JP7593591B2 - Mobile device, transport device, work support device, and mobile work device - Google Patents

Description

Article 30, paragraph 2 of the Patent Act applies. (1) Published in the proceedings of the Robotics and Mechatronics Symposium 2020 on May 27, 2020. (2) Published as a poster presentation at the Robotics and Mechatronics Symposium 2020 on May 29, 2020.

The present invention relates to a moving device, a transport device, a work support device, and a mobile work device.

Conventionally, there is known a moving device in which multiple rotors supported by a main body member are brought into contact with a rigid route member extending along a predetermined route, and at least one of these rotors is driven to rotate as a driving rotor, thereby moving along the route member. For example, Patent Document 1 discloses an elevating device (moving device) that ascends and descends along an I-shaped steel rail (route member) that is installed in parallel with a ladder installed on the tower of a tower-type communication base station. This rail is for attaching a safety belt (fall prevention device) for the worker ascending and descending the ladder.

The lifting device in Patent Document 1 is equipped with two wheels (driving rotors) rotatably supported on a frame (main body member), and is configured so that the two wheels are arranged vertically and abut against one surface (front surface) of the front flange of a vertically extending I-shaped cross-section rail. In this lifting device, guide rollers supported by the frame above and below the wheels are arranged to abut against the other surface (back surface) of the flange of the I-shaped cross-section rail by the biasing force of a spring. This biasing force biases the frame in a direction approaching the flange surface of the rail, with the two upper and lower guide rollers abutting the back surface of the flange of the rail as fulcrums, and the two wheels supported by the frame between the two upper and lower guide rollers are pressed against the flange surface of the rail. As a result, the flange of the I-shaped cross-section rail is clamped by the two upper and lower guide rollers and the two wheels arranged between them, and the rotational driving force of the two wheels is transmitted to the rail, causing the lifting device to rise and fall along the rail.

JP 2010-70333 A

Conventional moving devices that move along rigid path members are designed to move along path members that extend in a straight line, and have the problem that they cannot move smoothly along curved path member portions (path member portions that are curved in the direction where the rotating body and path member come into contact; hereafter referred to as "curved sections"), and in the worst case scenario, cannot move along curved sections at all.

In order to solve the above-mentioned problems, the present invention provides a moving device in which a rotating body abutting from one side of a rigid route member including a curved portion extending along a predetermined route and a rotating body abutting from the other side are supported on a main body member, and at least one of these rotating bodies is rotated and driven as a driving rotor to move along the route member, characterized in that the driving rotor is positioned at only one location in the route direction of the route member, and the location is clamped between two rotating bodies including the driving rotor.
When a moving device moves along a rigid path member including a curved portion, the posture of the main body member supporting the rotating body that abuts against the curved portion changes when the moving device moves along the curved portion. In this case, in a conventional moving device, the rotating body that clamps the path member together with the driving rotating body abuts against a location in the path direction different from the location where the driving rotating body abuts. Therefore, when the main body member tries to change its posture when moving along the curved portion of the path member, the abutment pressure between the driving rotating body supported by the main body member and the path member may become excessively high or low. Therefore, the moving device may not be able to move smoothly along the curved portion of the path member, and in the worst case, it may not be able to pass through the curved portion.
In the present invention, the driving rotor is arranged at only one location in the path direction of the path member, and the location is sandwiched between two rotating bodies including the driving rotor. With this configuration, the body member supporting the driving rotor can change its posture so as to rotate around the sandwiched location of the path member between the two rotating bodies. During such posture change, the sandwiching force of the two rotating bodies sandwiching the sandwiched location that is the center of the rotation hardly changes. Therefore, when the posture of the body member changes when moving along the curved portion of the path member, the contact pressure between the driving rotor supported by the body member and the path member hardly changes. Therefore, when moving along the curved portion of the path member, the contact pressure between the driving rotor supported by the body member and the path member does not become excessively high or low, and the moving device can move along the curved portion of the path member smoothly.

The present invention is also characterized in that the movement device further includes an auxiliary rotor that abuts against the path member at least on one side in front of and behind the path member in the path direction with respect to the two rotors.
If the two rotating bodies are the only rotating bodies that come into contact with the path member, the main body member may rotate around the clamping point of the path member between the two rotating bodies to change its posture in the direction in which the two rotating bodies come into contact with the path member or in a direction perpendicular to the clamping direction and the path direction. In this case, for example, the posture change may cause the main body member (or its accessories, etc.) to come into contact with the path member and slide, or the two rotating bodies may fall off the path member.
In the present invention, an auxiliary rotor is provided that abuts against the route member at least on one side of the route direction of the route member in front of and behind the two rotors. With this, the main body member can abut against the route member not only at the location where the route member is clamped by the two rotors, but also at the abutment portion of the route member by the auxiliary rotor. In this way, since the main body member can abut against the route member at two or more locations, the posture of the main body member can be stabilized, and the occurrence of the above-mentioned situation can be suppressed.

In the movement device according to the present invention, the auxiliary rotor is supported so as to be displaceable relative to the main body member in a direction in which the auxiliary rotor abuts against the path member.
According to this, since the auxiliary rotor can be displaced in the direction of contact with the path member, when the main body member rotates around the clamping point of the path member between the two rotors to change its posture, the auxiliary rotor escapes, enabling the main body member to change its posture more significantly. As a result, the moving device can move more smoothly around the curved portion of the path member that curves more significantly.

In the movement device according to the present invention, the pathway member may include a portion extending in a vertical direction or in a direction inclined relative to the vertical direction.
This allows the moving device, which moves up and down along the pathway member, to move smoothly around the curved portion of the pathway member.

In the moving device according to the present invention, the pathway member is a rail on which fall prevention equipment for a worker ascending or descending is attached.
This makes it possible to provide a mobile device that can be attached to a rail (such as an escort rail) for attaching fall prevention equipment to workers ascending and descending ladders installed on structures such as steel towers and steel structures, and that moves along the rail.

