 42 is attached via an axle 421 connected to the side surface of the box 41 and a bearing 422, as shown in FIG. 4 (b). In addition, a drive motor 423 for rotating the wheel 42 is attached.

  On the other hand, rail portions 44 and 44 for causing the wheels 42 to travel are attached to both side surfaces of the variable portion 21. Although the rail portion 44 itself is not deformed, since it is divided into a plurality of sections in the extension direction of the variable portion 21, it can be bent between the separated rail portions 44 to follow the deformation of the variable portion 21. .

  Further, two wheels 42, 42 are attached to one bearing portion 422 at intervals in the traveling direction. Since the distance between the wheels 42 and 42 is set to be larger than the maximum distance between the rail portions 44 and 44 divided in the extending direction, any one of the wheels 42 is necessarily contained in the rail portion 44, and the derailment occurs. There is nothing to do.

  The inspection unit 43 accommodated in the inspection unit 4 is a sensor, a measuring device, an inspection device, or the like for collecting the state of the lining work T1. The inspection unit 43 can incorporate a sensor for automatically identifying a crack using a camera, a microphone, or the like, an impact sound inspection device, an electromagnetic wave search device, or the like.

  For example, after moving the inspection device 1 to the inspection location by the traveling unit 3 in the longitudinal direction of the tunnel T, the inspection unit 4 is moved along the rail portions 44, ... to identify a specific location of the lining T1 It will be possible to check the condition of the subject in a short time.

  In addition, after the inner circumferential surface of the tunnel T is inspected by the inspection unit 4 which travels the variable portion 21 as a reaction force body, the inspection device 1 is repaired as a scaffold or a reaction body based on the collected inspection data You can also work.

  Next, the operation of the inspection device 1 of the present embodiment will be described with reference to the drawings.

  The inspection apparatus 1 according to the present embodiment configured as described above is a traveling unit that enables movement along the audit path T3 to the legs 22 and 22 of the elongated frame unit 2 configured to be deformable. Three are provided. Further, in the frame portion 2, a variable portion 21 of a truss frame whose shape is variable is incorporated.

  Therefore, the inspection device 1 is moved in the direction in which the tunnel T extends (longitudinal direction) using the inspection path T3 so as not to obstruct the passage of the vehicle M traveling on the roadway T2 in the tunnel T for inspection or repair. The inspection device 1 can be used as a reaction force body or scaffold of

  In addition, even if there is a protrusion of equipment such as ventilation duct T5 and lighting T6 on the inner peripheral surface of the tunnel T, the variable part 21 of the frame part 2 is easily deformed according to the shape of the opposing object to avoid the collision. can do.

  Thus, if the inspection device 1 has the arched or gate-shaped structure 2, the tunnel T, the ceiling surface or wall surface of the large-section pipeline, the box culvert, etc. can be continuously and efficiently inspected and repaired. Can go on.

  In addition, when the frame portion 2 includes the variable portion 21 in which the truss frame is incorporated and the protective portion 23 provided below the variable portion 21, when performing inspection or repair using the variable portion 21, the lower portion of the protective portion 23 Can be protected from falling objects and the like.

  Furthermore, the variable shape truss frame can be easily assembled into a desired form by combining a plurality of unit truss units 210,. For example, the tunnel T has various cross-sectional shapes from large-scale tunnels such as expressway tunnels to small-scale tunnels such as humanitarian tunnels. Can be easily assembled in the field according to the cross section of the tunnel.

  And by having the structure provided with the inspection unit 4 which can move along the frame part 2, it also becomes possible to carefully perform inspection etc. of a specific location. Further, by causing the inspection unit 4 to self-run, the inspection can be performed automatically.

  Hereinafter, the truss frame of the inspection apparatus 1 described in the above embodiment will be described in a specific example with reference to FIG. The same or equivalent parts as the contents described in the above embodiment will be described using the same terms or the same reference numerals.

  FIG. 5 is a view showing a specific example of the truss frame 50 of the first embodiment which is incorporated in the variable portion 21. As shown in FIG. Fig.5 (a) shows the structure of the truss frame 50 with which several unit truss unit 5, ... is arrange | positioned continuously, FIG.5 (b) has shown the disassembled perspective view of a node periphery.

