JPH0415842B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic bridge painting suspension system that performs maintenance such as cleaning and repainting of steel bridges, and inspections such as visual checks.

[Technical Background of the Invention] In the current process of cleaning and repainting steel bridges, suspended scaffolding is installed over the entire span of the bridge.
The sides and bottom surfaces of these scaffolds are covered with sheets, etc., and then cleaned and repainted. For this reason, it is necessary to erect and remove scaffolding every time repainting or cleaning is performed, which requires a lot of labor and money, takes a long time, and is extremely inefficient. There were issues such as the inability to completely prevent human-induced disasters associated with this.

[Prior art and its problems] In order to solve these problems, a support arm 1 that is extendable and rotatable is installed on a traveling bogie 16 installed on the shoulder of a steel bridge, as shown by the imaginary line in FIG.
7, and the support arm 17 is provided with a vertical rod 18 that rotates outward of the steel bridge and is movable up and down with respect to the tip extending outward of the steel bridge. At the bottom of the
A device has been developed in which a robot device with a coating tool is attached to an articulated beam (not shown) that is pivoted to allow 180° horizontal rotation.

Although this type of equipment has the advantage of being able to clean and paint over a wide area in a fixed position by rotating the horizontal articulated beam, it is difficult to install a large traveling bogie on a steel bridge deck for a long period of time. Things to keep in mind are:
This is inconvenient because it obstructs traffic, and as maintenance and inspection proceed, the support arm 17 may come into contact with lamp posts, sign posts, etc. installed in the ground, and the progress of the device may be blocked. Each time, the above-mentioned device is collected onto the traveling trolley 16, and the traveling trolley 16 is moved to a position avoiding lamp posts and sign posts.
There is the complication of having to move the equipment and install the equipment again, which poses problems such as extending the time required for construction.

The object of the present invention was made in view of the above circumstances, and it is an object of the present invention to provide a simple yet rational means, specifically, a walking frame that moves in an inchworm-like manner along the outer edges of the left and right base coverings of a steel bridge, and By using a maintenance and inspection device that moves along guide rails provided on the walking frame and has a horizontally movable body that can be easily placed on the outer edge of the above-mentioned ground covering, the problems of the conventional technology can be solved and the floor The top surface of the plate is covered with a running trolley, etc.
To provide a device that can proceed independently of lamp posts, sign posts, etc. without obstructing traffic,
The aim is to create an efficient steel bridge maintenance and inspection factory.

[Means for Solving the Problems] The structure of the present invention that solves the problems of the prior art includes two locking parts that lock on the outer edges of the left and right ground coverings of a steel bridge.
A pair of left and right walking frames, each of which connects the lower end of a vertical book hanging material to both ends of a guide rail, and allows the vertical hanging material to be extended and contracted in the vertical direction and rotated in the left and right directions; A horizontal beam that is movable along the guide rail is bridged between the guide rails of the walking frame, and locking parts that lock to the outer edges of the left and right ground coverings of the steel bridge are provided at both ends of the horizontal beam. A horizontal moving body is provided with two vertical hanging members that extend and contract in the vertical direction and rotate in the left and right directions, and a horizontal moving body is provided with a robot device movably mounted on the horizontal beam, and the walking frame body and the horizontal moving body are provided. It consists of a drive mechanism such as a fluid cylinder that moves each of these separately between the bodies, and the walking frame moves like an inchworm using the vertical movement of each vertical hanging member, the left-right rotation mechanism, and the traverse drive mechanism. It is something.

[Example] Next, details of an example of the present invention will be described with reference to the drawings.

FIG. 1 is a front view showing the state of maintenance and inspection work, FIG. 2 is a side view of the same, and FIG. 3 is a front view of the robot device.

A is a steel bridge, and the steel bridge A is composed of a paved deck 1, a ground covering 1a, a railing 2, a main girder 3 made of steel, and the like. 4 is a fluid cylinder mechanism;
This is a vertical hanging member that can be expanded and contracted by a pinion crack mechanism (not shown) or the like, and the upper end of the vertical hanging member 4 is formed with a locking portion 4a that locks on the upper surface of the outer edge of the ground cover 1a. . Further, as is clear from FIG. 2, the vertical hanging members 4 are composed of a set of two, and the lower ends of the vertical hanging members 4 are attached to guide rails in a horizontal position along the longitudinal direction of the steel bridge A. The guide rail 5 is pivotally supported so as to be rotatable left and right, more specifically, to be rotatable in a direction perpendicular to the longitudinal direction of the guide rail 5. 6 in the diagram
is a fluid cylinder for rotating the vertical hanging member 4 in the left-right direction. The walking frame body B is configured as described above.