In addition, the present invention is characterized in that the moving device has a negative brake that is operated by electricity.
When the rotational drive of the driving rotor is stopped in the middle of the path member, it is desirable to apply the brake so that the moving device does not move from that position. In particular, in the case of a moving device that ascends and descends along a path member, it is important to apply the brake in order to prevent the moving device from sliding down along the path member when stopped. At this time, the larger the load on the moving device, the larger the braking force required. Since the moving device according to the present invention includes a driving rotor, power is supplied to drive the driving rotor, so it is possible to adopt a negative brake that requires a power supply, and a negative brake with a large braking force such as an electromagnetic brake can be adopted. Therefore, according to the present invention, the brake can be applied with a large braking force when the moving device is stopped, so the stopped state of the moving device can be maintained more stably.

The present invention also provides a transport device that transports an object using a moving device that moves along a rigid route member that includes a curved portion extending along a predetermined route, characterized in that the moving device is the above-mentioned moving device.
According to the present invention, a conveying device can be provided that can smoothly convey an object along a route member even when the route member includes a curved portion.

The present invention also provides a work support device that supports a worker who moves to a work location and works thereat, comprising a moving device that moves along a rigid path member that includes a curved portion extending to the work location, and a support device that is mounted on the moving device and supports the worker, wherein the above-mentioned moving device is used as the moving device.
According to the present invention, even when a path member includes a curved portion, a support device that supports a worker can be smoothly moved along the path member to a work location where the worker works.

Further, the present invention is characterized in that, in the work assistance device, the assistance device includes a receiving unit that receives assistance information transmitted from a transmitting device of a supporter, and an output unit that outputs the assistance information received by the receiving unit to the worker.
According to the present invention, it is possible to provide support by transmitting work instructions, advice, and other support information from a supporter located away from a work site to a worker located at the work site.

In addition, the present invention is characterized in that, in the work support device, the support device includes an imaging unit that images the work location, and a transmission unit that transmits image information captured by the imaging unit to a receiving device of a supporter.
According to the present invention, images of the work place can be provided to a support person who is located away from the work place, enabling the support person to more accurately grasp the situation at the work place and provide appropriate support.

The present invention also provides a mobile work device that moves a work device using a moving device that moves along a rigid path member including a curved portion extending to a work site, and performs work using the work device at the work site, wherein the mobile device is the above-mentioned mobile device.
According to the present invention, even when a path member includes a curved portion, a working device can be smoothly moved along the path member to a working location.

Further, the present invention is characterized in that, in the mobile work device, the work device includes a device for inspecting or repairing a work piece in the work area.
According to the present invention, the work device can be moved to a work site to inspect or repair a work piece at the work site.

The present invention allows the moving device to move smoothly around curved sections of the path member.

FIG. 2 is a schematic diagram showing a steel tower on which the lifting device of the embodiment is mounted on an escort rail. FIG. FIG. 4 is a perspective view showing an example of a safety belt rest that can be attached to the escort rail. FIG. 4 is a rear view of the lifting device according to the embodiment, as viewed from the rail longitudinal direction. FIG. FIG. 4 is a perspective view of the lifting device as viewed from the side facing the escort rail. FIG. 4 is a side view showing the lifting device when passing through a curved portion of the escort rail. FIG. 4 is a side view showing the lifting device when passing through a curved portion of the escort rail.

The following describes one embodiment in which the moving device according to the present invention is applied to an elevator that is attached to an escort rail, which serves as a route member installed on a structure such as a steel tower or steel structure, and moves up and down (moves) along the escort rail.

The lifting device of this embodiment can be used, for example, as a transport device that transports items (carried objects) such as tools and replacement parts to a work location where there is a risk of the worker falling, or as a work support device that supports a worker working in such a work location (providing information such as work instructions, transmitting information such as the status of the work location to the supporter, etc.). The mobile device of this embodiment can also be used as a mobile work device that travels to such a work location and works on behalf of or together with the worker.

However, the uses of the moving device according to the present invention are not limited to these, and it can be used for a wide range of other purposes. For example, it can be similarly applied to places where there is no risk of the worker falling. Furthermore, for example, it is not limited to a lifting device that moves along a path member that extends vertically or in a direction inclined relative to the vertical, but can also be applied to a moving device that moves along a path member that extends horizontally. It is not limited to movement through the air, but can also be used when moving underwater, etc.

FIG. 1 is a schematic diagram showing a tower 1 on which a lifting device 10 of this embodiment is mounted on an escort rail.
1 is provided with a ladder 2 for ascending and descending by a worker S1 who performs work such as repairing and inspecting the tower 1. In addition, on the tower 1, a steel escort rail 3 (route member) is provided in parallel with the ladder 2 for attaching a safety belt rest 4 (fall prevention device) of the worker S1 ascending and descending the ladder 2.

FIG. 2 is a cross-sectional view of the escort rail 3 in this embodiment.
The escort rail 3 of this embodiment is of a type in which the cross section perpendicular to the rail longitudinal direction (route direction) is a hollow, generally rectangular shape, as shown in Fig. 2. A slit 3a that connects the hollow interior to the outside is formed in the rail longitudinal direction on one of the four sides (the lower side in Fig. 2) of the rectangle in this escort rail 3. At the end of the side that forms the slit 3a, a rising portion 3b that rises toward the hollow interior is formed in the rail longitudinal direction, as shown in Fig. 2.

