JP6792428B2 - Bridge inspection equipment - Google Patents

Description

The present invention relates to a bridge inspection device for inspecting the lower surface and side surfaces of a bridge girder and the lower portion of a bridge such as the lower surface of a plate slab from below.

Since it is difficult to directly visually inspect the lower surface of a bridge or the like, an inspection device capable of photographing the lower surface of the bridge by an imaging mechanism such as a camera has been proposed (see, for example, Patent Documents 1 to 3). .. Further, in addition to the photographing mechanism, an inspection device including an operation mechanism for operating the crack gauge plate and a impact inspection mechanism for operating the impact inspection tool has been proposed (see, for example, Patent Document 4).

The bridge inspection device described in Patent Document 1 is an upper support that runs on a balustrade of a bridge and supports a first arm in the horizontal direction so as to rotate about the longitudinal direction. The second arm extending in the vertical direction is supported so as to rotate about the longitudinal direction, and the second arm is supported in a cantilevered state with the third arm configured to be telescopic in multiple stages in the longitudinal direction. , The camera is rotatably attached to the tip of the third arm. In this bridge inspection device, the upper support base is provided with a rod-shaped roller that slides on the balustrade so as to be orthogonal to the balustrade on the lower surface of the underframe, so that the equipment is arranged on the balustrade and moved on the balustrade. You can shoot.

The bridge inspection device described in Patent Document 2 is attached to a base arm that is supported by a trolley that can move on a balustrade and whose tip overhangs to the outside of the side of the bridge, and to the tip of the base arm. A rod holder that holds the vertical rod so that it can be raised and lowered and that can rotate around the vertical axis, a horizontal arm that has an intermediate part fixed to the lower end of the vertical rod and extends in the horizontal direction, and one side on the horizontal arm. It has an attached camera and a balance weight attached to the other side. Further, in order to prevent the horizontal arm from bending, tension wires are provided on the lower end of the vertical rod and one side of the horizontal arm.

In the bridge inspection device described in Patent Document 3 and Patent Document 4, tension wires stretched between the bridge inspection device and the vertical rod are provided on both sides (camera side and balance weight side) of the fulcrum by the vertical rod of the horizontal arm. ..

JP-A-2007-77653 JP-A-2010-209666 Japanese Unexamined Patent Publication No. 2009-275385 JP-A-2015-34445

However, in the conventional bridge inspection device, the horizontal arm and the vertical arm to which the inspection unit such as a camera is attached are supported by the base arm which is horizontally supported by the support base running on the balustrade. Therefore, if the inspection unit shakes due to the running of the support base, inspection work such as photographing cannot be performed until the shaking stops. Further, even if the support base is not running, the camera may shake due to the raising / lowering or rotation of the vertical arm, or the horizontal arm or the vertical arm may receive the wind and the inspection unit may shake. In order to suppress the shaking of the inspection part, it is necessary to increase the support rigidity of the support base and the base arm and the rigidity of the vertical arm and the horizontal arm. However, such a high rigidity configuration makes the inspection device larger and larger. Weight up. In addition, handling becomes complicated.

In view of such a background, it is an object of the present invention to provide a bridge inspection device that can suppress the shaking of the inspection unit while suppressing the increase in size and weight and is easy to handle.

In order to solve such a problem, the bridge inspection device (10, 110) according to the present invention includes a trolley unit (11) movably attached to a high column (6) of the bridge (1, 101) and the trolley. A vertical arm (40) that can be raised and lowered and rotatably attached to the unit and is arranged substantially vertically on the outside of the bridge, and a vertical arm (40) that rotates around the axis extending in the bridge axis direction at the lower end of the vertical arm. A horizontal arm (41) having a one-sided portion (41A) movably connected to the middle portion and arranged below the bridge and another side portion (41B) arranged outside the bridge, and the horizontal. An inspection unit (45) provided on the one side portion of the arm for inspecting the bridge from below, a counter weight (48) arranged below the other side portion of the horizontal arm, and the horizontal arm. From the first guide portion (46) provided on the other side portion, the second guide portion (47) provided at a position higher than the joint portion of the vertical arm with the horizontal arm, and the counter weight, the said is stretched over the one side portion of the horizontal arm through a first guide portion及beauty the second guide portion, the biasing said one side portion upward by the action of the load of the counterweight 1 Suspended member (49) and a bundle portion (42) provided on the one side portion of the horizontal arm so as to project upward and abutting on the lower surface of the bridge.

According to this configuration, the horizontal arm rotatably supported by the vertical arm is urged by the counterweight to bring the bundle to the underside of the bridge. Therefore, even if the configuration is not highly rigid, the shaking of one side portion of the horizontal arm is suppressed, and the shaking of the inspection unit provided on one side portion is also suppressed. Further, even if the structure is not highly rigid, the bundle portion and the first suspension member can suppress the shaking of the inspection portion, so that it is possible to suppress the increase in size and weight of the bridge inspection device.

Further, in the above invention, the rotation allowed state in which the horizontal arm (41) is allowed to rotate about the axis in the bridge axis direction with respect to the vertical arm (40) and the rotation of the horizontal arm with respect to the vertical arm are defined. It is preferable to further provide a switching mechanism (52) for switching between the restricted rotation restricted state.

According to this configuration, the bridge inspection device is allowed to rotate when inspecting by operating the switching mechanism, and the bridge inspection device is installed when the bridge inspection device is attached to the balustrade, removed from the balustrade, or moved. It is easy to handle because it can be in a rotation restricted state.

Further, in the above invention, it is preferable to further provide stoppers (51, 52) for restricting the rotation angle of the horizontal arm (41) with respect to the vertical arm (40) around the axis in the bridge axis direction within a predetermined angle range. ..

According to this configuration, since the horizontal arm does not tilt with respect to the vertical arm beyond a predetermined rotation angle, it is possible to prevent the inspection unit and the like from being damaged due to an operation error.

Further, in the above invention, it is preferable that the bundle portion (42) has a roller (43) at the upper end, which is in contact with the lower surface of the bridge.

According to this configuration, the inspection unit is moved by rotating the vertical arm around the vertical axis while the bundle portion is in contact with the lower surface of the bridge, or the trolley unit is moved to move the bridge inspection device. be able to.

Further, in the above invention, the axial force sensor (39) for detecting the tensile axial force of the vertical arm (40) and the axial force sensor for detecting the axial force sensor (step ST3: Yes) when the carriage unit (11) is running (step ST3: Yes). When the value becomes large (step ST5: No), the length from the trolley unit to the intermediate portion of the horizontal arm (41) is increased (step ST7), and when the detected value of the axial force sensor becomes small. (Step ST5: Yes) An arm drive device (38) for driving the vertical arm may be further provided so as to shorten the length from the carriage unit to the intermediate portion of the horizontal arm (step ST6).

When the bogie unit is traveling on the balustrade, the height from the balustrade to the underside of the bridge may change. When the bogie unit is running with the rollers of the bundle part in contact with the lower surface of the bridge by applying an upward spring force due to the bending of the horizontal arm, if this height becomes small, the height change is small. When the bending of the horizontal arm becomes small, the axial force (tensile force) of the vertical arm becomes small, and the height change becomes large, the roller of the bundle portion separates from the lower surface of the bridge and the horizontal arm easily swings. On the contrary, when this height is increased, the bending of the horizontal arm is increased and the axial force of the vertical arm is increased. According to this configuration, even if the height from the balustrade to the lower surface of the bridge changes while the bogie unit is running, the length from the bogie unit to the middle part of the horizontal arm is changed, so that the axial force of the vertical arm changes. Can be made smaller.

Further, in the above invention, in the arm driving device (38), the value of the axial force sensor is set in a predetermined axial force range (RP) in which the roller (43) abuts on the lower surface of the bridge (1, 101). It is preferable to drive the vertical arm (40) so that it fits (steps ST4 to ST7).

According to this configuration, it is possible to prevent an axial force from being applied to the vertical arm exceeding a predetermined value, and it is also possible to prevent the roller from separating from the lower surface of the bridge.

Further, in the above invention, it is preferable that the arm driving device (38) is provided on the bogie unit (11) to support the vertical arm (40) so as to be able to move up and down.

According to this configuration, it is possible to prevent an increase in the weight of the inspection unit portion below the vertical arm supported by the bogie unit.

Further, in the above invention, the first suspending member (49) may be connected to a portion of the horizontal arm (41) provided with the bundle portion (42).

According to this configuration, the force for lifting one side portion of the horizontal arm acts directly on the bundle portion, so that the bending moment of the horizontal arm can be suppressed.

Further, in the above invention, the first guide portion (46) and the second guide portion (47) may be pulleys.

According to this configuration, the load of the counterweight is surely transmitted to one side portion of the horizontal arm via the first suspension member, so that the weight increase of the counterweight can be suppressed.

Further, in the above invention, it is preferable that the second guide portion (47) is a movable pulley provided on the vertical arm (40) so as to be vertically movable.

According to this configuration, the magnitude of the upward component force acting on one side portion of the horizontal arm can be appropriately changed. Alternatively, the position of the second guide portion can be appropriately changed according to the cross-sectional shape of the bridge and the mounting condition of the bridge inspection device.

Further, in the above invention, the second guide portion (47) is provided on both sides of the vertical arm (40) in the bridge axis direction, and the first suspension member (49) is a bridge of the vertical arm (40). It may be provided on both sides in the axial direction and guided to the second guide portion on the corresponding side.

According to this configuration, it is not necessary to make the vertical arm highly rigid because the torsional force applied to the vertical arm is suppressed.