  In the unit truss unit 5 of the first embodiment, the fixed length axial force members (51, 53A, 53B), the variable length axial force members (52), and the end portions of these axial force members can be rotated. It mainly comprises a connecting node (55A-55E) and a drive motor 541 for rotating the node.

  More specifically, the unit truss unit 5 is connected to the shaft 54 connected to the drive motor 541 at one end so as to be able to rotate with the rotation of the shaft 54, and to be fixed length members And a telescopic lower chord member 52 as an expandable lower chord portion whose one end is connected to be freely rotatable with respect to the lower lower node 55A on the lower side of the stereo frame portion 510. There is.

  The three-dimensional framework 510 is a first diagonal member connecting the pair of upper chord members 51, 51 and the control nodal points 55B, 55C on the side rotated with the shaft 54 of the upper chord member 51 and the lower nodal point 55A. The members 53B and 53B and the diagonal members 53A and 53A as second diagonal members connecting the free nodes 55D and 55E on the side where the upper chord member 51 is free to rotate and the lower node 55A are integrally formed.

  More specifically, diagonal members 53A and 53B are connected to the ends 51a and 51b of the pair of upper chord members 51 and 51 which are substantially parallel on the upper side of the unit truss unit 5, respectively. That is, as shown in FIG. 5B, the upper end 531 of the diagonal member 53A is integrally connected to the end 51a of the upper chord member 51. On the other hand, the upper end 533 of the diagonal member 53B is integrally connected to the end 51b of the upper chord member 51.

  The lower end 534 of the diagonal members 53B, 53B is integrally connected to the lower end 532 of the diagonal members 53A, 53A. As described above, the two upper chord members 51, 51 and the four diagonal members 53A, 53A, 53B, 53B are formed of a steel material or the like in the integral three-dimensional frame portion 510.

  The shaft 54 rotates with the rotation of the drive motor 541 disposed at the control node 55B. The drive motor 541 is attached to the outside of the end 51 a of the upper string member 51 by bolts 541 a,.

  A servomotor can be used as this drive motor 541. The servomotor can control the angle, position, speed and the like with high accuracy in the servo mechanism.

  Further, as shown in the exploded view of FIG. 5B, the shaft 54 is provided with key portions 542 and 542, and only the end portion engaged with the key portion 542 is rotated along with the shaft 54. The end where the 54 is only inserted is free to rotate regardless of whether the shaft 54 is rotating.

  In this unit truss unit 5, a groove that engages with the key portion 542 is provided only at one end 51b of the upper chord member 51, and the other end 51a of the upper chord member 51 is accompanied by a rotation of the shaft 54. Rotation does not occur.

  As shown in FIG. 5A, the expandable lower chord material 52 is configured to be expandable by a cylindrical portion 521 and a rod portion 522 that moves in and out of the cylindrical portion 521. The telescopic lower chord member 52 does not have to be provided with a drive source which is made to expand and contract by itself like a hydraulic cylinder.

  In addition, the expandable lower chord member 52 has a lock mechanism for fixing the length. Although not shown, a lock mechanism is provided to stop the fluctuation of the length, such as a hydraulic pressure holding mechanism or a latch.

  The end 52a on the cylindrical portion 521 side of the expandable lower chord member 52 is rotatably connected to the end portions 532 and 534 of the diagonal members 53A and 53B by the rotation shaft 551 at the lower node 55A. Further, the end 52b of the expandable lower chord member 52 of the adjacent unit truss unit 5 is also rotatably connected to the lower nodal point 55A.

  In the unit truss unit 5 connected in this manner, the direction between the diagonal members 53A and 53B of the adjacent unit truss units 5 and 5 is closed if the drive motor 541 does not operate and the locking mechanism of the expandable lower chord member 52 does not function either. Try to move to

  Therefore, as shown in FIG. 5B, the torsion spring 543 is interposed to suppress the rotation in the direction in which the space between the diagonal members 53A and 53B spreads. Here, the control nodes 55B and 55C of one unit truss unit 5 become free nodes 55D and 55E of the adjacent unit truss unit 5, respectively.

