JP7627004B2 - Attitude control structure for suspended type device - Google Patents

Description

The present invention relates to a posture control structure for a suspended device.

When working at height in a building (for example, wall inspection, wall painting, exterior construction, window cleaning, etc.), a device for working at height may be suspended and used. Patent Document 1 discloses a method of working at height by suspending a gondola carrying workers from a wire.

In the method disclosed in Patent Document 1, the first and second indexing devices are installed at the ends of the roof of a building, wires are hung from each of the first and second indexing devices, and a manned gondola is suspended from the wires. By changing the length of the wires hanging from each of the first and second indexing devices, the manned gondola moves vertically and horizontally.

Japanese Patent Application Publication No. 11-350718

In the method disclosed in Patent Document 1, when a suspended device such as a gondola is moved laterally, the suspended device swings due to lateral inertial forces. If the suspended device swings too much, it is not possible to work at height at the desired position. This means that it is necessary to wait until the swinging stops, which is inefficient. For these reasons, there is a demand to reduce the swinging of the suspended device.

The present invention aims to reduce the shaking of suspended devices.

The present invention is an attitude control structure that controls the attitude of a suspended type device that is used by being suspended from a hanging material, the suspended type device being a wall inspection device comprising a hanging frame suspended from a hanging material and an inspection device main body attached to the inside of the hanging frame and for inspecting the wall surface of a building, and the attitude control structure comprises a weight that is joined to the hanging frame of the wall inspection device and is arranged on the opposite side of the center of gravity of the wall inspection device with respect to the swing axis of the wall inspection device .

The present invention also relates to an attitude control structure that controls the attitude of a suspended device that is used by being suspended from a hanging material, the suspended device being a wall inspection device comprising a hanging frame suspended from a hanging material and a rotating body rotatably attached inside the hanging frame , the rotating body including an inspection device main body that inspects the wall surface of a building , and the attitude control structure comprises a weight that is joined to the rotating body and is provided on the opposite side of the center of gravity of the rotating body with respect to the rotation axis of the rotating body.

The present invention can reduce the shaking of the suspended device.

1A is a front view of a posture control structure for a suspended device according to a first embodiment of the present invention, and FIG. 1B is a side view of the posture control structure shown in FIG. FIG. 2 is an enlarged view of part II shown in FIG. 3A is a front view of a posture control structure for a suspended device according to a second embodiment of the present invention, and FIG. 3B is a side view of the posture control structure shown in FIG. FIG. 4 is a front view of the attitude control structure of the suspended device shown in FIG. 3, showing a state in which the suspension frame is tilted. FIG. 11 is a front view of an attitude control structure for a suspended device according to a first modified example of an embodiment of the present invention. 6A is a front view of a posture control structure for a suspended device according to a second modified example of an embodiment of the present invention, and FIG. 6B is a diagram showing the suspended device shown in FIG. 6A suspended using a pulley.

The following describes an embodiment of the present invention with reference to the drawings.

First Embodiment
First, a suspension-type device attitude control structure 100 according to a first embodiment of the present invention will be described with reference to Figures 1 and 2. In the first embodiment, a suspension-type device is a liquid-squirting type wall surface inspection device 10. The liquid-squirting type wall surface inspection device 10 is used while being suspended by wires (suspension materials) 1 and 2, and inspects a wall surface W of a building.

The suspended type device may be a wall surface inspection device that does not spray liquid, such as a mechanical wall surface inspection device that mechanically strikes the wall surface W to inspect the wall surface W, or a thermal wall surface inspection device that measures the temperature of the wall surface W to inspect the wall surface W. The suspended type device is not limited to a wall surface inspection device, and may be, for example, a window cleaning robot, a wall surface painting robot, or a manned gondola. The suspended type device may also be suspended using, for example, a rod-shaped member instead of the wires 1 and 2.

Figure 1(a) is a front view of the attitude control structure 100, and Figure 1(b) is a side view of the attitude control structure 100 (as viewed in the direction of the arrow IB shown in Figure 1(a)). As shown in Figures 1(a) and (b), the liquid ejection type wall surface inspection device 10 includes a nozzle 20 that ejects liquid and a microphone 30 that collects sound.