Further, in the above invention, the said third guide portion provided on the other side portion (41B) and (146), the vertical arm and the second guide portion (4 0) of the horizontal arm (41) (47) fourth guide portion (147), said counter wait (48), the third guide portion及beauty the one side portion of the horizontal arm through the fourth guide portion (41A provided at a position lower than ) to over is stretched, the second suspension member counterweights the first suspension member by exerting a load of in cooperation with the (49) for biasing said one side portion upwardly (149) further You should prepare.

According to this configuration, even if the first suspension member comes off from the first guide portion or the second guide portion, the counterweight is supported by the second suspension member, so that the counterweight can be prevented from falling due to a work error. More precisely, it is possible to suppress an increase in the impact load applied to the horizontal arm and the vertical arm due to the fall.

Further, in the above invention, the fourth guide portion (147) has a path length changing means (147c) for changing the path length of the second suspending member (149) supporting the counterweight (48). It is preferable that the support of the counterweight is replaced from the second suspension member to the first suspension member by shortening the path length of the second suspension member by the path length changing means.

According to this configuration, the counterweight is supported by the first suspension material that passes through a higher position during bridge inspection, and the second suspension that passes through a lower position when the bridge inspection device is attached to or removed from the balustrade. The material can support the counterweight. Therefore, the bending stress of the horizontal arm at the time of inspection can be reduced, and the installation / removal work can be facilitated.

Further, in the above invention, the trolley unit (11) is mounted on the balustrade (6) so as to be travelable, and the trolley (12) and the base portion (31) arranged above the trolley in the direction perpendicular to the bridge axis. , And an arm holder having an arm holder (32) integrally provided at the outer end of the base portion in the direction perpendicular to the bridge axis and vertically arranged outside the balustrade to hold the vertical arm (40) up and down. The device (13) and the rear end of the base portion are rotatably and detachably connected to the trolley around the axis in the bridge axis direction, and the base portion is slidably connected to the trolley in the direction perpendicular to the bridge axis. The arm holding device is provided with a connecting mechanism (20) for inspection, in which the arm holder is vertically arranged outside the bridge and for attachment / detachment in which the arm holder is obliquely arranged above the trolley. It is good that the posture can be changed between the posture and the posture.

According to this configuration, the work of attaching the arm holding device to the trolley and the work of removing it from the trolley can be facilitated and safe.

Further, in the above invention, the arm holding device (13) changes the posture between the inspection posture and the attachment / detachment posture at the outer end of the connection mechanism (20) in the direction perpendicular to the bridge axis. A guide roller (24) configured to sometimes guide the arm holder (32) and restrict the movement of the arm holder outward in the direction perpendicular to the bridge axis when the arm holding device is in the detachable posture. ) May be provided.

According to this configuration, the arm holding device in the attachment / detachment posture is restricted from changing its posture to the inspection posture side, so that the attachment / detachment work of the arm holding device can be made easier and safer.

As described above, according to the present invention, it is possible to provide a bridge inspection device that can suppress the shaking of the inspection unit while suppressing the increase in size and weight, and is easy to handle.

Side view showing the mounting state of the bridge inspection device according to the first embodiment Enlarged view of the main part of the bridge inspection device shown in FIG. Front view of the main part of the bridge inspection device shown in FIG. 1 (arrow view III in FIG. 1) Operation explanatory view showing enlarged part IV in FIG. Functional block diagram of the control device shown in FIG. Flow chart of vertical arm elevating control by control device Structural model diagrams of the bridge inspection device (A) according to the present invention and the inspection devices (B) to (E) according to the comparative example. A comparative diagram showing a bending moment (1) and a displacement (2) between the bridge inspection device (A) according to the present invention and the inspection device (B) according to a comparative example. Comparative diagram showing bending moment (1) and displacement (2) between the bridge inspection device (A) according to the present invention and the inspection devices (B) and (C) according to the comparative example. A comparative diagram showing a bending moment (1) and a displacement (2) between the bridge inspection device (A) according to the present invention and the inspection device (B) according to a comparative example. Explanatory drawing of installation procedure of bridge inspection apparatus shown in FIG. Explanatory drawing of installation procedure of bridge inspection apparatus shown in FIG. Explanatory drawing of installation procedure of bridge inspection apparatus shown in FIG. Explanatory drawing of installation procedure of bridge inspection apparatus shown in FIG. Explanatory drawing of installation procedure of bridge inspection apparatus shown in FIG. Side view showing the mounting state of the bridge inspection device according to the second embodiment Schematic configuration diagram showing (A) a state in which the first wire of the saddle is stretched and (B) a state in which the first wire is loosened as shown in FIG. The figure which shows the example which applied the bridge inspection apparatus which concerns on this invention to a T girder bridge

Hereinafter, embodiments of the bridge inspection device 10 according to the present invention will be described in detail with reference to the drawings.

<< First Embodiment >>
First, the first embodiment will be described with reference to FIGS. 1 to 15. FIG. 1 is a side view showing the bridge inspection device 10 according to the embodiment which is attached to the bridge 1 and is in an inspectable state, and the bridge inspection device 10 is attached to the bridge 1 shown in the cross section. The bridge 1 extends substantially horizontally by being connected to the lower floor slab 2 extending substantially horizontally, a pair of webs 3 rising from both ends of the lower floor slab 2 in the direction orthogonal to the bridge axis, and the upper ends of the pair of webs 3. It is a single box girder bridge made of reinforced concrete composed of the existing upper floor slab 4. The pair of webs 3 are inclined so as to open upward from the left and right ends of the lower floor slab 2. The upper floor slab 4 connects the upper ends of the pair of webs 3 to each other and cooperates with the lower floor slab 2 to form a box-shaped cross section. Further, the upper floor slab 4 has left and right overhanging portions 5 protruding laterally from each of the webs 3, thereby increasing the width of the bridge 1. At the overhanging end of the overhanging portion 5, a balustrade 6 made of reinforced concrete projecting upward is provided.

The overhanging portion 5 has a tapered shape that is thickest in the vicinity of the upper end portion of the cantilevered web 3 and becomes thinner toward the overhanging end side. The lower surface of the overhanging portion 5 is inclined with respect to the horizontal plane. The balustrade 6 has a tapered shape having an outer surface extending substantially vertically and an inner surface sloping outward toward the upper side. In the present specification, the surface facing downward with an inclination angle of 45 ° or less with respect to the horizontal plane is the lower surface of the bridge 1, and the surface facing outward with an inclination angle larger than 45 ° with respect to the horizontal plane is the outer surface of the bridge 1. And. Further, the surface facing upward with an inclination angle of 45 ° or less with respect to the horizontal plane is defined as the upper surface of the bridge 1, and the surface facing inward with an inclination angle larger than 45 ° with respect to the horizontal plane is defined as the inner surface of the bridge 1. Therefore, the lower surface of the overhanging portion 5 and the lower surface of the lower floor slab 2 are the lower surface of the bridge 1, and the outer surface of the web 3 and the outer surface of the balustrade 6 are the outer surfaces of the bridge 1. Further, the upper surface of the upper floor slab 4 and the upper surface of the balustrade 6 are the upper surfaces of the bridge 1, and the inner surface of the balustrade 6 is the inner surface of the bridge 1.

The lower surface of the bridge 1 cannot be visually inspected by a person without using a special scaffolding or the like. Therefore, the bridge inspection device 10 is used to photograph the lower surface of the bridge 1. Hereinafter, the bridge inspection device 10 will be described. Since the bridge inspection device 10 is operated by the operator who operates the bridge inspection device 10 on the upper floor slab 4, the front-back and left-right directions are determined with reference to the operator facing the outside of the bridge 1. In the illustrated example, the bridge inspection device 10 is attached to the right side of the bridge 1, the outer right side of the bridge 1 is the front side of the bridge inspection device 10, and the inner side of the bridge 1 is the rear side of the bridge inspection device 10.

FIG. 2 is an enlarged view of a main part of the bridge inspection device 10. As shown in FIGS. 1 and 2, the bridge inspection device 10 has a bogie unit 11 attached to the balustrade 6. The bogie unit 11 has a bogie 12 attached to the upper part of the bogie 6 so as to straddle the balustrade 6 in the front-rear direction (direction perpendicular to the bridge axis), and an arm holding device 13 attached to the bogie 12. The bogie 12 has an L-shaped vehicle body body 14 having a vehicle body upper portion 14U provided so as to project in the front-rear direction above the balustrade 6 and a vehicle body front portion 14F hanging downward from the front end of the vehicle body upper portion 14U. .. A rear portion 15 of the vehicle body, which hangs downward from the upper portion 14U of the vehicle body, is attached to the rear portion of the vehicle body body 14 so as to be movable in the front-rear direction and fixed at a desired position. The vehicle body rear portion 15 cooperates with the vehicle body front portion 14F to sandwich the balustrade 6 from the front and rear.

The upper portion 14U of the vehicle body has a rotating shaft extending in the front-rear direction, and upper wheels 16 that are connected to the upper surface of the balustrade 6 are attached at two locations separated from each other to the left and right. The front portion 14F of the vehicle body has a rotating shaft extending vertically, and front wheels 17 that tangent to the outer surface of the balustrade 6 are attached to a total of four locations, two in the vertical direction and two in the left and right in each stage. The rear portion 15 of the vehicle body has a rotating shaft extending vertically, and rear wheels 18 that tangent to the inner surface of the balustrade 6 are attached at two locations separated from each other to the left and right. The rear wheel 18 is arranged at a position slightly lower than that of the upper front wheel 17. Hereinafter, the upper wheel 16, the front wheel 17, and the rear wheel 18 are collectively referred to as wheels 16-18. These wheels 16 to 18 allow the carriage 12 to travel on the balustrade 6. The upper wheel 16 is a drive wheel driven by a drive source 19 mounted on the bogie 12, and when the upper wheel 16 is driven, the bogie 12 self-propells on the balustrade 6 in the bridge axis direction. It is not necessary that all the wheels 16 to 18 are constantly transferred to the balustrade 6.