FIG. 3 is a perspective view showing an example of a safety belt rest 4 that can be attached to the escort rail 3.
When the worker S1 climbs the ladder 2, the squirrel 4 attached to the safety belt of the worker S1 is attached to the escort rail 3. More specifically, the four wheels 4a of the squirrel 4 are inserted into the hollow interior of the escort rail 3 from the opening at the lower end of the escort rail 3. At this time, the support frame 4b of the squirrel 4 supporting the four wheels 4a is in a state of protruding to the outside of the escort rail 3 through the slits 3a of the escort rail 3. The ring-shaped part 4c to which the belt belt of the safety belt of the worker S1 is attached is arranged on the part of the support frame 4b protruding to the outside. When the worker climbs the ladder 2, the four wheels 4a of the squirrel 4 attached to the escort rail 3 roll on the inner wall surface of the rail wall part 3c in which the slits 3a of the escort rail 3 are provided, and the squirrel 4 smoothly rises along the escort rail 3 as the worker S1 rises. If the worker is about to fall due to a slip of a hand or foot, the squirrel 4 instantly stops on the spot to prevent the fall.

Next, the configuration of the lifting device that is attached to the above-mentioned escort rail 3 and moves along the escort rail 3 will be described.
FIG. 4 is a rear view of the lifting device 10 according to this embodiment, as viewed from the rail longitudinal direction.
FIG. 5 is a side view of the lifting device 10 according to this embodiment as viewed from the lateral direction (the left-right direction in FIG. 4).
FIG. 6 is a perspective view of the lifting device 10 according to this embodiment, as viewed from the side facing the escort rail 3.

This lifting device 10 moves along the escort rail 3 by abutting the wheels 11, 12, 13, and 14, which act as rotating bodies, against the escort rail 3 and driving at least one of these wheels to rotate as the drive wheel 11 (drive rotating body).

The lifting device 10 of this embodiment is equipped with an attachment unit 30 to which various members, devices, etc. are attached depending on the application. Various devices to which members, devices, etc. are attached to the attachment unit 30 depending on the application will be described later.

As shown in FIG. 4, the lifting device 10 is equipped with two wheels 11, 12 that clamp the rail wall portion 3c of the escort rail 3 at the same location in the rail longitudinal direction. These two wheels 11, 12 are composed of a driving wheel 11 as a driving rotor arranged on the outside of the rail wall portion 3c of the escort rail 3, and a driven wheel 12 as a driven rotor arranged on the inside (hollow interior side) of the rail wall portion 3c.

The driving wheel 11 in this embodiment is divided into two driving wheels 11A and 11B mounted on the same driving wheel axle 11a, and the two driving wheels 11A and 11B are configured to abut against the outer wall surface of the rail wall portion 3c on both sides of the slit 3a of the escort rail 3. The driven wheel 12, like the driving wheel 11, is divided into two driven wheels 12A and 12B mounted on the same driven wheel axle 12a, and the two driven wheels 12A and 12B are configured to abut against the inner wall surface of the rail wall portion 3c on both sides of the slit 3a of the escort rail 3. As a result, at the same location in the longitudinal direction of the escort rail 3, the rail wall portion 3c on one side of the slit 3a (left side in FIG. 4) is clamped between the driving wheel 11A and the driven wheel 12A, and the rail wall portion 3c on the other side of the slit 3a (right side in FIG. 4) is clamped between the driving wheel 11B and the driven wheel 12B.

The drive wheels 11 and driven wheels 12 have their respective axles 11a, 12a supported by a main body frame 20 serving as a main body member. The main body frame 20 is mainly composed of two side frames 21 located outside the escort rail 3, two connecting parts 22 that connect the two side frames 21 at the front and rear in the longitudinal direction of the rail, and a driven wheel axle support frame 23 located inside the hollow of the escort rail 3. The drive wheel axle 11a of the drive wheel 11 is rotatably supported at both ends by the side frames 21. The driven wheel axle 12a of the driven wheel 12 is rotatably supported near its longitudinal center (near the lateral center of the lifting device 10) by the driven wheel axle support frame 23.

The two connecting parts 22 connect the escort rail side parts of the two side frames 21 at the front and rear in the longitudinal direction of the rail. A rib 22a for fixing the driven wheel axle support frame 23 is provided near the center of each connecting part 22 (near the lateral center of the lifting device 10), and a through hole through which the adjustment screw 24 is passed is formed in the rib 22a. The adjustment screw 24 is passed through a through hole provided in the rib 22a with a compression spring 25 as a biasing means interposed between the screw head 24a of the adjustment screw 24 and the rib 22a of the connecting part 22, and is attached to a screw hole of the screw stopper 23a provided on the driven wheel axle support frame 23.

With this configuration, the driven wheel axle support frame 23 is attached to the connecting part 22 so that it can be displaced along the screw axis direction (the clamping direction of the drive wheel 11 and the driven wheel 12) while receiving the biasing force of the compression spring 25. The biasing force of this compression spring 25 biases the driven wheel 12 supported by the driven wheel axle support frame 23 in a direction to abut against the drive wheel 11 supported by the side frame 21. The magnitude of the biasing force of the compression spring 25 can be adjusted by turning the adjustment screw 24 to change the amount of compression of the compression spring 25.

The drive wheel 11 is driven to rotate by the driving force from the drive motor 15, which is the drive source. The motor gear 15b fixed on the motor shaft 15a of the drive motor 15 meshes with the drive gear 11b fixed on the drive wheel shaft 11a of the drive wheel 11. As a result, the driving force from the drive motor 15 is transmitted to the drive wheel shaft 11a via the motor gear 15b and the drive gear 11b, and the drive wheel 11 is driven to rotate. On the other hand, the driven wheel 12 rotates in response to the rail wall portion 3c of the escort rail 3.

The lifting device 10 also includes a driving wheel 11 and a driven wheel 12 as wheels that contact the escort rail 3, as well as a support roller 13 and a guide roller 14 as auxiliary rotating bodies.