The nozzle 20 is connected to a high-pressure tank (not shown) via a tube 21. The high-pressure tank contains a liquid and a high-pressure gas. The liquid is, for example, water, and the high-pressure gas is, for example, compressed air. When a control valve (not shown) provided on the tube 21 is opened, the water in the high-pressure tank is supplied to the nozzle 20 through the tube 21 and sprayed from the nozzle 20.

In the following, the direction in which the nozzle 20 ejects liquid is referred to as the front, and the direction opposite the front is referred to as the rear. Figure 1(a) is a view of the liquid ejection type wall surface inspection device 10 as seen from the front.

The liquid ejection type wall inspection device 10 is hung so that its front faces the wall W of the building. Therefore, the liquid ejected from the nozzle 20 strikes the wall W, generating an impact sound from the wall W. The impact sound is collected by the microphone 30.

The microphone 30 converts the collected impact sound into an electrical signal and transmits the electrical signal to a signal processing device (not shown). Because there is a certain relationship between the state of the wall surface W and the impact sound, the wall surface W can be inspected by analyzing the impact sound with the signal processing device.

In this way, the liquid ejection type wall surface inspection device 10 inspects the wall surface W based on the impact sound generated when the liquid ejected from the nozzle 20 strikes the wall surface W.

The liquid ejection type wall surface inspection device 10 also includes a video camera 40 that captures the wall surface W. The video camera 40 transmits an image of the wall surface W to a display device (not shown) that is installed, for example, on the ground. From the image of the wall surface W displayed on the display device, the condition of the wall surface W can be confirmed and the wall surface W can be inspected.

The wires 1 and 2 are paid out from a hoist (not shown) installed on the roof of the building so that they can move laterally along the wall surface W. The liquid-squirting type wall surface inspection device 10 rises as the hoist winds up the wires 1 and 2, and descends as the hoist unwinds the wires 1 and 2. The liquid-squirting type wall surface inspection device 10 moves laterally as the hoist moves laterally.

The hoist does not have to be installed on the roof of the building, but may be installed, for example, inside the building.

The liquid ejection type wall inspection device 10 is equipped with a hanging frame 50 suspended from wires 1 and 2. The nozzle 20, microphone 30, and video camera 40 are attached to the hanging frame 50 in a non-rotatable manner.

The hanging frame 50 has a frame member 51, an upper connecting member 52, a lower connecting member 53, an intermediate connecting member 54, a lower support member 55, an intermediate support member 56, and an upper support member 57. The frame members 51 are rectangular frames and are provided in pairs with a gap between them in the horizontal direction. The upper connecting member 52, the lower connecting member 53, and the intermediate connecting member 54 connect the pair of frame members 51.

The upper connecting members 52 are provided in a pair with a gap between them in the front-rear direction. The lower connecting members 53 are provided in a pair with a gap between them in the front-rear direction below the upper connecting members 52. The intermediate connecting members 54 are provided in a pair with a gap between them in the front-rear direction between the upper connecting members 52 and the lower connecting members 53.

The lower support member 55 is formed in a rod shape with a rectangular cross section and is provided between the pair of lower connecting members 53. A holding member 22 that holds the tube 21 is attached to the underside of the lower support member 55.

The intermediate support member 56 is formed in a rod shape with a rectangular cross section, and is provided between the pair of intermediate connecting members 54. A plate-shaped member 61 is fixed to the upper surface of the intermediate support member 56, and a microphone 30 and a video camera 40 are fixed to the plate-shaped member 61. A bracket 62 is fixed to the lower surface of the intermediate support member 56, and a nozzle 20 is fixed to the bracket 62.

The upper support member 57 is formed in a rod shape with a rectangular cross section, and is provided across the pair of frame members 51. A suspension point 58 for hanging wires 1 and 2 is provided on the top surface of the upper support member 57. Wires 1 and 2 are hung from a common suspension point 58, and the liquid ejection type wall surface inspection device 10 is suspended by a so-called single-point suspension.

However, when the wires 1 and 2 are moved laterally to move the liquid-squirting type wall surface inspection device 10 laterally, the liquid-squirting type wall surface inspection device 10 swings about the suspension point 58 due to the lateral inertial force. If the liquid-squirting type wall surface inspection device 10 swings too much, the wall surface W cannot be inspected at the desired position. For this reason, it is necessary to reduce the swing of the liquid-squirting type wall surface inspection device 10. The attitude control structure 100 is used to reduce the swing of the liquid-squirting type wall surface inspection device 10.