The carriage 12 is made movable in the left-right direction (bridge axis direction) by these wheels 16 to 18, and is provided with a traveling brake mechanism so as to be fixed at a predetermined position in the left-right direction. The traveling brake mechanism may be composed of a braking member that blocks the rotation of the wheels 16 to 18 when the bogie 12 is manual, and is incorporated in the power transmission mechanism of the drive wheels when the bogie 12 is electric. It may also be configured by a reverse input prevention mechanism. Alternatively, the traveling brake mechanism may be configured by an abutting mechanism that contacts the balustrade 6 so as to apply a sandwiching force.

A connecting mechanism 20 is provided above the upper portion 14U of the vehicle body. The connecting mechanism 20 has a frame portion 21 fixed to the upper portion 14U of the vehicle body and a slider portion 22 movably supported by the frame portion 21 in the front-rear direction. At the rear end of the slider portion 22, a pivot portion 23 that rotatably and detachably supports the arm holding device 13 around the axis in the left-right direction is formed. That is, the connecting mechanism 20 connects the base portion 31 to the carriage 12 so as to be rotatable around the axis in the bridge axis direction, and connects the arm holding device 13 to the carriage 12 so as to be slidable and detachable in the direction perpendicular to the bridge axis. .. Further, at the front end of the frame portion 21, a guide roller 24 which is arranged so as to project forward and upward from the frame portion 21 and has a rotation axis in the bridge axis direction is provided. The function of the guide roller 24 will be described later.

The arm holding device 13 is integrally provided at the front end (outer end in the direction perpendicular to the bridge axis) of the base portion 31 extending in the front-rear direction above the carriage 12 and the balustrade 6 outside the balustrade 6. It has an arm holder 32 that is arranged vertically along the side surface. The arm holding device 13 is connected to the carriage 12 via the connecting mechanism 20 by rotatably attaching the rear end of the base portion 31 to the pivot portion 23 of the connecting mechanism 20 around the axis in the left-right direction.

The arm holder 32 includes an electric rotation mechanism 33 that holds the vertical arm 40 and rotates the vertical arm 40, and an electric winch 34 that raises and lowers the vertical arm 40. As a result, the arm holder 32 holds the vertical arm 40 vertically arranged on the outside of the balustrade 6 so as to be able to move up and down and rotatably around the vertical axis. The electric rotation mechanism 33 rotates the vertical arm 40 by rotating a holding portion that holds the vertical arm 40. The electric winch 34 raises and lowers the vertical arm 40 by winding up and feeding out the wire 35 locked to the tip of the vertical arm 40 in a state where the electric rotation mechanism 33 releases the holding of the vertical arm 40. Further, the arm holder 32 is provided with an arm lifting device 36 that raises and lowers the vertical arm 40 by raising and lowering the electric rotation mechanism 33 up and down. The arm elevating device 36 is driven and controlled by the control device 37, and holds the vertical arm 40 in a state where the electric winch 34 does not support the vertical arm 40 via the wire 35 when the carriage unit 11 described later is traveling. The rotation mechanism 33 is moved up and down within the height range of the arm holder 32. That is, the arm elevating device 36 and the control device 37 constitute an arm driving device 38 (FIG. 5) that elevates and drives the vertical arm 40.

As shown in FIG. 1, the lower end of the vertical arm 40 is positioned below a predetermined dimension (height of the bundle portion 42 described later) or more below the lower surface of the lower floor slab 2 while being held by the arm holding device 13. It is configured to extend to the desired length. The vertical arm 40 may be extended by a replenishment type or a telescopic type. An axial force sensor 39 for detecting the axial force (tensile force) of the vertical arm 40 is provided in the middle portion of the vertical arm 40 below the arm holding device 13. The axial force sensor 39 is provided at a position higher than the second pulley 47, which will be described later, and sends the detected axial force of the vertical arm 40 to the control device 37.

At the lower end of the vertical arm 40, a horizontal arm 41 extending substantially horizontally in the direction perpendicular to the bridge axis is provided. The horizontal arm 41 is coupled to the vertical arm 40 so that the intermediate portion in the longitudinal direction thereof can be rotated around the axis in the left-right direction (bridge axis direction). The vertical arm 40 is connected to the horizontal arm 41 at a position in front of the center in the longitudinal direction of the horizontal arm 41 (outside in the direction perpendicular to the bridge axis). That is, the first portion 41A of the horizontal arm 41 on the rear side (inward side in the direction perpendicular to the bridge axis) with respect to the joint portion with the vertical arm 40 is the second portion on the front side (outside side in the direction perpendicular to the bridge axis). It is longer than 41B.

The first portion 41A of the horizontal arm 41 is arranged below the bridge 1 and has a length extending below the lower floor slab 2. An inspection camera 45 that photographs the lower surface of the bridge 1 in order to inspect the bridge 1 from below is attached to the first portion 41A of the horizontal arm 41. The inspection camera 45 is configured to be able to change the shooting direction (angle) and shooting magnification, capture images (shutter operation), or start or stop shooting by remote control. The inspection camera 45 may be configured so that the first portion 41A of the horizontal arm 41 can be moved in the longitudinal direction.

A bundle portion 42 projecting upward is provided at an intermediate portion in the longitudinal direction of the first portion 41A of the horizontal arm 41. The bundle portion 42 is fixed at a position of the first portion 41A of the horizontal arm 41 that is farther rearward from the joint portion with the vertical arm 40 than the length of the second portion 41B. A roller 43 having a rotating shaft extending in the direction perpendicular to the bridge axis is attached to the tip of the bundle portion 42. As shown in FIG. 1, when the bridge inspection device 10 is attached to the bridge 1 so as to be inspectable, the roller 43 is in contact with the lower surface of the lower floor slab 2.

On the other hand, the second portion 41B of the horizontal arm 41 is arranged outside the bridge 1, and a first pulley 46 having a rotation axis in the left-right direction is attached to the tip thereof. Further, a second pulley 47 is provided at a position higher than the joint portion of the vertical arm 40 with the horizontal arm 41. A first suspension member 49 having one end connected to a counterweight 48 arranged below the first pulley 46 is wound around the first pulley 46. The first suspension member 49 is stretched from the counterweight 48 over the first portion 41A of the horizontal arm 41 after passing through the first pulley 46 and the second pulley 47 functioning as guide portions in this order. More specifically, the other end of the first suspension member 49 is connected to a portion of the horizontal arm 41 where the bundle portion 42 is provided. As a result, the first suspending member 49 converts the load of the counterweight 48 into a force directed diagonally upward and forward and acts on the first portion 41A of the horizontal arm 41 to urge the first portion 41A upward. ..

The first portion 41A of the horizontal arm 41 is longer than the second portion 41B, and the inspection camera 45 and the bundle portion 42 are provided in the first portion 41A. Therefore, when the counterweight 48 is not provided, the horizontal arm 41 is in a balanced state in which the first portion 41A rotates downward (the center of gravity is behind the joint with the vertical arm 40). .. In the present embodiment, the load of the counterweight 48 acts as a force that tends upward and diagonally forward and acts on the first portion 41A of the horizontal arm 41. The position of the first pulley 46 and the load of the counterweight 48 are set so that the horizontal arm 41 is in a balanced state so as to rotate the first portion 41A upward.

FIG. 3 is a view taken along the line III in FIG. 1, and shows a front view of the lower part of the bridge inspection device 10 (around the joint portion between the vertical arm 40 and the horizontal arm 41). As shown in FIGS. 1 and 3, the first pulley 46 is arranged on the axis of the horizontal arm 41. On the other hand, the second pulley 47 is provided symmetrically on both sides of the vertical arm 40 in the bridge axis direction in a pair. The first suspension member 49 is formed into a set of two, one first suspension member 49 is wound around each of the second pulleys 47, and both of the two first suspension members 49 are wound around the first pulley 46. It is hung.

The pair of second pulleys 47 are pivotally supported by a common support member 50. The common support member 50 extends inside the vertical arm 40 through a slit 40a formed vertically on the front surface of the vertical arm 40, and can be moved up and down by a cable (not shown) arranged inside the vertical arm 40. Suspended. That is, the pair of second pulleys 47 are configured as movable pulleys whose height position on the vertical arm 40 can be changed by driving the common support member 50 up and down by a cable. The first pulley 46 and the second pulley 47 also function as a guide portion for guiding the first suspension member 49 that moves relative to each other when the second pulley 47 moves up and down.

As shown in FIG. 1, the force with which the counterweight 48 urges the first portion 41A of the horizontal arm 41 upward changes according to the tension angle of the first suspension member 49. That is, the force acting on the first portion 41A of the horizontal arm 41 transmitted through the first suspension member 49 is a component force that compresses the first portion 41A in the longitudinal direction (long axis perpendicular direction) and the first portion 41A upward. It is divided into a component force to rotate. Then, as the angle of the first suspending member 49 with respect to the horizontal arm 41 increases, the component force for rotating the first portion 41A upward increases, so that the bending moment of the first portion 41A decreases and the bending also decreases. .. On the other hand, the axial force of the vertical arm 40 at the position where the axial force sensor 39 is provided does not change even if the tensioning angle of the first suspension member 49 changes, unless an external force is applied.