The support roller 13 is an auxiliary rotating body that supports the lifting device 10 in maintaining its position relative to the escort rail 3. In more detail, the lifting device 10 of this embodiment moves (raises and lowers) by clamping the rail wall portion 3c of the escort rail 3 with only two wheels, the drive wheel 11 and the driven wheel 12. Therefore, the lifting device 10 can rotate and change its position around the pitch axis (axis parallel to the axes 11a and 12a of the two wheels 11 and 12) that passes through the portion clamped by the two wheels 11 and 12. If such a change in position around the pitch axis occurs, the main body frame 20 of the lifting device 10 may come into contact with the escort rail 3, hindering the smooth lifting and lowering of the lifting device 10.

The support rollers 13 are driven rollers attached to the side frames 21 of the main frame 20, and abut against the outer wall surface of the rail wall portion 3c of the escort rail 3 at least one of the front and rear in the rail longitudinal direction relative to the driving wheels 11 and the driven wheels 12. In this embodiment, the support rollers 13 are made up of support rollers 13A and 13B arranged two each at the front and rear in the rail longitudinal direction relative to the driving wheels 11 and the driven wheels 12, for a total of four support rollers 13A and 13B. By abutting these support rollers 13A and 13B against the outer wall surface of the rail wall portion 3c of the escort rail 3, changes in the posture of the lifting device 10 around the pitch axis are suppressed, and the posture of the lifting device 10 can be stably maintained.

In this embodiment, the four support rollers 13A, 13B are attached to the side frame 21 of the main frame 20 in a state where they are biased in a direction in which they abut against the outer wall surface of the rail wall portion 3c of the escort rail 3. Specifically, as shown in FIG. 6, the support arms 13a supporting the support rollers 13A, 13B are attached to linear guides 21a provided on the side frame 21, and are supported so as to be movable along the direction in which the support rollers 13A, 13B abut against the escort rail 3. The support arms 13a are biased by a biasing member such as a spring in a direction in which the support rollers 13A, 13B abut against the escort rail 3. As a result, the support rollers 13A, 13B are biased by the biasing force of the biasing member in a direction in which they abut against the outer wall surface of the rail wall portion 3c of the escort rail 3, and are movable along the direction in which the support rollers 13A, 13B abut against the escort rail 3.

The guide roller 14 is also an auxiliary rotating body that supports the maintenance of the posture of the lifting device 10 relative to the escort rail 3. In detail, as described above, the lifting device 10 of this embodiment moves (lifts) by clamping the rail wall portion 3c of the escort rail 3 with only two wheels, the drive wheel 11 and the driven wheel 12, so that the lifting device 10 can rotate and change its posture around the yaw axis (axis parallel to the axes 11a and 12a of the two wheels 11 and 12) that passes through the part clamped by the two wheels 11 and 12. If such a posture change occurs around the yaw axis, the main body frame 20 of the lifting device 10 may come into contact with the escort rail 3, or the lifting device 10 may fall off the escort rail 3.

The guide rollers 14 are driven rollers attached to the driven wheel axle support frame 23 of the main frame 20, and abut against the inner wall surface of the side wall portion 3d of the escort rail 3 at least one of the front and rear in the rail longitudinal direction relative to the driving wheels 11 and driven wheels 12. In this embodiment, two guide rollers 14 are disposed each in front and rear in the rail longitudinal direction relative to the driving wheels 11 and driven wheels 12, for a total of four guide rollers 14. By having these guide rollers 14 abut against the inner wall surface of the side wall portion 3d of the escort rail 3, changes in the posture of the lifting device 10 in the rail longitudinal direction around the yaw axis are suppressed, and the posture of the lifting device 10 can be stably maintained.

The lifting device 10 is also provided with a storage box 18 that houses a communication unit 18A for wireless communication with a tablet terminal 50 (see FIG. 1) as a wireless communication terminal, which is an external device, a control unit 18B consisting of an electric circuit board that performs various controls, a power supply unit 18C such as a battery, and an operation unit 19 operated by a user such as a worker S1 or an operator S2. When the communication unit 18A and the control unit 18B are arranged separately from the power supply unit 18C from the standpoint of noise and safety, the power supply unit 18C may be housed in the storage box 18, and the communication unit 18A and the control unit 18B may be housed in a location other than the storage box 18, for example, in the attachment unit 30.

The communication unit 18A wirelessly communicates with the tablet terminal 50 operated by the operator S2 to receive control information, such as drive command information related to the control of the lifting device 10, and transmit status information, such as the operating status of the lifting device 10 (error information, etc.).

The control unit 18B also controls the lifting device 10, and performs processes such as controlling the drive motor 15 and the electromagnetic brake 17 according to the control information received by the communication unit 18A and the contents of the instruction operation accepted by the operation unit 19, and transmitting status information such as the operating status of the lifting device 10 (error information, etc.) from the communication unit 18A to an external device.

The power supply unit 18C also supplies power to the control unit 18B, the drive motor 15, the electromagnetic brake 17, etc. In this embodiment, the lifting device 10 is equipped with a power supply unit 18C such as a battery, but the lifting device 10 may not be equipped with such a power supply unit 18C and may instead be supplied with power from an external power source. In this case, it is preferable to employ a wireless power supply method using microwaves, etc.

The operation unit 19 accepts operations by users such as the worker S1 and the operator S2 to input instructions to the lifting device 10. The operation content accepted by the operation unit 19 is sent to the control unit 18B, which executes control and processing according to the received operation content.

In addition, in this embodiment, a rotary encoder 16 is provided as a drive information detection means for detecting drive information of the drive wheel 11. The rotary encoder 16 outputs, for example, a signal corresponding to the rotation speed of the motor shaft 15a of the drive motor 15 to the control unit 18B. Drive information such as approximate travel distance information and rotation speed information of the drive wheel 11 can be obtained from the output pulses per unit time output from the rotary encoder 16.