The posture control structure 100 includes a weight 70 joined to the upper support member 57 of the hanging frame 50 via a support member 71. The weight 70 is provided on the opposite side of the position of the center of gravity G1 of the liquid-squirting type wall surface inspection device 10 with respect to the oscillation axis A1 at the suspension point 58 of the liquid-squirting type wall surface inspection device 10. Therefore, the center of gravity G3 of the liquid-squirting type wall surface inspection device 10 and the weight 70 combined is located closer to the oscillation axis A1 than the center of gravity of the liquid-squirting type wall surface inspection device 10. Therefore, the moment due to the lateral inertial force can be reduced.

In FIG. 1(a), G2 indicates the center of gravity of the weight 70. Also, the support member 71 is lighter than the liquid ejection type wall surface inspection device 10 and the weight 70, and the weight of the support member 71 is treated as 0 (zero).

The magnitude of the moment due to the lateral inertial force will be explained. The magnitude of the moment around the oscillation axis A1 is calculated by multiplying the distance between the oscillation axis A1 and the point of action of the inertial force by the magnitude of the inertial force.

When the weight 70 is not attached to the hanging frame 50 of the liquid-squirting type wall surface inspection device 10, the point of action of the inertial force is the center of gravity G1 of the liquid-squirting type wall surface inspection device 10. When the weight 70 is attached to the hanging frame 50 of the liquid-squirting type wall surface inspection device 10, the point of action of the inertial force is the center of gravity G3 of the liquid-squirting type wall surface inspection device 10 and the weight 70 combined. Therefore, the magnitude of the moment when the weight 70 is attached to the hanging frame 50 of the liquid-squirting type wall surface inspection device 10 is smaller than the state when the weight 70 is not attached to the hanging frame 50 of the liquid-squirting type wall surface inspection device 10 by multiplying the distance between the centers of gravity G1 and G3 by the magnitude of the lateral inertial force.

In this way, the posture control structure 100 can reduce the moment of inertia in the lateral direction. Therefore, the shaking of the liquid ejection type wall surface inspection device 10 caused by lateral movement can be reduced.

In wall inspection, where the wall surface W is inspected at multiple inspection positions in the horizontal direction, it is necessary to place the liquid-squirting type wall surface inspection device 10 at a predetermined inspection position and inspect the wall surface W. The attitude control structure 100 can reduce the shaking of the liquid-squirting type wall surface inspection device 10 that accompanies lateral movement, so that the liquid-squirting type wall surface inspection device 10 can be easily placed at the predetermined inspection position. Therefore, the condition of the wall surface W can be inspected more accurately.

The liquid ejection type wall surface inspection device 10 is also required to eject liquid from the nozzle 20 toward a predetermined position on the wall surface W. The attitude control structure 100 can reduce the oscillation of the liquid ejection type wall surface inspection device 10 that accompanies lateral movement, thereby reducing the oscillation of the nozzle 20. Therefore, liquid can be ejected from the nozzle 20 toward a predetermined position on the wall surface W, allowing the condition of the wall surface W to be inspected more accurately.

The weight 70 does not need to be provided solely to reduce the shaking of the liquid-squirting type wall surface inspection device 10 caused by lateral movement, and the equipment constituting the liquid-squirting type wall surface inspection device 10 (e.g., a battery that supplies power to the microphone 30 and video camera 40) may also be used as the weight 70.

Figure 2 is an enlarged view of part II shown in Figure 1 (a). As shown in Figure 2, the posture control structure 100 includes a rotary damper (damping mechanism) 80 provided on the oscillation axis A1.

The rotation damper 80 includes a main body case 81, a rotor 82 that protrudes from the main body case 81 along the oscillation axis A1, and a damping section (not shown) that damps the rotation of the rotor 82 relative to the main body case 81. The damping section is provided, for example, inside the main body case 81.

The main body case 81 is fixed to the suspension point 58, and the rotor 82 is fixed to the upper support member 57. Therefore, the oscillation of the upper support member 57 is damped by the rotary damper 80. In other words, the oscillation of the liquid-squirting type wall surface inspection device 10 is damped by the rotary damper 80. Therefore, the time required for the oscillation of the liquid-squirting type wall surface inspection device 10 to converge is shortened. Therefore, the inspection of the wall surface W using the liquid-squirting type wall surface inspection device 10 can be performed efficiently.