FIG. 4 is an enlarged view showing the IV portion (around the joint portion between the vertical arm 40 and the horizontal arm 41) in FIG. 1, FIG. 4 (A) shows the state of FIG. 1, and FIG. 4 (B) shows the state of FIG. The operating state is shown from (A). As shown in FIGS. 1 and 4A, the lower end of the vertical arm 40 extends forward, and the horizontal arm 41 rotates in a direction to move the front second portion 41B upward. The first stopper member 51 to prevent is fixed.

At the lower end of the vertical arm 40, a second stopper member 52 that comes into contact with the first portion 41A of the horizontal arm 41 from above is rotatably provided about a support shaft of the horizontal arm 41. The second stopper member 52 is rotationally driven by a remotely controlled driving force source (not shown) so as to be able to take the state shown in FIG. 4A and the state shown in FIG. 4B. In the state shown in FIG. 4A, the second stopper member 52 pushes down the first portion 41A of the horizontal arm 41, and the second portion 41B of the horizontal arm 41 is in contact with the first stopper member 51. In this state, the horizontal arm 41 is rigidly coupled to the vertical arm 40 and extends substantially horizontally, and the rotation of the horizontal arm 41 with respect to the vertical arm 40 is restricted (hereinafter, this state is a rotation restricted state). ).

In FIG. 4B, the second stopper member 52 is rotationally driven so as to move the contact surface 52a with the horizontal arm 41 upward. The horizontal arm 41 is in a balanced state so as to rotate the first portion 41A downward. However, in FIG. 4B, the horizontal arm 41 is in contact with the lower surface of the lower floor slab 2. The rotation of the 41 is prevented, and a gap is formed between the contact surface 52a of the second stopper member 52 and the upper surface of the horizontal arm 41. On the other hand, when the bundle portion 42 is not in contact with the lower surface of the lower floor slab 2, the horizontal arm 41 rotates clockwise to the position indicated by the imaginary line, and the first portion 41A hits the second stopper member 52. Get in touch. When the second stopper member 52 is rotationally driven counterclockwise in such a state, the second stopper member 52 pushes down the first portion 41A, so that the horizontal arm 41 rotates as shown in FIG. 4 (A). Driven to position.

That is, in the state shown in FIG. 4B, the rotation of the horizontal arm 41 with respect to the vertical arm 40 is the rotation angle (solid line) that abuts on the first stopper member 51 and the rotation that abuts on the second stopper member 52. It is allowed in an angle range between the angle (imaginary line) (hereinafter, this state is referred to as a rotation allowed state). In other words, the first stopper member 51 and the second stopper member 52 constitute a stopper that regulates the rotation angle of the horizontal arm 41 with respect to the vertical arm 40 within a predetermined angle range. Then, the second stopper member 52 constitutes a switching mechanism for switching between a rotation restricting state and a rotation allowing state by being rotationally driven.

The bridge inspection device 10 configured in this way inspects the bridge 1 by the operator performing a typical operation as follows.

First, the operator sets the bridge inspection device 10 in a state as shown in FIG. Specifically, the bogie unit 11 is attached to the balustrade 6, the vertical arm 40 is held by the arm holding device 13, and the horizontal arm 41 is set so as to extend from the lower end of the vertical arm 40 in both directions perpendicular to the bridge axis. .. In this state, the bridge inspection device 10 is in a rotation-regulated state in which the rotation of the horizontal arm 41 is restricted by the second stopper member 52. On the other hand, since the second pulley 47 is arranged on the upper side, the horizontal arm 41 receives a relatively large force from the first suspension member 49 to rotate the first portion 41A upward. Further, in this state, the vertical arm 40 is held by the arm holding device 13 so that the roller 43 of the bundle portion 42 does not come into contact with the lower surface of the bridge 1. The extending direction of the horizontal arm 41 can be adjusted by rotationally driving the arm holder 32 by the electric rotation mechanism 33 provided in the arm holding device 13.

From this state, the operator rotationally drives the second stopper member 52 so that the contact surface 52a moves upward, and puts the bridge inspection device 10 in a rotation-allowed state. Then, the horizontal arm 41 rotates in the direction of moving the first portion 41A upward, and the roller 43 of the bundle portion 42 comes into contact with the lower surface of the bridge 1. When the bundle portion 42 (roller 43) comes into contact with the lower surface of the bridge 1, the shaking of the inspection camera 45 is settled at an early stage. After the shaking of the inspection camera 45 has subsided, the operator remotely inspects (photographs) the bridge 1 from below by the inspection camera 45.

When the inspection of one inspection span (the range in the bridge axis direction in which the inspection camera 45 can take a picture) is completed, the operator runs the bogie unit 11 as it is and moves the bridge inspection device 10 to the next inspection span. .. At this time, the inspection camera 45 may shake, but the horizontal arm 41 has the bundle portion 42 (roller 43) in contact with the lower surface of the bridge 1, and the distance from the bundle portion 42 to the inspection camera 45 is short. The shaking converges early.

Alternatively, after the inspection of one inspection span, the operator may drive the second stopper member 52 to the position shown in FIG. 4A to put the bridge inspection device 10 in the rotation restricted state. Specifically, the operator puts the bridge inspection device 10 in a rotation-restricted state, then rotates the horizontal arm 41 so that the bundle portion 42 is separated from the lower surface of the bridge 1, and then runs the carriage unit 11. The bridge inspection device 10 may be moved to the next inspection span.

In this way, since the roller 43 of the bundle portion 42 is not transferred to the lower surface of the bridge 1 when the bogie unit 11 is traveling, the moving distance of the roller 43 is shorter than the moving distance of the bogie unit 11, that is, the horizontal arm. It is possible to prevent the extending direction of 41 from shifting in the horizontal plane.

On the other hand, in this way, the horizontal arm 41 and the inspection camera 45 may be shaken significantly when the bridge inspection device 10 is moved, as compared with the case where the roller 43 is moved while being transferred to the bridge 1. However, when the operator operates the second stopper member 52 to allow the bridge inspection device 10 to rotate, the horizontal arm 41 rotates and the bundle portion 42 comes into contact with the lower surface of the bridge 1, so that it is horizontal. The shaking of the arm 41 and the inspection camera 45 converges at an early stage.

When the bogie unit 11 is traveling on the balustrade 6, the height from the balustrade 6 to the lower surface of the bridge 1 may change. When the bogie unit 11 is running with the roller 43 of the bundle portion 42 in contact with the lower surface of the bridge 1 by applying an upward spring force due to the bending of the horizontal arm 41, when this height becomes small. While the height change is small, the bending of the horizontal arm 41 is small, the axial force (tensile force) of the vertical arm 40 is small, and when the height change is large, the roller 43 of the bundle portion 42 is moved from the lower surface of the bridge 1. The horizontal arm 41 is easily shaken apart. On the contrary, when this height is increased, the bending of the horizontal arm 41 is increased and the axial force of the vertical arm 40 is increased.

Therefore, in the control device 37, the detection value of the axial force sensor 39 is set so that the value of the axial force sensor 39 falls within the predetermined axial force range RP in which the roller 43 abuts on the lower surface of the bridge 1 when the bogie unit 11 is traveling. When it becomes large, the length from the bogie unit 11 to the middle part of the horizontal arm 41 is lengthened, and when the detection value of the axial force sensor 39 becomes small, the length from the bogie unit 11 to the middle part of the horizontal arm 41 is shortened. The vertical arm 40 is driven so as to do so. Hereinafter, the control device 37 will be specifically described.

FIG. 5 is a functional block diagram of the control device 37. The operation signal SI of the operation performed by the operator in the input operation unit 60 is input to the control device 37 via the input interface 61. In addition to the control on / off signal, the operation signal SI includes a set load Ps set according to the weight of the horizontal arm 41, the inspection camera 45, the counter weight 48, and the like. The input interface 61 may be wireless or wired. Further, the axial force P of the vertical arm 40 detected by the axial force sensor 39 is input to the input interface 61 of the control device 37, and the trolley unit 11 travels on the balustrade 6 (the drive source 19 is running on the balustrade 6). A traveling drive signal Sd indicating that the drive wheels are being driven) is input.

The set load Ps input via the input interface 61 is used in the upper / lower limit value setting unit 62 for calculating the upper limit axial force Pmax and the lower limit axial force Pmin of the vertical arm 40. For example, the upper / lower limit value setting unit 62 calculates the upper limit axial force Pmax by multiplying the set load Ps by 1.1 with respect to the input set load Ps, and multiplies the set load Ps by 0.9. The lower limit axial force Pmin is calculated by. Alternatively, the upper / lower limit value setting unit 62 calculates the upper limit axial force Pmax by adding a predetermined allowable axial force change amount to the input set load Ps, and subtracts the predetermined allowable axial force change amount. The lower limit axial force Pmin may be calculated by That is, the upper / lower limit value setting unit 62 sets a predetermined axial force range RP by calculating the upper limit axial force Pmax and the lower limit axial force Pmin.

The travel drive signal Sd of the bogie unit 11 input via the input interface 61 is used by the travel determination unit 63 to determine that the bogie unit 11 is traveling on the balustrade 6. Specifically, the travel determination unit 63 determines the start of travel of the bogie unit 11 when the drive source 19 starts driving the drive wheels regardless of the travel direction, and the drive source 19 stops driving the drive wheels. Occasionally, the start of travel of the bogie unit 11 is determined. The travel determination unit 63 generates a travel signal Sr while the bogie unit 11 continues traveling.