Reference numeral 7 denotes an extendable and retractable horizontal beam that is bridged between the guide rails 5 constituting the left and right walking frame bodies B and is movable along the guide rails 5. , a set of two vertical hanging members 8 are attached so as to be rotatable in the left and right directions. Although not particularly shown, a fluid cylinder is provided between the lower part of the vertical suspension member 8 and the horizontal beam 7, and the fluid cylinder allows the vertical suspension member 8 to rotate in the left-right direction. It's getting old.

A locking portion 8a is formed at the upper end of the vertical hanging member 8 to lock onto the upper surface of the outer edge of the ground covering 1a, and a locking portion 8a is formed on the horizontal beam 7 in the longitudinal direction thereof. A robot device C is movably mounted. With the above configuration, the horizontal moving body D
is configured.

Next, the configuration of the robot device C will be explained with reference to FIG.
The arm has a cylindrical structure that can be tilted.
A telescopic arm 11 having a rod structure is rotatably connected to the arm 9. Furthermore, link arms 12 and 13 having a multi-jointed link structure are connected to the outer end of the extendable arm 11 so as to be tiltable and rotatable. A tool 14 such as a swinging tool, a paint spray gun, or a spray nozzle is attached to the tip of the most advanced link arm 13, and the robot device C is configured as described above. ing.

Furthermore, the movement and positioning control of this robot device C can be performed manually or fully automatically, and in the case of fully automatic, it is possible to control the movement and positioning of the robot device C by directly reading commands from the overall linear coordinate data of the steel bridge, bridge girder member data, or design drawings. Positioning is controlled by software that creates data.

Reference numeral 15 shown in FIG. 2 is a fluid cylinder that functions to advance the walking frame B in an inchworm-like manner and to move the horizontal moving body D along the guide rail 5, and a cylinder portion 15a of the fluid cylinder 15. is connected to the guide rail 5, and the end of the rod 15b is connected to the lower surface of the end of the horizontal beam 7, respectively.

Next, a description will be given of the above-mentioned working device of the present invention, specifically, a device that transports and sets the walking frame B and the horizontal moving body D to the work start point of the steel bridge A, and also collects and carries out the working device at the end of the work. do.

As described above, the device of the present invention includes a pinion, a rack mechanism (not shown), etc. at the tip of a rotatable and extendable support arm 17 mounted on a traveling trolley 16 running and installed on the shoulder of the steel bridge A. A vertical rod 18 is attached to the vertical rod 18, which is moved up and down by the horizontal beam 7. A rotating part 20, which is rotated by a gear mechanism 19, is provided at the lower end of the vertical rod 18.
It is designed to be removably attached to one end of the holder. Further, the upper part of the vertical rod 18 is movable relative to a rotating part 17a formed at the tip of the support arm 17.

To explain the operation of the device of the present invention for equipping and recovering the steel bridge A, the vertical hanging members 4 of the walking frame B are reduced, and
The horizontal beams 7 are tilted inward as shown in FIG. The combined product is mounted on a traveling trolley 16 and transported to the site. Then, extend the support arm 17 upward and rotate it outward by about 90 degrees to position the beams on the outside of the steel bridge A, and rotate the rotating portion 17a of the support arm 17 to rotate the vertical rod. 18 is placed in a vertical position as shown by the imaginary line, and the vertical rod 18 is lowered.

Next, the rotating part 20 is rotated approximately 90 degrees by the gear mechanism 19 provided at the lower end of the vertical rod 18 to insert the horizontal beam 7 under the steel bridge A, and the horizontal beam 7 is extended. and place it as shown in Figure 1. The vertical hanging members 4 and 8 of the walking frame B and the horizontal moving body D that are tilted in this state are raised vertically and further extended upward, and the upper end locking portion 4a of each vertical hanging member 4 and 8 is raised vertically. , 8a to 1a
At the same time, each vertical hanging member 4, 8 is pressed against the ground by a fluid cylinder.

This completes the installation of the device of the present invention, but in this state, the connection between the rotating part 20 at the lower end of the vertical rod 18 and one end of the horizontal beam 7 is released, and the vertical rod 18, support arm 17, etc. It is returned to the traveling carriage 16 by the opposite action to that described above, and the traveling carriage 16, which is no longer of use, leaves the site.