The rotary damper 80 is preferably a damper that exerts resistance in proportion to the angular velocity, for example, a liquid rotary damper that exerts resistance due to the viscous resistance of the liquid. If a friction rotary damper that exerts resistance due to mechanical friction were used as the rotary damper 80, there is a risk that the oscillation of the liquid ejection type wall surface inspection device 10 will converge with the center of gravity G3 (see FIG. 1) not located directly below the oscillation axis A1. By using a liquid rotary damper as the rotary damper 80, the oscillation of the liquid ejection type wall surface inspection device 10 can be converged with the center of gravity G3 located directly below the oscillation axis A1. Therefore, the positional relationship of the nozzle 20, the microphone 30, and the video camera 40 in the vertical and horizontal directions can be more reliably maintained.

The first embodiment described above provides the following effects:

In the first embodiment, the weight 70 is provided on the opposite side of the oscillation axis A1 from the position of the center of gravity G1 of the liquid-squirting type wall surface inspection device 10. Therefore, the center of gravity G3 of the liquid-squirting type wall surface inspection device 10 and the weight 70 combined is located closer to the oscillation axis A1 than the center of gravity of the liquid-squirting type wall surface inspection device 10. Therefore, the moment of inertia in the lateral direction can be reduced, and the oscillation of the liquid-squirting type wall surface inspection device 10 associated with lateral movement can be reduced.

The rotary damper 80 also damps the oscillation of the liquid-squirting type wall surface inspection device 10. This reduces the time required for the oscillation of the liquid-squirting type wall surface inspection device 10 to converge. This allows the wall surface W to be inspected efficiently using the liquid-squirting type wall surface inspection device 10.

The posture control structure 100 can reduce the shaking of the liquid ejection type wall surface inspection device 10 that accompanies lateral movement, so that the liquid ejection type wall surface inspection device 10 can be easily positioned at a predetermined inspection position, and liquid can be ejected from the nozzle 20 toward a predetermined position on the wall surface W. Therefore, the condition of the wall surface W can be inspected more accurately.

Second Embodiment
Next, a posture control structure 200 for a suspended device according to a second embodiment of the present invention will be described with reference to Figures 3 and 4. Below, differences from the first embodiment will be mainly described, and the same or corresponding configurations as those described in the first embodiment will be denoted by the same reference numerals in the figures and description thereof will be omitted.

Figure 3(a) is a front view of the attitude control structure 200, and Figure 3(b) is a side view of the attitude control structure 200 (as viewed in the direction of arrow IIIB shown in Figure 3(a)).

In the posture control structure 100 according to the first embodiment, the liquid-squirting type wall surface inspection device 10 is suspended by a so-called one-point suspension in which the wires 1 and 2 are hung from a common suspension point 58, whereas in the posture control structure 200 according to the second embodiment, the liquid-squirting type wall surface inspection device 210 is suspended by a so-called two-point suspension in which the wires 1 and 2 are hung from different suspension points 258.

Specifically, in the second embodiment, instead of the suspension point 58 (see FIG. 1) in the first embodiment, suspension points 258a and 258b are provided on each of the pair of frame members 51. Wire 1 is hung on suspension point 258a provided on one frame member 51, and wire 2 is hung on suspension point 258b provided on the other frame member 51. For example, removable hinges can be used for suspension points 258a and 258b.

In the case of a suspension frame 250 suspended by two points, the sway caused by lateral movement is smaller than that of a suspension frame 50 suspended by one point (see FIG. 1). On the other hand, in the case of a suspension frame 250 suspended by two points, the difference in the length of the wires 1 and 2 may cause the suspension frame 250 to tilt.

In this embodiment, the nozzle 20, microphone 30, and video camera 40 are rotatably attached to the hanging frame 250, so that even if the hanging frame 250 is tilted, the positional relationship between the nozzle 20, microphone 30, and video camera 40 in the vertical and horizontal directions is maintained. The configuration for maintaining the positional relationship between the microphone 30 and video camera 40 will be described below.