The axial force difference calculation unit 64 calculates the axial force difference ΔP based on the axial force P from the axial force sensor 39 and the predetermined axial force range RP when the traveling signal Sr is generated. Specifically, when the axial force P is larger than the upper limit axial force Pmax, the axial force difference calculation unit 64 calculates the axial force difference ΔP by subtracting the upper limit axial force Pmax from the axial force P, and calculates the axial force difference ΔP. Is smaller than the lower limit axial force Pmin, the lower limit axial force Pmin is subtracted from the axial force P to calculate the negative axial force difference ΔP.

The axial force difference ΔP calculated by the axial force difference calculation unit 64 is used by the elevating amount calculation unit 65 to calculate the elevating amount D of the vertical arm 40. The lifting amount calculation unit 65 calculates the lifting amount D based on the axial force difference ΔP, for example, by multiplying the axial force difference ΔP by a predetermined coefficient. The positive lifting amount D calculated based on the positive axial force difference ΔP indicates the lowering amount to lower the vertical arm 40, and the negative lifting amount D calculated based on the negative axial force difference ΔP is the vertical arm. Indicates the amount of increase in which 40 should be increased.

The elevating amount D calculated by the elevating amount calculation unit 65 is output as a drive signal Sm toward the arm elevating device 36 via the output interface 66. That is, the control device 37 drives and controls the arm elevating device 36 so as to lower the vertical arm 40 by the elevating amount D indicated by the drive signal Sm (increase when the elevating amount D is a negative value).

FIG. 6 shows a flowchart of vertical arm elevating control in which the control device 37 elevates and elevates the vertical arm 40 as described above. The control device 37 starts the vertical arm elevating control shown in FIG. 6 when an ON signal is input from the input operation unit 60. Hereinafter, the procedure of vertical arm elevating control by the control device 37 will be described with reference to FIG.

When the ON signal is input from the input operation unit 60, the control device 37 first determines whether or not the set load Ps is input (step ST1). The set load Ps may be a value input and stored from the input operation unit 60, or may be a newly input value. When the set load Ps is not input (step ST1: No), the control device 37 repeats the process of step ST1 until the set load Ps is input. At this time, the control device 37 may perform a process of prompting the operator to input the set load Ps by a display, voice, or the like.

When the set load Ps is input (step ST1: No), the control device 37 calculates the upper limit axial force Pmax and the lower limit axial force Pmin of the vertical arm 40 based on the set load Ps. That is, a predetermined axial force range RP is set (step ST2).

Next, the control device 37 determines whether or not the bogie unit 11 has started traveling on the balustrade 6, that is, whether or not the traveling signal Sr is generated (step ST3). When the bogie unit 11 has not started traveling (step ST3: No), the control device 37 repeats the determination in step ST3. When the bogie unit 11 starts traveling (step ST3: Yes), the control device 37 determines whether or not the axial force P detected by the axial force sensor 39 is equal to or greater than the lower limit axial force Pmin and equal to or less than the upper limit axial force Pmax. That is, it is determined whether or not it is within the predetermined axial force range RP (step ST4). When the axial force P is equal to or greater than the lower limit axial force Pmin and equal to or less than the upper limit axial force Pmax (step ST4: Yes), the control device 37 proceeds to the process of step ST8 without calculating the lifting amount D of the vertical arm 40.

On the other hand, when it is determined in step ST4 that the axial force P is not equal to or more than the lower limit axial force Pmin and not less than or equal to the upper limit axial force Pmax (No), the control device 37 determines whether or not the axial force P is less than the lower limit axial force Pmin. Judgment (step ST5). When the axial force P is less than the lower limit axial force Pmin (step ST5: Yes), the control device 37 calculates a negative value as the lifting amount D of the vertical arm 40 and raises the vertical arm 40. The arm lifting device 36 is driven and controlled (step ST6). On the other hand, when the axial force P exceeds the upper limit axial force Pmax (step ST5: No), the control device 37 calculates a lowering amount which is a positive value as the raising / lowering amount D of the vertical arm 40, and causes the vertical arm 40 to move. The arm elevating device 36 is driven and controlled so as to be lowered (step ST7). That is, when it is determined in step ST4 that the axial force P is not equal to or greater than the lower limit axial force Pmin and not less than or equal to the upper limit axial force Pmax (No), the control device 37 has a predetermined axial force range in which the roller 43 abuts on the lower surface of the bridge 1. When the detected value of the axial force sensor 39 becomes large, the length from the carriage unit 11 to the middle part of the horizontal arm 41 is lengthened so that the value of the axial force sensor 39 fits in the RP, and the detected value of the axial force sensor 39 is increased. The vertical arm 40 is driven so as to shorten the length from the carriage unit 11 to the intermediate portion of the horizontal arm 41 when the size becomes smaller.

After that, the control device 37 determines whether or not the bogie unit 11 has stopped traveling on the balustrade 6 (step ST8). When the bogie unit 11 has not stopped traveling on the balustrade 6 (step ST8: No), the control device 37 repeats the steps after step ST4. When the bogie unit 11 stops traveling on the balustrade 6 (step ST8: Yes), the control device 37 determines whether or not an off signal has been input from the input operation unit 60 (step ST9). When the off signal is not input (step ST9: No), the control device 37 repeats the steps after step ST3. When the off signal is input (step ST9: Yes), the control device 37 ends the vertical arm elevating control.

In this way, even if the height from the balustrade 6 to the lower surface of the bridge 1 changes while the bogie unit 11 is traveling, the arm drive device 38 has a predetermined axial force range RP (in which the roller 43 abuts on the lower surface of the bridge 1). The vertical arm 40 is driven so that the value of the axial force sensor 39 fits in (Pmax to Pmin), and the length from the bogie unit 11 to the middle portion of the horizontal arm 41 is changed, so that the axial force of the vertical arm 40 changes. Is reduced, axial force is prevented from being applied to the vertical arm 40 in excess of a predetermined value, and the roller 43 is also prevented from being separated from the lower surface of the bridge 1.

After the bridge inspection device 10 is moved, the inspection camera 45 is used to inspect the bridge 1 from below in the same manner as described above. By repeating the above procedure, the inspection of the plurality of inspection spans by the bridge inspection device 10 can be completed in a short time.

According to the bridge inspection device 10 configured in this way and operated in this way, the following effects can be obtained.

That is, as shown in FIG. 1, by arranging the second pulley 47 on the upper side, the horizontal arm 41 rotatably supported by the vertical arm 40 is urged by the counterweight 48 and the roller of the bundle portion 42. The 43 is brought into contact with the lower surface of the bridge 1. As a result, even if the vertical arm 40 and the horizontal arm 41 are not configured to have high rigidity, the shaking of the first portion 41A of the horizontal arm 41 is suppressed, and the shaking of the inspection camera 45 provided in the first portion 41A is also suppressed. Will be done. Therefore, the time for the inspection camera 45 to stop shaking is shortened, and the inspection work (shooting work) by the inspection camera 45 can be performed in a short time. Further, even if the vertical arm 40 and the horizontal arm 41 are not configured to have a high rigidity, the bundle portion 42 and the first suspension member 49 suppress the shaking of the inspection camera 45, so that the bridge inspection device 10 is increased in size and weight. It can suppress the change.

Here, the mechanical advantage of the bridge inspection device 10 according to the present embodiment will be described in detail.

7 (A) shows a structural model of the bridge inspection device 10 according to the present invention, and FIGS. 7 (B) to 7 (E) show a structural model of the inspection device according to a comparative example. As shown in FIG. 7A, in the bridge inspection device 10 according to the present invention, the upper end of the vertical arm 40 is fixed, the horizontal arm 41 is hinged to the lower end of the vertical arm 40, and the first horizontal arm 41 is the first. A first suspension member 49 having a bundle portion 42 provided in the middle portion of the portion 41A and one end fixed to the intermediate portion of the first portion 41A of the horizontal arm 41 is provided in the middle portion of the vertical arm 40. It has a first structure that supports the counter weight 48 via the first pulley 46 provided at the tip of the second portion 41B of the 47 and the horizontal arm 41.

The second structure shown in FIG. 7B is different from the first structure in that the horizontal arm 41 is not provided with the bundle portion 42 and the horizontal arm 41 is rigidly coupled to the vertical arm 40. The third structure shown in FIG. 7C is different from the first structure in that the first suspension member 49 is not provided and the counterweight 48 is directly supported by the tip of the second portion 41B of the horizontal arm 41. ing. The fourth structure shown in FIG. 7D is different from the first structure in that the length of the second portion 41B of the horizontal arm 41 is shortened. The fifth structure shown in FIG. 7 (E) is different from the first structure in that the position of the second pulley 47 provided on the vertical arm 40 is lowered.

For these models, the structures of the vertical arm 40 and the horizontal arm 41 (cross-sectional area, moment of inertia of area, unit weight, etc.) are made the same, and the bending moment of the horizontal arm 41 and the displacement of the vertical arm 40 and the horizontal arm 41 are Was calculated respectively. In the first structure, the distance from the joint point between the vertical arm 40 and the horizontal arm 41 (hereinafter referred to as the arm joint point) to the joint portion between the bundle portion 42 and the first suspension member 49 is 3 m, and the second pulley 47. The distance to the first pulley 46 was set to 3.5 m, and the distance to the first pulley 46 was set to 2.91 m. In the fourth structure, the distance from the arm coupling point to the first pulley 46 was 0.97 m, and in the fifth structure, the distance from the arm coupling point to the second pulley 47 was 0.875 m.