The lifting device 10 in this embodiment is also equipped with an electromagnetic brake 17 as a negative brake that operates using electricity. Note that the negative brake may not use electricity, but the lifting device 10 in this embodiment is equipped with a power supply unit 18C that handles a relatively large amount of electricity to drive the drive motor 15 and the like. Therefore, a negative brake with a large braking force that requires a power supply can be adopted. This allows the lifting device 10 to be stably maintained in a stopped state even when the weight of the lifting device 10 itself is heavy, or when the weight of the entire device with various devices attached to the attachment unit 30 of the lifting device 10 is heavy.

The electromagnetic brake 17 of this embodiment is a non-excitation type electromagnetic brake, and is configured to act on a brake gear connected via gear 15c to drive gear 11b fixed on drive wheel axle 11a of drive wheel 11. As a result, when the power supply to drive motor 15 is stopped, electromagnetic brake 17 operates in synchronization with this to brake the rotation of the brake gear, and brakes the rotation of drive wheel 11 via drive wheel axle 11a, motor gear 15b, and drive gear 11b. The electromagnetic brake 17 of this embodiment can stably maintain the lifting device 10 in a stopped state when the power supply to drive motor 15 is stopped to stop the lifting device 10.

Next, the operation of the lifting device 10 of this embodiment will be described.
When mounting the lifting device 10 on the escort rail 3, first, the two adjustment screws 24 are loosened to weaken the biasing force of the compression spring 25 and reduce or eliminate the contact pressure of the driven wheels 12 against the drive wheels 11. In this state, the guide rollers 14 and driven wheels 12 of the lifting device 10 are inserted into the hollow interior of the escort rail 3 from an opening at the lower end of the escort rail 3. At this time, the driven wheel axle support frame 23 supporting the guide rollers 14 and driven wheels 12 is disposed so as to pass through the slits 3a of the escort rail 3, and the side frames 21 of the main frame 20 and the drive wheels 11 and support rollers 13 supported thereby are disposed outside the escort rail 3.

Then, the two adjustment screws 24 are tightened to increase the biasing force of the compression spring 25 and increase the contact pressure of the driven wheel 12 against the drive wheel 11. Then, the tightness of the two adjustment screws 24 is adjusted so that the clamping force that clamps the rail wall portion 3c of the escort rail 3 between the drive wheel 11 and the driven wheel 12 is increased to the desired clamping force. The desired clamping force is preferably set to a clamping force that does not cause the drive wheel 11 to slip even if an expected decrease in the friction coefficient occurs between the drive wheel 11 and the outer wall surface of the rail wall portion 3c of the escort rail 3.

Once the lifting device 10 has been attached to the escort rail 3 in this manner, the operator S2 can control the operation of the lifting device 10 by operating the tablet terminal 50. An app (computer program) for controlling the operation of the lifting device 10 is installed on the tablet terminal 50, and by operating according to this app, control information for causing the lifting device 10 to perform a specified operation is sent via wireless communication to the communication unit 18A of the lifting device 10.

For example, when operator S2 operates tablet terminal 50 to raise lifting device 10, control information to raise lifting device 10 is sent from tablet terminal 50 to communication unit 18A of lifting device 10. Control unit 18B of tablet terminal 50 receives this control information and supplies power from power supply unit 18C to drive motor 15 and electromagnetic brake 17 in accordance with the control information. This releases electromagnetic brake 17, and drive motor 15 drives according to the input drive current. As a result, drive wheel 11, which holds rail wall portion 3c of escort rail 3 between drive wheel 12 and drive wheel 11, rotates, and drive wheel 11 and drive wheel 12 roll on rail wall portion 3c, causing lifting device 10 to rise along escort rail 3. At this time, the posture of the lifting device 10 is stably maintained by the support rollers 13 and the guide rollers 14, preventing the main frame 20 of the lifting device 10 from contacting the escort rail 3 or the lifting device 10 from falling off the escort rail 3, allowing the lifting device 10 to rise smoothly. The same applies when the lifting device 10 is lowered.

For example, when the operator S2 operates the tablet terminal 50 to stop the lifting device 10, control information to stop the lifting device 10 is sent from the tablet terminal 50 to the communication unit 18A of the lifting device 10. The control unit 18B of the tablet terminal 50 receives this control information and stops the power supply from the power supply unit 18C to the drive motor 15 and the electromagnetic brake 17 in accordance with the control information. This stops the drive motor 15, stops the drive wheels 11 and driven wheels 12 that clamp the rail wall portion 3c of the escort rail 3, and the electromagnetic brake 17 applies the brakes, so that the lifting device 10 remains stably stopped.

In addition, when controlling the drive to raise or lower the lifting device from a stopped state, or when controlling the drive to stop the lifting device from a raised or lowered state, it is preferable to control the drive current to the drive motor 15 so that slippage does not occur between the escort rail 3 and the drive wheel 11.

In addition, in order to prevent slippage between the escort rail 3 and the drive wheels 11, for example, a configuration may be adopted that dynamically controls the clamping force between the drive wheels 11 and driven wheels 12 that clamp the escort rail 3. In this case, it is possible to increase the clamping force in situations where slippage is likely to occur and suppress slippage, allowing the lifting device to rise, fall, and stop more stably.

As shown in FIG. 1, the escort rail 3 in this embodiment has curved portions 3e and 3f that are curved in the direction in which the driving wheels 11 and driven wheels 12 come into contact with the rail wall portion 3c of the escort rail 3. Therefore, the lifting device 10 in this embodiment is required to pass through these curved portions 3e and 3f when ascending and descending along the escort rail 3.