As shown in Figures 3(a) and (b), the liquid ejection type wall surface inspection device 210 has an intermediate support member 263 rotatably attached to a pair of intermediate connecting members 54 in the hanging frame 250, instead of the intermediate support member 56 of the first embodiment. A plate-shaped member 61 is fixed to the upper surface of the intermediate support member 263, and a bracket 62 is fixed to the lower surface of the intermediate support member 263. As in the first embodiment, the microphone 30 and video camera 40 are fixed to the plate-shaped member 61, and the nozzle 20 is fixed to the bracket 62.

Because the intermediate support member 263 is rotatably attached to the pair of intermediate connecting members 54, the nozzle 20, microphone 30, and video camera 40 can rotate integrally with respect to the hanging frame 250. Therefore, as shown in FIG. 4, even if the hanging frame 250 is hung in an inclined state, the positional relationship between the nozzle 20, microphone 30, and video camera 40 in the vertical and horizontal directions is maintained.

In the following, the unit consisting of the nozzle 20, microphone 30, video camera 40, intermediate support member 263, plate-like member 61, and bracket 62 will also be referred to as the "rotating body 260."

In the liquid-squirting type wall surface inspection device 210, the rotating body 260 is rotatably attached to the hanging frame 250, so when the wires 1 and 2 are moved laterally to move the liquid-squirting type wall surface inspection device 210 laterally, the rotating body 260 oscillates due to the lateral inertial force. The attitude control structure 200 is used to reduce the oscillation of the rotating body 260.

As shown in FIG. 3(a), the posture control structure 200 includes a weight 270 joined to an intermediate support member 263 of the rotating body 260 via a support member 271. The weight 270 is provided on the opposite side of the center of gravity G4 of the rotating body 260 with respect to the rotation axis A2 of the rotating body 260 in the liquid ejection type wall surface inspection device 210. Therefore, the center of gravity G6 of the rotating body 260 and the weight 270 combined is located closer to the rotation axis A2 than the center of gravity G4 of the rotating body 260. Therefore, the moment due to the lateral inertial force can be reduced, and the swaying of the rotating body 260 accompanying lateral movement can be reduced.

In FIG. 3(a), G5 indicates the center of gravity of the weight 270. Also, the support member 271 is lighter than the rotating body 260 and the weight 270, and the weight of the support member 271 is treated as 0 (zero).

The weight 270 does not need to be provided solely to reduce the oscillation of the rotating body 260 in the liquid-squirting type wall surface inspection device 210 caused by lateral movement, and the equipment constituting the liquid-squirting type wall surface inspection device 210 (e.g., a battery that supplies power to the microphone 30 and video camera 40) may be used as the weight 270.

The posture control structure 200 is equipped with a rotary damper (damping mechanism) 280 provided on the rotation axis A2. The main body case 281 of the rotary damper 280 is fixed to the intermediate connecting member 54 of the hanging frame 250, and the rotor 282 of the rotary damper 280 is fixed to the intermediate support member 263 of the rotating body 260. Therefore, the oscillation of the intermediate support member 263 is damped by the rotary damper 280. In other words, the oscillation of the rotating body 260 is damped by the rotary damper 280. Therefore, the time required for the oscillation of the rotating body 260 in the liquid ejection type wall surface inspection device 210 to converge is shortened. Therefore, the inspection of the wall surface W by the liquid ejection type wall surface inspection device 210 can be performed efficiently.

It is preferable that the rotary damper 280 is a damper that exerts a resistance force proportional to the angular velocity, such as a liquid rotary damper, similar to the rotary damper 80 (see FIG. 2).

The second embodiment described above provides the following effects:

In this embodiment, the weight 270 is provided on the opposite side of the rotation axis A2 of the rotating body 260 in the liquid ejection type wall surface inspection device 210 from the position of the center of gravity G4 of the rotating body 260. Therefore, the center of gravity G6 of the rotating body 260 and the weight 270 combined is located closer to the rotation axis A2 than the center of gravity G4 of the rotating body 260. Therefore, the moment due to the lateral inertial force can be reduced, and the oscillation of the rotating body 260 of the liquid ejection type wall surface inspection device 210 accompanying lateral movement can be reduced.