  Further, by interposing the torsion spring 543, it is possible to reduce the load applied to the drive motor 541 and the compressive force applied to the expandable lower string member 52. Furthermore, even when the drive motor 541 and the locking mechanism of the lower telescopic member 52 are broken, it is possible to prevent the truss frame 50 from being expanded by the restoring force of the spring.

  The truss frame 50 incorporating the unit truss unit 5 of the first embodiment and the plurality of unit truss units 5, ... configured in this way is directly driven by the drive motor 541 disposed at the control node 55B. Turn the end 51b of the material 51, 51b.

  For this reason, compared with the structure which uses high output actuators, such as a hydraulic cylinder and an electric cylinder, for lower chord material, the truss frame structure 50 which uses the drive motor 541 in control node 55B as a motive power source can achieve weight reduction.

  In addition, if only the rotation angle is controlled by the drive motor 541, the configuration can be simplified. Furthermore, when using a servomotor, since a rotation angle can be controlled precisely, the shape of the truss structure 50 can be deformed accurately.

  In the first embodiment, the drive motor 541 is attached only to one end of the shaft 54. However, the present invention is not limited to this. The drive motors 541 and 541 may be attached to both ends of the shaft 54. Can easily increase the rotational torque.

  Furthermore, by mounting the drive motors 541 and 541 at both ends of the shaft 54, the truss frame 50 can be deformed even if one of the drive motors 541 does not operate. It also plays a role as a safety device when both the drive motor 541 and the locking mechanism of the telescopic lower string member 52 are broken.

  The other configurations and operational effects of the first embodiment are substantially the same as those of the embodiment or the other embodiments, and therefore the description thereof is omitted.

  Hereinafter, a modified example of the truss frame 50 described in the first embodiment will be described in a specific example with reference to FIG. The same or equivalent parts as the contents described in the above embodiment or example 1 will be described using the same terms or the same reference numerals.

  The said Example 1 demonstrated the truss frame 50 which connected variable unit truss unit 5, ... continuously. In the second embodiment, a truss frame 50A in which variable unit truss units 5 and 5 are connected by a connecting member 56 having a fixed length will be described.

  In the truss structure 50A of the second embodiment, the end portions 56b and 56a of the connection member 56 are connected to the end portions 52a and 52b on both sides of the expandable lower chord member 52, respectively. Then, at the nodal point 57A to which one end 56a of the connection member 56 is connected, as shown in FIG. 6 (b), the ends 532 and 534 of the diagonal members 53A and 53B of the unit truss unit 5 by the rotating shaft 571. And it is connected freely.

  Further, as shown in FIG. 6A, only the shaft 58 not connected to the drive motor is bridged between the nodal points 57B and 57C facing the connection member 56. Furthermore, the ends 51a and 51b of the upper chord 51 into which the end of the shaft 58 is inserted are fixed so as not to be freely rotated by the fixing bolts 58a, ... as shown in Fig. 6B. .

  Since the truss structure 50A of the second embodiment configured in this way can be made variable only at necessary places, the configuration can be simplified and can be stably operated.

  Further, if the variable unit truss units 5 and 5 are connected by the connecting members 56 of fixed length, the assembly operation of the truss structure 50A can be simplified.

  The other configurations and operational effects of the second embodiment are substantially the same as those of the embodiment or the other embodiments, and therefore the description thereof is omitted.

  Hereinafter, a truss frame 60 having a form different from the truss frame 50, 50A described in the first and second embodiments will be described in a specific example with reference to FIG. The same or equivalent parts as the contents described in the above embodiment or the other examples will be described using the same terms or the same reference numerals.

  FIG. 7 is a view showing a specific example of the truss frame 60 of the third embodiment which is incorporated into the variable portion 21. As shown in FIG. Fig.7 (a) shows the structure of the truss frame 60 in which several unit truss units 6, ... are arrange | positioned continuously, and FIG.7 (b) has shown the disassembled perspective view around a nodal point.