Figure 7 is a side view showing the lifting device 10 as it passes through a curved portion 3e in which the escort rail portion forward in the direction of travel is curved on the opposite side (left side in Figure 7) to the side on which the lifting device 10 is attached, based on the clamping point of the escort rail 3 clamped between the drive wheel 11 and driven wheel 12 of the lifting device 10.
When the front support roller 13A in the traveling direction of the lifting device 10 approaches the curved portion 3e as shown in Fig. 7, the front support roller 13A abutting on the outer wall surface of the rail wall portion 3c at the curved portion 3e is displaced in a direction away from the side frame 21 (to the left in Fig. 7) along the linear guide 21a of the side frame 21 by the biasing force of the biasing member according to the curved shape of the curved portion 3e. Note that if the curved portion 3e is curved so greatly that the front support roller 13A is displaced to the end of the linear guide 21a, the front support roller 13A may be separated from the outer wall surface of the rail wall portion 3c of the escort rail 3.

Then, the clamping point between the drive wheel 11 and the driven wheel 12 of the lifting device 10 approaches the curved portion 3e shown in FIG. 7 and passes through the curved portion 3e. At this time, in the lifting device 10 of this embodiment, the escort rail 3 is clamped by the drive wheel 11 and the driven wheel 12 at only one clamping point in the rail longitudinal direction. With this configuration, the lifting device 10 can rotate around the pitch axis that passes through the clamping point between the drive wheel 11 and the driven wheel 12. Therefore, when the lifting device 10 passes through the curved portion 3e, it can pass through the curved portion 3e while rotating around the pitch axis of the clamping point between the drive wheel 11 and the driven wheel 12 according to the curved shape of the curved portion 3e.

While the clamping point between the drive wheel 11 and the driven wheel 12 passes through the curved section 3e, the support rollers 13A, 13B arranged in front of and behind the drive wheel 11 and the driven wheel 12, respectively, are displaced within the movable range of the linear guide 21a according to the shape of the curved section 3e or the rail portion in front of and behind it, maintaining the posture of the lifting device 10. As a result, when the lifting device 10 passes through the curved section 3e, the main body frame 20 of the lifting device 10 and the like do not come into contact with the escort rail 3, and the lifting device 10 can pass through the curved section 3e smoothly.

At this time, in this embodiment, the driving wheel 11 that contacts the escort rail and drives the lifting device 10 is only at least one of the two wheels 11, 12 that clamp the escort rail 3 at a location that is the pitch axis around which the lifting device 10 rotates when passing through the curved section 3e, and does not have any other driving rotors. Since this location is the rotation center of the lifting device 10, even if the lifting device 10 rotates around the pitch axis that passes through this location to pass through the curved section 3e and changes its posture, the clamping force of the driving wheel 11 and the driven wheel 12 that clamp this location can be stably maintained. Therefore, according to this embodiment, when the lifting device 10 passes through the curved section 3e, there is no situation in which the clamping force is insufficient and causes slippage, and there is no situation in which the clamping force is excessive and causes excessive driving load, and the lifting device 10 can pass through the curved section 3e smoothly.

Figure 8 is a side view showing the lifting device 10 when the escort rail portion forward in the direction of travel, based on the clamping point of the escort rail 3 clamped between the drive wheel 11 and driven wheel 12 of the lifting device 10, passes through a curved portion 3f in which the escort rail portion curves toward the mounting side of the lifting device 10 (the right side in Figure 8).
When the front support roller 13A in the travel direction of the lifting device 10 approaches the curved portion 3f as shown in Figure 8, the front support roller 13A abutting the outer wall surface of the rail wall portion 3c in the curved portion 3f is pushed toward the side frame 21 (right side in Figure 7) and displaced in accordance with the curved shape of the curved portion 3f.

At this time, as described above, the lifting device 10 of this embodiment can rotate around the pitch axis that passes through the clamping point because the escort rail 3 is clamped by the drive wheel 11 and the driven wheel 12 at only one clamping point in the rail longitudinal direction. Therefore, when the front support roller 13A is pushed toward the side frame 21 (right side in FIG. 7) in accordance with the curved shape of the curved portion 3f shown in FIG. 8 and displaced, the lifting device 10 rotates around the pitch axis. On the other hand, when the lifting device 10 rotates in this manner, the rear support roller 13B is pushed toward the rail wall portion 3c of the escort rail 3.

As a result, while passing through the curved portion 3f, the support rollers 13A, 13B, which are respectively arranged in front of and behind the driving wheel 11 and the driven wheel 12, displace within the movable range of the linear guide 21a against the biasing force of the biasing member according to the shape of the curved portion 3f or the rail portion before and after it, maintaining the posture of the lifting device 10. As a result, when the lifting device 10 passes through the curved portion 3f, the main body frame 20 of the lifting device 10 and the like do not come into contact with the escort rail 3, and the lifting device 10 can pass through the curved portion 3f smoothly.

As described above, in this embodiment, the driving wheel 11 that contacts the escort rail and drives the lifting device 10 is only one of the two wheels 11, 12 that clamp the escort rail 3 at a point that is the pitch axis around which the lifting device 10 rotates when passing through the curved section 3f, and no other driving rotors are provided. Since this point is the rotation center of the lifting device 10, even if the lifting device 10 rotates around the pitch axis that passes through this point to pass through the curved section 3f and changes its posture, the clamping force of the driving wheel 11 and the driven wheel 12 that clamp this point can be stably maintained. Therefore, according to this embodiment, when the lifting device 10 passes through the curved section 3f, there is no situation in which the clamping force is insufficient and causes slippage, and there is no situation in which the clamping force is excessive and causes excessive driving load, and the lifting device 10 can pass through the curved section 3f smoothly.