FIG. 8 (A) shows the (1) bending moment of the first structure according to the present invention in the upper row, (2) the displacement in the lower row, and FIG. 8 (B) shows the second structure (1) according to the comparative example. ) Bending moment is shown in the upper row, and (2) Displacement is shown in the lower row. The weight of the counterweight 48 was set to 0.2 kN so that a compression axial force was generated in the bundle portion 42 of the first structure shown in (A). The axial force of the bundle portion 42 at this time is 0.01 kN. The weight of the counterweight 48 was set to the same value (0.2 kN) in the second structure (B).

In the first structure of FIG. 8A, since the horizontal arm 41 is hinged to the vertical arm 40, no displacement occurs in the vertical arm 40, and the bundle portion 42 balances the horizontal arm 41. On the other hand, in the second structure (B), since the bundle portion 42 is not provided, the horizontal arm 41 is not balanced and the vertical arm 40 is displaced. The bending moment is −0.18 kN · m for both the first structure and the second structure at the point where the first suspension member 49 is connected, and −0.31 kN · m for the first structure at the arm coupling point. In the second structure, it is −0.26 kN · m. In the first structure according to the present invention, the bending moment (absolute value) of the arm coupling point is slightly larger than that of the second structure, but the bundle portion 42 abuts on the lower surface of the bridge 1, so that the horizontal arm 41 swings. It can be difficult. The bending moment at the arm coupling point is reduced by 36% even in the first structure, as compared with −0.72 kN · m when the counterweight 48 is not provided in the second structure (not shown).

9 (A) shows the (1) bending moment of the first structure according to the present invention in the upper row, (2) the displacement in the lower row, and FIG. 9 (C) shows (1) of the third structure according to the comparative example. ) Bending moment is shown in the upper row, and (2) Displacement is shown in the lower row. The weight of the counterweight 48 was set to 0.2 kN in the first structure of (A), which is the same as in the comparative example of FIG. 8, and to the same value (0.2 kN) in the third structure of (C).

Also in the third structure of FIG. 9 (C), the same compressive axial force of 0.01 kN as in (A) is generated in the bundle portion 42, but since the first suspension member 49 is not provided, it is a joint point with the arm. The bending moment with the first pulley 46 becomes very large. That is, it can be seen that the bending moment between the arm coupling point and the first pulley 46 can be made very small by supporting the counterweight 48 by the first suspension member 49 which is inclinedly arranged as in the first structure.

FIG. 10 (A) shows the (1) bending moment of the first structure according to the present invention in the upper row, (2) the displacement in the lower row, and FIG. 10 (D) shows the fourth structure (1) according to the comparative example. ) Bending moment is shown in the upper row, (2) Displacement is shown in the lower row, and FIG. 10 (E) shows (1) bending moment in the upper row and (2) displacement in the lower row in the fifth structure according to the comparative example. .. In the first structure of (A), the weight of the counterweight 48 is 0.2 kN, which is the same as the comparative example of FIGS. 8 and 9.

In the fourth structure of FIG. 10 (D), the bending moment between the arm coupling point and the first pulley 46 is smaller than that of (A). However, this is because the weight of the counterweight 48 is set to 0.586 kN in order to generate the same compression axial force of 0.01 kN as in (A) in the bundle portion 42 in the fourth structure of (D). to cause. That is, the shorter the length of the second portion 41B of the horizontal arm 41, the heavier the counterweight 48 must be.

In the fifth structure of FIG. 10 (E), the weight of the counterweight 48 is set to 0.234 kN. The axial force of the bundle portion 42 at this time is 0.03 kN (compression). In the fifth structure of (E), since the inclination angle of the first suspension member 49 is small, the displacement of the right end of the horizontal arm 41 is large, and the bending moment between the arm coupling point and the first pulley 46 is large. There is. That is, if the distance from the arm coupling point to the second pulley 47 is short, the horizontal arm 41 must have high flexural rigidity.

From the above, the horizontal arm 41 is rotatably provided at the lower end of the vertical arm 40, and the first suspension member 49 that supports the counterweight 48 is passed through the first pulley 46 and the second pulley 47 to the first horizontal arm 41. It can be seen that by urging the one portion 41A upward and bringing the bundle portion 42 into contact with the lower surface of the bridge 1, the swing of the horizontal arm 41 can be suppressed without having a highly rigid configuration. In addition, in order to make the counterweight 48 lighter, it is preferable to arrange the first pulley 46 at a position as far as possible from the arm joint portion, and in order to reduce the rigidity required for the horizontal arm 41, the second pulley 47 Is preferably placed at a high position as far as possible from the arm coupling portion.

Subsequently, the operation and effect of the bridge inspection device 10 will be described. As shown in FIG. 4, the second stopper member 52 is in a rotation-allowed state that allows the horizontal arm 41 to rotate with respect to the vertical arm 40, and a rotation regulation that regulates the rotation of the horizontal arm 41 with respect to the vertical arm 40. It functions as a switching mechanism to switch between states. Therefore, by operating the second stopper member 52, the bridge inspection device 10 is placed in a rotation-allowable state when performing inspection, and the bridge is attached to the balustrade 6 of the bridge inspection device 10, removed from the balustrade 6, moved, and the like. Since the inspection device 10 can be put into the rotation restricted state, it is easy to handle.

As shown in FIGS. 1 and 4, the first stopper member 51 and the second stopper member 52 function as stoppers that regulate the rotation angle of the horizontal arm 41 with respect to the vertical arm 40 within a predetermined angle range. Therefore, the horizontal arm 41 does not incline with respect to the vertical arm 40 beyond a predetermined rotation angle, and the inspection portion of the bridge 1 and the like are prevented from being damaged due to an operation error.

As shown in FIG. 1, the bundle portion 42 has a roller 43 at the upper end that tangents to the lower surface of the bridge 1. Therefore, while the bundle portion 42 is in contact with the lower surface of the bridge 1, the vertical arm 40 is rotated around the vertical axis to move the inspection camera 45, or the carriage unit 11 is run to move the bridge inspection device 10. You can move.

The vertical arm 40 is provided with an axial force sensor 39 for detecting the tensile axial force. As shown in FIG. 6, the control device 37 of the arm drive device 38 is a bogie when the detection value of the axial force sensor 39 becomes large (step ST5: No) when the bogie unit 11 is traveling (step ST3: Yes). When the length from the unit 11 to the middle part of the horizontal arm 41 is increased (step ST7) and the detected value of the axial force sensor 39 becomes small (step ST5: Yes), from the bogie unit 11 to the middle part of the horizontal arm 41. The arm elevating device 36 that drives the vertical arm 40 is controlled so as to shorten the length of the vertical arm 40 (step ST6). Therefore, even if the height from the balustrade 6 to the lower surface of the bridge 1 changes during the traveling of the bogie unit 11, the length from the bogie unit 11 to the intermediate portion of the horizontal arm 41 is changed, so that the shaft of the vertical arm 40 is changed. The force change can be reduced.

Further, the arm driving device 38 drives the vertical arm 40 so that the value of the axial force sensor 39 falls within the predetermined axial force range RP in which the roller 43 abuts on the lower surface of the bridge 1 (steps ST4 to ST7). Therefore, it is possible to prevent an axial force from being applied to the vertical arm 40 in excess of a predetermined value, and it is also possible to prevent the roller 43 from being separated from the lower surface of the bridge 1.

As shown in FIG. 1, an arm driving device 38 (FIG. 5) including an arm lifting device 36 and a control device 37 is provided on the bogie unit 11 to support the vertical arm 40 so as to be liftable. Therefore, it is possible to prevent an increase in the weight of the inspection unit portion of the vertical arm 40 or less supported by the bogie unit 11.

The first suspension member 49 is connected to a portion of the horizontal arm 41 where the bundle portion 42 is provided. Therefore, the force for lifting the first portion 41A of the horizontal arm 41 acts directly on the bundle portion 42, so that the bending moment of the horizontal arm 41 is suppressed.

The guide portion of the first suspension member 49 provided in the second portion 41B of the horizontal arm 41 and the guide portion of the first suspension member 49 provided at a position higher than the joint portion of the vertical arm 40 with the horizontal arm 41 are It is composed of a first pulley 46 and a second pulley 47. Therefore, the load of the counterweight 48 is reliably transmitted to the first portion 41A of the horizontal arm 41 via the first suspension member 49. As a result, the weight increase of the counterweight 48 can be suppressed.

As shown in FIGS. 1 and 2, the second pulley 47 forming the guide portion of the first suspension member 49 provided at a position higher than the joint portion of the vertical arm 40 with the horizontal arm 41 is attached to the vertical arm 40. It is a movable pulley that can be moved up and down. Therefore, the magnitude of the upward component force acting on the first portion 41A of the horizontal arm 41 can be appropriately changed. Alternatively, the position of the second pulley 47 can be appropriately changed according to the cross-sectional shape of the bridge 1 and the mounting condition of the bridge inspection device 10.

The second pulleys 47 are provided on both sides of the vertical arm 40 in the bridge axis direction, and the first suspension members 49 are provided on both sides of the vertical arm 40 in the bridge axis direction and are guided by the second pulley 47 on the corresponding side. .. Therefore, the torsional force acting on the vertical arm 40 is suppressed. Therefore, the vertical arm 40 does not have to be highly rigid.