  In the unit truss unit 6 of the third embodiment, the wire members (61, 62) which can only bear the tensile force, the axial force members (63A, 63B) of fixed length, and the end portions of these members are connected. It mainly comprises a node (66A-66E) and drive motors 641 and 651 for rotating the node.

  More specifically, the unit truss unit 6 has an upper shaft 64 with a drive motor 641 connected at one end, and upper chord wire members 61 and 61 whose lengths are adjusted by rotation of the upper shaft 64; A lower shaft 65 to which a drive motor 651 is connected at its end, lower chord wire members 62 and 62 whose lengths are adjusted by rotation of the lower shaft 65, and upper joints 66B and 66C which are freely rotatable with respect to the upper shaft 64 And the oblique members 63B and 63B as the first diagonal members of the fixed length that connects the lower joint 66A that is freely rotatable to the lower shaft 65, and the free ends of the upper chord wire members 61 and 61 are connected freely It has diagonal members 63A and 63A as a second diagonal member of fixed length that connects the free nodes 66D and 66E and the lower node 66A.

  The upper upper shaft 64 rotates with the rotation of the drive motor 641 disposed at the upper node 66B. The drive motor 641 is attached to the outside of the end 633 of the diagonal member 63B by bolts 641a,. A servomotor can also be used for this drive motor 641.

  Further, as shown in the exploded view of FIG. 7B, the pulleys 642 and 642 are fixed to the upper shaft 64, and the upper chord wire member 61 is wound or pulled out on the pulleys 642 By doing this, the exposed length of the upper chord wire member 61 is adjusted. The ends on the free nodes 66D and 66E of the upper chord wire members 61 and 61 are fixed to the free nodes 66D and 66E via the connection rings 611 and 611, respectively.

  On the other hand, the lower lower shaft 65 rotates with the rotation of the drive motor 651 disposed at the lower node 66A. The drive motor 651 is attached to the outside of the end 634 of the diagonal member 63B by bolts 651a,. A servomotor can also be used for this drive motor 651.

  Further, pulley portions 652 and 652 as shown in the exploded view of FIG. 7B are fixed to the lower shaft 65, and the lower chord wire member 62 is wound or pulled out on the pulley portion 652 , The exposed length of the lower chord wire member 62 is adjusted. The end on the lower node 66A side of the adjacent unit truss unit 6 of the lower chord wire members 62, 62 is fixed to the end 634 of the diagonal member 63B via the connection rings 621, 621.

  Furthermore, as shown in FIG. 7B, by interposing the torsion spring 643 on the upper shaft 64, rotation in a direction in which the space between the diagonal members 63A and 63B is spread is suppressed. Further, by interposing the torsion spring 653 also on the lower shaft 65, the rotation in the direction in which the space between the diagonal members 63A and 63B spreads is suppressed.

  Moreover, the load applied to the drive motors 641 and 651 can be reduced by interposing the torsion springs 643 and 653. Furthermore, even when the drive motors 641 and 651 are broken, it is possible to prevent the truss frame 60 from expanding by its own restoring force.

  In the truss frame 60 incorporating the unit truss unit 6 of the third embodiment and the plurality of unit truss units 6, ... configured in this way, the upper chord material and the lower chord material are formed by the wire materials (61, 62) Therefore, the weight reduction of the truss frame 60 can be achieved as compared with a configuration using steel such as shaped steel for these.

  Further, if only the rotation angle is controlled by the drive motors 641 and 651, the configuration can be simplified. Furthermore, if the connection is made between the nodes by the wire material (61, 62), the compressive force is released, so that the load at the time of rotating the nodes can be reduced.

  Although the drive motors 641 and 651 are attached only to one end of the shaft (64, 65) in the third embodiment, the present invention is not limited to this, and both ends of the shaft (64, 65) may be mounted. The rotational torque can also be increased by attaching the drive motors 641, 641 (651, 651).

  The other configurations and operational effects of the third embodiment are substantially the same as those of the embodiment or the other embodiments, and therefore the description thereof is omitted.

  Hereinafter, a mobile frame apparatus having a form different from the inspection apparatus 1 described in the above embodiment will be described with reference to FIGS. The same or equivalent parts as the contents described in the above embodiment or the other examples will be described using the same terms or the same reference numerals.