When passing through the curved section 3f, the support rollers 13A, 13B in front and behind the driving wheel 11 and the driven wheel 12 are pushed toward the side frame 21 against the biasing force of the biasing member due to the shape of the curved section 3f or the rail parts in front and behind it. This increases the contact pressure between the rail wall 3c of the escort rail 3 and the support rollers 13A, 13B, and the side frame 21 supporting the support rollers 13A, 13B is pushed in a direction away from the escort rail 3. As a result, the force in the direction moving the driving wheel 11 supported by the side frame 21 away from the escort rail 3 increases, and the clamping force with which the driving wheel 11 and the driven wheel 12 clamp the rail wall 3c of the escort rail 3 decreases.

However, the force of the compression spring 25 that applies the clamping force between the drive wheel 11 and the driven wheel 12 is sufficiently larger than the force of the biasing member of the support rollers 13A and 13B. Therefore, even when passing through the curved section 3f, the clamping force between the drive wheel 11 and the driven wheel 12 is stably maintained, and there is no situation in which the clamping force is insufficient and slippage occurs, allowing the wheels to pass through the curved section 3f smoothly.

In addition, if the curved portion 3f is curved so much that the support rollers 13A, 13B in front and behind the driving wheel 11 and driven wheel 12 exceed the movable range of the linear guide 21a and are pushed toward the side frame 21, the clamping force between the driving wheel 11 and driven wheel 12 may be insufficient, causing slippage, or the contact pressure between the support rollers 13A, 13B or the driving wheel 11 and the escort rail 3 may become excessive, causing an excessive driving load.

Methods to prevent this from happening include, for example, shortening the distance (distance in the rail longitudinal direction) between the drive wheels 11 and driven wheels 12 and the front and rear support rollers 13A and 13B as much as possible, and increasing the range of motion of the linear guide 21a that supports the support rollers 13A and 13B.

The shape of the escort rail 3 on which the lifting device 10 is mounted and moves in this embodiment is not limited to that described in this embodiment. For example, it can be applied to escort rails of other shapes, such as escort rails with an I-shaped cross section.

In addition, in this embodiment, an example of the lifting device 10 that moves while attached to the escort rail 3 is given, but the route member on which the lifting device 10 moves while attached is not limited to such an escort rail 3. For example, it may be an existing route member that is installed in advance in the target structure, or a route member that is newly installed in the target structure for the lifting device 10.

Next, examples of various devices in which members, devices, etc. are attached to the attachment portion 30 of the lifting device 10 of this embodiment according to the purpose will be described.
The first example is a transport device that uses the lifting device 10 of this embodiment to transport an object along the escort rail 3. This transport device may have an attachment unit 30 attached to it, and a holder for the object (e.g., a storage cage for the object) that stores or mounts the object.

As shown in FIG. 1, the transport device in this embodiment transports tools, equipment, and other work equipment required for work to a worker S1 performing work such as repairing or inspecting the tower 1 at a work site on top of the tower 1. By being able to transport such work equipment along the escort rail 3 to the work site of the worker S1, the worker S1 does not need to carry the work equipment when climbing up to the work site using the ladder 2, reducing the burden on the worker S1 when climbing up to the work site. In addition, when the worker S1 realizes that the necessary work equipment is missing at the work site, the burden can be significantly reduced compared to when the work equipment is delivered to the work site by a person.

The transport device of this embodiment is an example of transporting work tools using an escort rail 3 to the work location of a worker S1 working on a steel tower 1, but is not limited to this example and can be widely applied to transport devices that transport objects using a moving device that moves along a rigid route member that includes a curved section.

The next example is a work support device that uses the lifting device 10 of this embodiment to move to the work location of the worker S1 and support the worker S1 working at the work location. An example of this work support device is a support device attached to an attachment unit 30 that supports the worker S1 working at the work location.

As shown in FIG. 1, the work support device in this embodiment can provide a support device that supports the work at a work site on top of a steel tower 1 where a worker S1 performs work such as repairing or inspecting the steel tower 1. This can, for example, reduce the workload of the worker S1 working at the work site and enable the worker S1 to perform more appropriate work. Furthermore, in order to receive such support, the worker S1 conventionally had to carry the support device when climbing up to the work site using a ladder 2. In this embodiment, the support device can be moved along the escort rail 3 to the work site of the worker S1, so support can be provided without imposing a burden on the worker S1 when climbing up to the work site.

An example of a support device that can be attached to the attachment unit 30 is a support information providing device that includes a receiving unit that wirelessly receives support information transmitted from a tablet terminal 50 serving as a transmitting device of a supporter S2 who is located away from the work site (such as on the ground below the tower 1 or in a remote office), and an output unit that outputs the support information received by the receiving unit to the worker S1. With such a support information providing device, support information from the supporter S2 (work instructions and advice from the supporter S2, the contents of the work manual, and other information that can support the work) can be provided to the worker S1 by outputting it as audio from a speaker that is a sound output unit serving as an output unit, or by outputting it as an image on a display that is a display unit serving as an output unit, and provided to the worker S1.

An example of the support device that can be attached to the attachment unit 30 is an information collection device that includes an imaging unit that captures images of the work location, and a transmission unit that transmits image information captured by the imaging unit via wireless communication to a tablet terminal 50 serving as a receiving device for the supporter S2. This information collection device can provide images of the work location to the supporter S2 who is located away from the work location, allowing the supporter S2 to grasp the situation at the work location more accurately than with a verbal explanation (explanation by voice communication) from the worker S1, enabling the supporter S2 to provide appropriate support.

In addition, just as the operation of the lifting device 10 is controlled by operating the tablet terminal 50, it is preferable that the operation of the support device attached to the attachment unit 30 of the lifting device 10 can also be remotely controlled by the tablet terminal 50. For example, if the support device is equipped with the information collection device, and the operation of the imaging unit can be remotely controlled from the tablet terminal 50, such as controlling a gimbal supporting the imaging unit to change the imaging direction, it will be easier for the supporter S2 to obtain the image he or she desires, and the supporter S2 will be able to more appropriately grasp the situation at the work site.