The rotary damper 280 also damps the rotation of the rotating body 260 in the liquid ejection type wall surface inspection device 210. This reduces the time required for the oscillation of the rotating body 260 to converge. This allows the liquid ejection type wall surface inspection device 210 to efficiently inspect the wall surface W.

Although the embodiments of the present invention have been described above, the above embodiments merely show some of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

The following modified examples are also within the scope of the present invention, and it is possible to combine the configurations shown in the modified examples with the configurations described in the above-mentioned embodiments, to combine the configurations described in the different embodiments above, or to combine the configurations described in the different modified examples below.

<Modification 1>
5 is a front view of a posture control structure 300 for a suspended type device according to Modification 1. In Modification 1, the suspension frame 250 according to the second embodiment is suspended by one-point suspension, similarly to the first embodiment.

In the example shown in FIG. 5, the hanging point 58 is offset, causing the hanging frame 250 to tilt. Even in the case of single-point hanging, by rotatably attaching the nozzle 20, microphone 30, and video camera 40 to the hanging frame 250, the relative positions of the nozzle 20, microphone 30, and video camera 40 in the vertical and horizontal directions can be maintained even if the hanging frame 250 tilts due to an offset of the hanging point 58.

The posture control structure 300 is equipped with weights 70 and 270. This reduces the swaying of the suspension frame 250 that occurs during lateral movement, and also reduces the swaying of the rotating body 260.

<Modification 2>
In the first embodiment, the liquid-squirting type wall surface inspection device 10 is suspended by one-point suspension, and in the second embodiment, the liquid-squirting type wall surface inspection device 210 is suspended by two-point suspension, but the present invention can also be applied to the case where the liquid-squirting type wall surface inspection device 210 is suspended by three or more points. For example, as shown in FIG. 6(a), when viewed from the front, wires 1, 2, 3, and 4 may be hung on a pair of hanging points 258a and 258b provided near the upper end of the hanging frame 250 and a pair of hanging points 258c and 258d provided near the lower end of the hanging frame 250 to form a four-point suspension. Also, as shown in FIG. 6(b), wire 1 hung on pulley 90a may be hung on hanging points 258a and 258c, and wire 2 hung on pulley 90b may be hung on hanging points 258b and 258d to form a four-point suspension.

<Modification 3>
In the first embodiment, three or more wires may be hung on the hanging point 58. Also, in the second embodiment, multiple wires may be hung on one hanging point 258a. Similarly, in the second embodiment, multiple wires may be hung on the other hanging point 258b.

100, 200, 300... Posture control device 1, 2, 3, 4... Wire (hanging material)
10, 210...Liquid-jet type wall inspection device (hanging type device)
20: Nozzle 80, 280: Rotary damper (damping mechanism)
70, 270...weight 250...hanging frame 260...rotating body

Claims (5)

A posture control structure for controlling the posture of a suspended device that is used by being suspended from a suspension material,
The hanging type device is a wall surface inspection device including a hanging frame hung from the hanging material and an inspection device main body attached to the inside of the hanging frame and configured to inspect the wall surface of a building,
The posture control structure is joined to the hanging frame of the wall surface inspection device and includes a weight provided on the opposite side of the center of gravity of the wall surface inspection device with respect to the swing axis of the wall surface inspection device .
Attitude control structure for suspended type device. Further comprising a damping mechanism provided on the swing shaft for damping the swing of the wall surface inspection device .
The attitude control structure for a suspended device according to claim 1 . A posture control structure for controlling the posture of a suspended device that is used by being suspended from a suspension material,
The hanging type device is a wall surface inspection device including a hanging frame hung from the hanging material, and a rotating body rotatably attached to the inside of the hanging frame, the rotating body including an inspection device main body for inspecting a wall surface of a building,
the attitude control structure includes a weight that is joined to the rotating body and is provided on an opposite side to a center of gravity of the rotating body with respect to a rotation axis of the rotating body,
Attitude control structure for suspended type device. The rotor further includes a damping mechanism provided on the rotating shaft for damping the rotation of the rotor.
The attitude control structure for a suspended device according to claim 3 . the inspection device main body is provided with a nozzle for ejecting a liquid, and inspects the wall surface based on an impact sound generated when the liquid ejected from the nozzle strikes the wall surface ;
The attitude control structure for a suspended device according to any one of claims 1 to 4.

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