  Although the said embodiment demonstrated the inspection apparatus 1 provided with the arch-shaped frame part 2, it demonstrates the one side inspection apparatus 71 which travels the one side of the tunnel T as a mobile frame apparatus, referring FIG.

  The one-side inspection device 71 includes a long frame portion 72 configured to be deformable, and a vehicle portion 73 as a traveling portion that moves a roadway T2 by loading a mount portion 722 which is a lower end portion of the frame portion 72. Mainly composed by

  A part of the frame portion 72 is a variable portion 721 as a truss frame whose shape is variable. That is, the variable portion 721 is in a state of projecting in an arc shape from the vehicle portion 73 along the lining T1 of the tunnel T. The truss frame of the variable portion 721 may use the truss frame or unit truss unit described in any of the above-described embodiment or the first to third embodiments.

  Then, the lower surface side of the variable portion 721 and the vehicle portion 73 are connected by the expandable cylinder portion 74. The cylinder portion 74 expands and contracts with the deformation of the variable portion 721, and supports the overhanging variable portion 721 from below.

  As described above, in the case of the one-side inspection device 71 which causes the frame portion 72 to project from the vehicle portion 73 traveling along the audit path T3 on one side, the influence on the passage of the vehicle M traveling on the roadway T2 in the tunnel T is minimized. It is possible to quickly carry out detailed inspections and repairs on necessary places while suppressing the

  Subsequently, a cantilever inspection device 81 as a moving frame device will be described with reference to FIG. In the above embodiment, the inspection device 1 having the arched frame portion 2 has been described, but the frame portion 82 of the cantilever inspection device 81 is configured by two variable portions 821A and 821B that are projected from both sides. .

  That is, the cantilever inspection device 81 is provided at the frame portion 82 having the two elongated variable portions 821A and 821B configured to be deformable, and the leg portion 822 serving as the lower end portion of each of the variable portions 821A and 821B. And a traveling unit 83 that enables movement along the audit path T3.

  Further, below the variable portions 821A and 821B, a protection portion 823 as a planar portion is provided. The protection portion 823 is formed in a band plate shape, and is bridged substantially horizontally between the upper ends of the leg portions 822, 822.

  Furthermore, tires 831 and 831 serving as the running portion 83 are attached to the lower end of the leg portion 822 so as to be able to run in a direction substantially perpendicular to the longitudinal direction of the variable portions 821A and 821B (longitudinal cutting direction of tunnel T). . Further, at the lower end of the leg portion 822, a suction unit 84 for stabilizing the cantilever inspection device 81 is provided.

  In addition, the truss frame of the variable parts 821A and 821B may use the truss frame or unit truss unit described in any of the above-described embodiment or Example 1-3.

  The cantilever inspection device 81 configured in this way is provided with different variable portions 821A and 821B on the left and right, so that each can be deformed separately, and the equipment in the tunnel T that is asymmetrical left and right can also be modified. It can be easily coped with.

  In addition, since the variable portions 821A and 821B can be largely deformed because the centers are not connected, it can be avoided even when the projection of the facility or the like is large.

  The other configurations and operational effects of the fourth embodiment are substantially the same as those of the embodiment or the other embodiments, and therefore the description thereof is omitted.

  As mentioned above, although the embodiment of the present invention has been described in detail with reference to the drawings, the specific configuration is not limited to the embodiment and the example, and a design change which does not deviate from the scope of the present invention. Is included in the present invention.

  For example, although a road tunnel has been described as an example in the embodiment and the fourth embodiment, the present invention is not limited to this. Even if it is a railway tunnel, the mobile frame apparatus of the present invention does not hinder the passage of trains. Can be used for inspection and repair.

  Further, although the tunnel T has been described by way of example in the embodiment and the fourth embodiment, the present invention is not limited to this, and the movement of the present invention can be performed even when the underside of the viaduct and the bridge pier are continuously checked. A frame apparatus can be applied.