The work support device of this embodiment is an example of supporting a worker S1 working on a steel tower 1, but is not limited to this example and can be widely applied to work support devices that support a worker by moving to a work site using a moving device that moves along a rigid path member, such as one that includes a curved section.

The next example is a mobile work device that uses the lifting device 10 of this embodiment to move the work device to a work site and perform work using the work device at the work site. An example of this mobile work device is a work device attached to an attachment unit 30 that performs work at the work site on behalf of or together with a worker S1.

In this embodiment, the mobile work device, as shown in FIG. 1, is a work device that performs some or all of the work such as repair and inspection (test) that worker S1 has been performing on top of a steel tower 1, and is moved to the work site by a lifting device 10 to perform the work. This can reduce the workload of worker S1 or eliminate the work altogether.

An example of a work device that can be attached to the attachment unit 30 is an inspection device that includes an imaging unit that captures an image of the target portion of the tower 1 to be visually inspected, and a transmission unit that transmits the image information captured by the imaging unit via wireless communication to a tablet terminal 50 serving as a receiving device for the supporter S2. This inspection device can provide an image of the tower portion to be visually inspected to the supporter S2 who is located away from the work site, so that the supporter S2 can inspect the tower portion without going to the work site.

An example of a working device that can be attached to the attachment unit 30 is a robot arm. With a robot arm, it is possible to perform a wide variety of tasks with a high degree of freedom in the work area by using an appropriate end effector.

In addition, just as the operation of the lifting device 10 is controlled by operating the tablet terminal 50, it is desirable to be able to remotely control the operation of the working device attached to the attachment unit 30 of the lifting device 10 by the tablet terminal 50. For example, if the working device is equipped with the inspection device, if the operation of the imaging unit, such as changing the imaging direction of the imaging unit, can be remotely controlled from the tablet terminal 50, it will be easier for the supporter S2 to obtain the image he or she desires, and a more appropriate inspection can be performed.

The mobile work device of this embodiment is an example in which work is performed at a work site on top of a steel tower 1, but is not limited to this example, and can be widely applied to mobile work devices that move along a rigid path member, such as a curved section, to move the work device and perform work at the work site using the work device.

In addition, the items attached to the attachment unit 30 of the lifting device 10 of this embodiment are not limited to those described above, and for example, a combination of multiple items such as the above-mentioned object holders, support devices, and working devices may be attached.

1: Steel tower 2: Ladder 3: Escort rail 3a: Slit 3b: Rising portion 3c: Rail wall portion 3d: Side wall portion 3e, 3f: Curved portion 4: Squirrel 4a: Wheel 4b: Support frame 4c: Ring-shaped portion 10: Lifting device 11: Drive wheel 11a: Drive wheel axle 11b: Drive gear 12: Driven wheel 12a: Driven wheel axle 13: Support roller 13a: Support arm 14: Guide roller 15: Drive motor 15a: Motor axle 15b: Motor gear 16: Rotary encoder 17: Electromagnetic brake 18: Storage box 18A: Communication unit 18B: Control unit 18C: Power supply unit 19: Operation unit 20: Main body frame 21: Side frame 21a: Linear guide 22: Connection portion 22a: Rib 23: Driven wheel axle support frame 23a : Screw fastening portion 24 : Adjustment screw 24a : Screw head 25 : Compression spring 30 : Attachment portion 50 : Tablet terminal S1 : Worker S2 : Operator, assistant

Claims (12)

A moving device in which a rotating body abutting on one side of a rigid path member including a curved portion extending along a predetermined path and a rotating body abutting on the other side are supported by a main body member, and the moving device moves along the path member by rotating at least one of the rotating bodies as a driving rotating body,
The path member has a hollow cross section perpendicular to the path direction,
A moving device characterized in that the driving rotor is arranged at only one location in the route direction of the route member, and the location is clamped between two rotors, one being a driving rotor that abuts from the outside of the wall portion of the route member, and the other being a rotor that abuts from the inside of the wall portion . 2. The mobile device of claim 1,
A moving device comprising: an auxiliary rotating body that abuts against the path member at least on one side in front of and behind the path member in a path direction relative to the two rotating bodies. 3. The mobile device according to claim 2,
The moving device according to claim 1, wherein the auxiliary rotating body is supported on the main body member so as to be displaceable in a direction in which the auxiliary rotating body abuts against the path member. A mobile device according to any one of claims 1 to 3,
A moving device, wherein the path member includes a portion extending in a vertical direction or in a direction inclined relative to the vertical direction. 5. The mobile device according to claim 4,
A moving device characterized in that the pathway member is a rail on which fall prevention equipment for workers ascending and descending is attached. A mobile device according to any one of claims 1 to 5,
A moving device having an electrically operated negative brake. A transport device that transports an object using a moving device that moves along a rigid path member that includes a curved portion extending along a predetermined path,
A transporting device, comprising the moving device according to any one of claims 1 to 5 as the moving device. A work support device that supports a worker who moves to a work site and works there,
A moving device that moves along a rigid path member including a curved portion extending to the work site;
a support device mounted on the moving device and supporting the worker,
A work support device, comprising the moving device according to claim 1 . 9. The work support device according to claim 8,
The support device includes a receiving unit that receives support information transmitted from a transmitting device of a supporter, and an output unit that outputs the support information received by the receiving unit to the worker. The work support device according to claim 8 or 9,
The support device includes an imaging unit that images the work location, and a transmission unit that transmits image information captured by the imaging unit to a receiving device of a support person. A mobile work device that moves a work device along a rigid path member including a curved portion extending to a work location, and performs work at the work location using the work device,
A mobile work apparatus using the mobile device according to any one of claims 1 to 5 as the mobile device. The mobile work apparatus according to claim 11,
The mobile work device is characterized in that the work device includes a device for inspecting or repairing a work piece in the work area.

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