Next, the procedure for attaching the bridge inspection device 10 to the balustrade 6 will be described with reference to FIGS. 11 to 15. In addition, in FIGS. 12 to 14, the bundle portion 42 attached to the vertical arm 40 and the horizontal arm 41, the inspection camera 45, the first pulley 46, the second pulley 47, the counterweight 48, the support member 50, and the first stopper. The bridge inspection device 10 is shown in a simplified manner by omitting the member 51 and the second stopper member 52.

As shown in FIG. 11, the operator sets the carriage 12 to which the connecting mechanism 20 is integrally attached in the balustrade 6. At this time, the rear portion 15 of the vehicle body is slid forward with respect to the vehicle body body 14, and the balustrade 6 is sandwiched between the front wheels 17 and the rear wheels 18 from the front and rear to prevent rattling.

Next, as shown in FIG. 12, the operator pulls out the slider portion 22 of the connecting mechanism 20 rearward, and connects the rear end of the base portion 31 of the arm holding device 13 to the pivot portion 23 of the slider portion 22. As a result, the arm holding device 13 is attached to the carriage 12 via the connecting mechanism 20. In this state, the arm holding device 13 is in a detachable posture in which the arm holder 32 is diagonally arranged above the carriage 12. Further, in this state, the lower end rear portion of the arm holder 32 is placed behind the guide roller 24 on the front portion of the connecting mechanism 20, and the forward movement of the arm holding device 13 is restricted by the guide roller 24. ing.

A shortened vertical arm 40 is held by the arm holding device 13, and a horizontal arm 41 is connected to the lower end of the vertical arm 40 in a direction extending in the bridge axis direction. Further, the bridge inspection device 10 is in the rotation restricted state shown in FIG. 4 (A) in which the second stopper member 52 (FIG. 4) rigidly connects the horizontal arm 41 to the vertical arm 40.

As shown in FIG. 13, the operator moves the slider portion 22 of the connecting mechanism 20 forward by a small amount, and moves the lower end rear portion of the arm holder 32 forward so as to get over the guide roller 24 to hold the arm. The restriction on the forward movement of the device 13 is lifted. At this time, the guide roller 24 changes the transition position from the state of being in contact with the lower surface of the arm holder 32 overcoming this to the rear surface of the arm holder 32, and continues to guide the arm holder 32 thereafter.

The operator continuously moves the slider portion 22 of the connecting mechanism 20 forward to change the posture of the arm holding device 13 to the posture shown in FIG. In this state, the arm holding device 13 is in an inspection posture in which the arm holder 32 is vertically arranged outside the balustrade 6 of the bridge 1. That is, the arm holding device 13 is connected to the carriage 12 by the connecting mechanism 20 so that the posture can be changed between the inspection posture and the attachment / detachment posture. After that, the operator attaches the electric winch 34 to the arm holder 32 and connects the wire 35 (FIG. 1) to the lower end of the vertical arm 40.

Next, as shown in FIG. 15, the operator releases the holding of the vertical arm 40 by the electric rotation mechanism 33 provided in the arm holder 32, operates the electric winch 34, sends out the wire 35, and sends out the vertical arm. 40 is stretched. As a result, the horizontal arm 41 is arranged below the lower surface of the lower floor slab 2 by the height dimension of the bundle portion 42 or more. After that, the operator holds the vertical arm 40 in the electric rotation mechanism 33, and rotates the electric rotation mechanism 33 to rotate the horizontal arm 41 so as to extend in the direction perpendicular to the bridge axis.

Finally, the operator moves the second pulley 47 upward to reduce the bending moment acting on the horizontal arm 41. At the same time, the operator operates the second stopper member 52 so that the contact surface 52a of the second stopper member 52 is separated from the horizontal arm 41, and allows the bridge inspection device 10 to rotate as shown in FIG. 4 (B). Put it in a state. Either of these two operations may be performed first. As a result, in the bridge inspection device 10, as shown in FIG. 1, the roller 43 of the bundle portion 42 comes into contact with the lower surface of the bridge 1, and the shaking of the inspection camera 45 can be converged at an early stage.

When the bridge inspection device 10 is removed from the balustrade 6 after the inspection from below the bridge 1 is completed, the procedure opposite to the above procedure may be taken. Further, when inspecting the bridge 1 on one side in the bridge axis direction with respect to the pier and then inspecting the bridge 1 on the other side in the bridge axis direction, the bridge inspection device 10 is not removed from the balustrade 6 and is next. You can take the procedure of. That is, after the electric rotation mechanism 33 is rotated to run the carriage 12 with the horizontal arm 41 extending in the bridge axis direction, the electric rotation mechanism 33 is rotated again to rotate the horizontal arm 41 at right angles to the bridge axis. It may extend in the direction.

As described above, in the bridge inspection device 10 of the present embodiment, as shown in FIG. 1, the bogie unit 11 is attached to the bogie 6 so as to be able to travel, the arm holding device 13, and the connecting mechanism 20. I have. The arm holding device 13 is integrally provided at the outer end of the base portion 31 in the direction perpendicular to the bridge axis with the base portion 31 arranged above the carriage 12 in the direction perpendicular to the bridge axis, and is vertically provided outside the balustrade 6. It has an arm holder 32 that is arranged and holds the vertical arm 40 so as to be able to move up and down. Further, the connecting mechanism 20 connects the rear end of the base portion 31 to the carriage 12 so as to be rotatable and detachable around the axis in the bridge axis direction, and the base portion 31 can be slidably connected to the carriage 12 in the direction perpendicular to the bridge axis. connect. Then, the arm holding device 13 has an inspection posture (FIG. 1) in which the arm holder 32 is vertically arranged on the outside of the bridge 1 and a detachable posture (FIG. 1) in which the arm holder 32 is obliquely arranged above the carriage 12. The posture can be changed with 12). Therefore, the work of attaching the arm holding device 13 to the carriage 12 and the operation of removing it from the carriage 12 can be easily and safely performed.

Further, as shown in FIGS. 1 and 12, at the outer end of the connecting mechanism 20 in the direction perpendicular to the bridge axis, the arm holding device 13 has a posture for inspection (FIG. 1) and a posture for attachment / detachment (FIG. 12). A guide roller 24 is provided to guide the arm holder 32 when the posture is changed between the two. Then, the guide roller 24 regulates the movement of the arm holder 32 outward in the direction perpendicular to the bridge axis when the arm holding device 13 is in the attachment / detachment posture. As a result, the arm holding device 13 in the attachment / detachment posture is restricted from changing its posture to the inspection posture side, and the attachment / detachment work of the arm holding device 13 can be performed more easily and safely.

<< Second Embodiment >>
Next, a second embodiment will be described with reference to FIGS. 16 and 17. FIG. 16 is a side view showing an attached state of the bridge inspection device 110 according to the second embodiment, and corresponds to FIG. The elements common to the first embodiment are designated by the same reference numerals, and duplicate description will be omitted.

As shown in FIG. 16, in the bridge inspection device 110 of the present embodiment, the second pulley 47 is immovably and detachably attached to the vertical arm 40, and the second pulley 47 is below the second pulley 47. A saddle 147 for winding the suspension member 149 is fixed to the vertical arm 40. The saddle 147 functions as a guide portion of the second suspension member 149. The second suspension member 149 is stretched from the counterweight 48 over the first portion 41A of the horizontal arm 41 after passing through the third pulley 146 and the saddle 147 that function as guide portions in this order. The third pulley 146 has the same size as the first pulley 46 and is provided coaxially with the first pulley 46. In the first suspension member 49 and the second suspension member 149, the first suspension member 49 supports the counterweight 48 when the bridge 1 is inspected, and the second suspension member 149 supports the counterweight 48 when the bridge inspection device 110 is attached or removed. It is selectively used by refilling to support.

FIG. 17 is a schematic configuration diagram showing a state in which (A) the first wire of the saddle 147 shown in FIG. 16 is stretched and (B) a state in which the first wire is loosened. As shown in FIG. 17 (A), the saddle 147 has a connecting portion 147c that connects the two saddle halves 147a and 147b and the two saddle halves 147a and 147b so that their distances from each other can be changed. doing. A second suspension member 149 is wound around the saddle 147 so as to surround the two saddle halves 147a and 147b over the entire circumference.

The connecting portion 147c changes the distance between the two saddle halves 147a and 147b by remote control. The connecting portion 147c separates the two saddle halves 147a and 147b as shown in FIG. 17A when the bridge inspection device 110 is attached and removed, and when the bridge 1 is inspected, the connecting portion 147c is shown in FIG. 17B. The two saddle halves 147a and 147b are manipulated to bring them closer together as shown. The connecting portion 147c displaces the two saddle halves 147a and 147b from the position shown in FIG. 17A to the position shown in FIG. 17B, so that the path length of the second suspension member 149 is shortened. That is, the connecting portion 147c constitutes a path length changing means for changing the path length of the second suspension member 149. The first suspension member 49 is set to a length that does not support the counterweight 48 when the saddle 147 is in the state of FIG. 17 (A) and supports the counterweight 48 when the saddle 147 is in the state of FIG. 17 (B). To. As a result, the connecting portion 147c shortens the path length of the second suspension member 149, so that the support of the counterweight 48 is replaced from the second suspension member 149 to the first suspension member 49.