1 Inspection device (mobile frame device)
2 frame portion 21 variable portion 210 unit truss unit 22 leg portion (lower end portion)
23 Protective part (planar part)
3 Drive unit 4 Inspection unit (slide unit)
5 unit truss unit 50, 50A truss frame 510 solid frame 51 upper chord material 52 telescopic lower chord material (lower chord material)
53A, 53B diagonal member 54 shaft 541 drive motor 542 key part 543 torsion spring 55A lower node 55B, 55C control node 55D, 55E free node 60 truss structure 61 upper chord wire material 62 lower chord wire material 63A, 63B diagonal material 64 upper shaft 641 drive Motor 643 Torsion spring 65 Lower shaft 651 Drive motor 653 Torsion spring 66A Lower node 66B, 66C Upper node 66D, 66E Free node 71 One side inspection device (moving frame device)
72 frame portion 721 variable portion 722 mount portion (lower end portion)
73 Vehicle part (traveling part)
81 Cantilever inspection device (mobile frame device)
82 frame portion 821A, 821B variable portion 822 leg portion (lower end portion)
823 Protective Unit 83 Running Unit

Claims (8)

A movable movable frame apparatus having a function of at least one of a reaction force body and a scaffold, comprising:
An elongated frame portion at least a part of which is configured to be deformable;
And a traveling unit provided at the lower end of the frame to allow movement along the contact surface;
The frame portion incorporates a truss frame of variable shape, and the truss frame is formed by combining a plurality of unit truss units,
The unit truss unit is
A shaft having a drive motor connected to at least one end,
A three-dimensional frame portion connected so as to allow rotation with rotation of the shaft and formed by a member of fixed length;
And an extendable lower chord portion connected at one end so as to be freely rotatable with respect to a lower lower node of the lower side of the solid frame portion,
The three-dimensional frame portion includes a pair of upper chord members, a first oblique member connecting a control node on the side of the upper chord member that rotates with the shaft, and the lower node, and a side on which the upper chord member is free to rotate And a second diagonal member connecting the free node and the lower node . A movable movable frame apparatus having a function of at least one of a reaction force body and a scaffold, comprising:
An elongated frame portion at least a part of which is configured to be deformable;
And a traveling unit provided at the lower end of the frame to allow movement along the contact surface;
The frame portion incorporates a truss frame of variable shape, and the truss frame is formed by combining a plurality of unit truss units,
The unit truss unit is
An upper shaft having a drive motor connected to at least one end thereof;
Upper chord wire material whose length is adjusted by rotation of the upper shaft;
A lower shaft having a drive motor connected to at least one end,
A lower chord wire material whose length is adjusted by rotation of the lower shaft;
A fixed length first diagonal member that connects an upper node that is rotatable with respect to the upper shaft and a lower node that is rotatable with respect to the lower shaft;
A moving frame apparatus comprising: a freely movable nodal point to which an end of the upper chord wire material is connected; and a second diagonal material having a fixed length connecting the lower nodal point . A movable movable frame apparatus having a function of at least one of a reaction force body and a scaffold, comprising:
An elongated frame portion at least a part of which is configured to be deformable;
And a traveling unit provided at the lower end of the frame to allow movement along the contact surface;
The frame portion incorporates a truss frame of variable shape and rail portions divided into a plurality of parts so as to be able to follow the deformation of the truss frame,
The sliding portion movable along the rail portion has a box and wheels mounted at a lower portion of the box at intervals in the traveling direction, and the distance between the wheels is the divided rail portion. A mobile frame apparatus characterized by being set wider than the maximum distance. The movable frame apparatus according to any one of claims 1 to 3, wherein the frame portion is formed in an arch shape or a gate shape, and the traveling portions are respectively provided at both ends of the frame portion. The movement according to any one of claims 1 to 4 , wherein the frame portion includes a variable portion into which the truss frame is incorporated, and a planar portion provided below the variable portion. Frame device. The moving frame apparatus according to claim 1 , wherein the lower chord portion has a lock mechanism for fixing a length. The movable frame device according to claim 1 or 2 , wherein a torsion spring for suppressing rotation of the first diagonal member and the second diagonal member in a specific direction is attached to the free node. . The movable frame apparatus according to claim 1 or 2 , further comprising a slide portion movable along the shape-variable truss frame.