Specifically, the support of the counterweight 48 is rearranged as follows. That is, as shown in FIG. 14, when the arm holding device 13 is set outside the balustrade 6 of the bridge 1 and the horizontal arm 41 is at a relatively high position, only the second suspension member 149 is provided. After that, the operator lowers the horizontal arm 41 while extending the vertical arm 40, and after the attachment portion of the second pulley 47 becomes lower than the arm holder 32, the second pulley 47 is attached to the vertical arm 40 and is attached. The first suspension member 49 set to the above length is wound around the second pulley 47. After further extending the vertical arm 40 and lowering the horizontal arm 41 to the height shown in FIG. 15, the operator views the saddle 147 from the state shown in FIG. 17 (A) before rotating the vertical arm 40. Change to the state of 17 (B). As a result, the support of the counterweight 48 is replaced from the second suspension member 149 to the first suspension member 49. After that, the operator rotates the vertical arm 40 to bring it to the state shown in FIG. When removing the bridge inspection device 110, the reverse procedure may be performed.

The bridge inspection device 110 of the present embodiment configured in this way has the following effects. That is, as shown in FIG. 16, the bridge inspection device 110 is located lower than the counterweight 48 than the third pulley 146 and the second pulley 47 of the vertical arm 40 provided in the second portion 41B of the horizontal arm 41. A second suspension member 149 that is stretched over the first portion 41A of the horizontal arm 41 through a saddle 147 provided in the above and urges the first portion 41A upward in cooperation with the first suspension member 49. Further prepared. Therefore, even if the first suspension member 49 comes off from the first pulley 46 or the second pulley 47, the counterweight 48 is supported by the second suspension member 149, so that the counterweight 48 is prevented from falling due to a work error. .. More precisely, it is suppressed that the impact load applied to the horizontal arm 41 and the vertical arm 40 due to the fall is increased.

As shown in FIG. 17, the saddle 147 has a connecting portion 147c that changes the path length of the second suspending member 149 that supports the counterweight 48, and the connecting portion 147c shortens the path length of the second suspending member 149. The support of the counterweight 48 is replaced from the second hanging member 149 to the first hanging member 49. Therefore, at the time of bridge inspection, the counterweight 48 is supported by the first suspension member 49 passing through the higher position, and at the time of attaching the bridge inspection device 110 to the balustrade 6 or removing it from the balustrade 6, the second suspension member passing through the lower position. The counterweight 48 can be supported by the suspending member 149. Therefore, the bending stress of the horizontal arm 41 at the time of inspection can be reduced, and the installation / removal work can be facilitated.

Although the description of the specific embodiment is completed above, the present invention can be widely modified without being limited to the above embodiment. For example, in the above embodiment, the bridge inspection device 10 according to the present invention is applied to a single box girder bridge made of reinforced concrete as an example, but a multi-main girder box girder bridge, a multiple box girder bridge, a T girder bridge 101, and a hollow It can be widely applied to bridge superstructures of other structures such as slab girder bridges, slab girder bridges, plate girder bridges (plate girder bridges), and suspended slab bridges. FIG. 18 is a side view of the bridge inspection device 10 showing an example in which the bridge inspection device 10 according to the present invention is applied to the T girder bridge 101. The T-girder bridge 101 is composed of a plurality of girders 102 and a floor slab 103 connecting the upper portions of the plurality of girders 102. When inspecting the T-girder bridge 101 using the bridge inspection device 10, it is preferable that the bundle portion 42 is brought into contact with the lower surface of one girder 102.

Further, in the above embodiment, the inspection from below the bridge 1 is performed by taking a picture with the inspection camera 45, but the bridge inspection device 10 has an inspection unit configured to perform an inspection with a crack gauge and a impact inspection with a hammer. You may have. In addition, the specific configuration, arrangement, quantity, angle, etc. of each member or portion can be appropriately changed as long as it does not deviate from the gist of the present invention. On the other hand, not all of the components shown in the above embodiments are essential, and they can be appropriately selected.

1 Bridge 6 High column 10 Bridge inspection device 11 Cart unit 12 Cart 13 Arm holding device 20 Connecting mechanism 24 Guide roller 31 Base 32 Arm holder 36 Arm lifting device 37 Control device 38 Arm drive device 39 Axial force sensor 40 Vertical arm 41 Horizontal arm 41A 1st part (one side part)
41B 2nd part (other side part)
42 Bundle part 43 Roller 45 Inspection camera (Inspection part)
46 1st pulley (1st guide part)
47 2nd pulley (2nd guide)
48 Counterweight 49 1st hanging material 51 1st stopper member (switching mechanism)
52 Second stopper member (stopper, switching mechanism)
110 Bridge inspection device 146 3rd pulley (3rd guide)
147 saddle (4th guide)
147c connecting part (path length changing means)
149 Second hanging material

Claims (15)

A bogie unit that can be mounted on the railing of the bridge so that it can run,
A vertical arm that can be raised and lowered and rotatably attached to the bogie unit and is arranged substantially vertically on the outside of the bridge.
An intermediate portion is rotatably connected to the lower end of the vertical arm around an axis extending in the direction of the bridge, and one side portion arranged below the bridge and the other side portion arranged outside the bridge are attached. With a horizontal arm
An inspection unit provided on one side of the horizontal arm to inspect the bridge from below,
A counterweight located below the other side of the horizontal arm,
A first guide portion provided on the other side portion of the horizontal arm and
A second guide portion provided at a position higher than the joint portion of the vertical arm with the horizontal arm, and
From the counterweight, said first guide section and through the second guide portion is stretched over said one side portion of the horizontal arm, the upper the one side portion by the action of the load of the counterweight The first hanging material that urges the
A bridge inspection device provided on the one side portion of the horizontal arm so as to project upward, and provided with a bundle portion that abuts on the lower surface of the bridge. Further, a switching mechanism for switching between a rotation allowed state in which the horizontal arm is allowed to rotate around the axis in the bridge axis direction with respect to the vertical arm and a rotation restricted state in which the rotation of the horizontal arm with respect to the vertical arm is restricted The bridge inspection device according to claim 1, wherein the bridge inspection device is provided. The bridge inspection device according to claim 1 or 2, further comprising a stopper that restricts the rotation of the horizontal arm around the axis in the bridge axis direction with respect to the vertical arm to a predetermined rotation angle. The bridge inspection device according to any one of claims 1 to 3, wherein the bundle portion has a roller at the upper end which is in contact with the lower surface of the bridge. An axial force sensor that detects the tensile axial force of the vertical arm and
When the detection value of the axial force sensor is increased during the traveling of the bogie unit, the length from the bogie unit to the intermediate portion of the horizontal arm is increased, and when the detected value of the axial force sensor is decreased. The bridge inspection device according to claim 4, further comprising an arm drive device for driving the vertical arm so as to shorten the length from the bogie unit to the intermediate portion of the horizontal arm. The bridge according to claim 5, wherein the arm driving device drives the vertical arm so that the value of the axial force sensor falls within a predetermined axial force range in which the roller abuts on the lower surface of the bridge. Inspection device. The bridge inspection device according to claim 5 or 6, wherein the arm driving device is provided on the bogie unit to support the vertical arm so as to be able to move up and down. The bridge inspection device according to any one of claims 1 to 7, wherein the first suspension member is connected to a portion of the horizontal arm provided with the bundle portion. The bridge inspection device according to any one of claims 1 to 8, wherein the first guide portion and the second guide portion are pulleys. The bridge inspection device according to any one of claims 1 to 9, wherein the second guide portion is a movable pulley provided on the vertical arm so as to be vertically movable. The second guide portions are provided on both sides of the vertical arm in the bridge axial direction.
The first suspension member according to any one of claims 1 to 10, wherein the first suspension member is provided on both sides of the vertical arm in the bridge axis direction and is guided to the second guide portion on the corresponding side. Bridge inspection equipment. A third guide portion provided on the other side portion of the horizontal arm and
A fourth guide portion provided at a position lower than the second guide portion of the vertical arm, and a fourth guide portion.
From the counterweight, said third guide portion and over said one side portion of the horizontal arm through the fourth guide portion is stretched, and the first suspension member by exerting a load of the counterweight The bridge inspection device according to any one of claims 1 to 9, further comprising a second suspension member for cooperating to urge the one side portion upward. The fourth guide portion has a path length changing means for changing the path length of the second suspending material that supports the counterweight, and the path length changing means shortens the path length of the second suspending material. The bridge inspection device according to claim 12, wherein the support of the counterweight is replaced with the first suspension member from the second suspension member. The bogie unit
A dolly that can be mounted on the balustrade and
A base portion arranged above the trolley in a direction perpendicular to the bridge axis and an outer end of the base portion in a direction perpendicular to the bridge axis are integrally provided, and are vertically arranged outside the balustrade so that the vertical arm can be raised and lowered. An arm holding device having an arm holder to hold the
The rear end of the base portion is rotatably and detachably connected to the bogie in the direction of the bridge axis, and the base portion is slidably connected to the bogie in the direction perpendicular to the bridge axis. ,
The arm holding device can change the posture between an inspection posture in which the arm holder is vertically arranged on the outside of the bridge and a detachable posture in which the arm holder is obliquely arranged above the carriage. The bridge inspection device according to any one of claims 1 to 13, wherein the bridge inspection device is characterized. At the outer end of the connecting mechanism in the direction perpendicular to the bridge axis, the arm holder is guided when the arm holding device changes its posture between the inspection posture and the attachment / detachment posture, and the arm holding device is guided. The bridge inspection according to claim 14, wherein a guide roller is provided so as to restrict the movement of the arm holder outward in the direction perpendicular to the bridge axis when the arm holder is in the detachable posture. apparatus.

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