When the device of the present invention is to be removed, the traveling trolley 16 is installed at the site, the rotating part 20 of the vertical rod 18 is connected to one end of the horizontal beam 7, and the device is supported as a whole. The device is recovered onto the traveling trolley 16 and carried out by the reverse action.

In addition, in the description of the above embodiment, the device of the present invention is carried in and carried out by a traveling trolley.
It can also be set on a steel bridge as a permanent fixture. In this case, the horizontal beam 7 does not need to be of a structure that can be expanded and contracted or folded down.

Furthermore, although not particularly shown in the drawings, the apparatus of the present invention is naturally equipped with equipment to prevent scattering of rust, dust, and mist during cleaning, and further,
The horizontal beam is equipped with a safe,
In addition, it will include walkways, handrails, ramps, etc. that are convenient for installation.

[Description of operation] Next, based on the above embodiment, walking frame B
I will explain the inchworm-like progressing motion of. Second
In the state shown in the figure, the upper end locking portion 4a of the vertical hanging member 4 constituting the walking frame B is firmly locked to the ground cover 1a, and the upper end locking portion 8a of the vertical hanging member 8 of the horizontal moving body D is firmly locked to the ground cover 1a. The horizontal moving body D is free with respect to the cover 1a, and is gradually sent, for example, to the left in the drawing by the action of the fluid cylinder 15, and is used for cleaning or painting work.

When the horizontal moving body D is moved to the left and comes close to the vertical hanging member 4 on the left side and its progress is obstructed, the vertical hanging member 8 of the horizontal moving body D is lowered and the locking portion at the upper end of the vertical hanging member 8 of the horizontal moving body D is lowered. 8a is secured to the upper surface of the ground cover 1a, and the vertical hanging member 8 is urged against the ground cover 1a by the action of a fluid cylinder (not shown).

When this work is completed, the vertical hanging member 4 of the walking frame B is released from its pressure against the ground cover 1a, and at the same time, the vertical hanging member 4 is slightly raised, and the vertical hanging member 4 of the walking frame B is Assuming that it has nothing to do with bridge A, this walking frame body B is made free and is entrusted to horizontally moving body D.

When the fluid cylinder 15 is operated to contract in this state, only the walking frame B moves to the left in the drawing, and when the right vertical hanging member 4 comes into contact with the right side surface of the horizontal moving body D, the fluid cylinder 1
Stop the operation of 5. In this way, a large space is formed between the left side surface of the horizontally movable body D and the left vertical hanging member 4 of the walking frame B, in which the horizontally movable body can move. In this state, the upper end locking part 4a of the vertical hanging member 4 of the walking frame B is locked to the ground cover 1a, and the vertical hanging member 4 is pressed against the outer surface of the ground cover by the action of the fluid cylinder 6, When this operation is completed, the vertical hanging member 8 of the horizontally moving body D is released from pressing against the ground cover, and at the same time, the vertical hanging member 8 is slightly raised and separated from the ground cover 1a, and the horizontal moving body D is suspended from the ground. In addition to making it unrelated to the bridge A, this horizontal moving body D is placed in the walking frame body B, and the fluid cylinder 1 is removed while performing the necessary cleaning and painting work.
Step 5 to gradually move it to the left on the page.

In addition, as shown in FIG. 1, if there is a lamp post 21 or a traffic sign post (not shown) on the ground cover 1a, vertical hanging members 4, 8, etc. The robot is rotated greatly outward, and an inchworm-like progression is performed in the same manner as above.

[Effects of the Invention] As described above, according to the configuration of the present invention, the following effects can be obtained.

(a) A horizontal moving body that utilizes the outer edge of a steel bridge's ground cover and has a walking frame that moves like an inchworm along this ground cover, and a robotic device that moves along the guide rail of this walking frame. Maintenance and inspection work of steel bridges is speedy due to the joint action of
It can definitely be done.

(b) In addition, it has the advantage of successfully dodging lamp posts and signposts on the ground, and does not require the removal and reinstallation of devices to avoid these obstacles, unlike conventional technology. Maintenance and inspection work efficiency can be improved.

(c) Since there is no need to permanently install a running trolley on the floor slab, continuous cleaning and painting work can be performed without interfering with traffic.

[Brief explanation of drawings]

FIG. 1 is a partially cutaway front view, FIG. 2 is a partially cutaway side view of the same, and FIG. 3 is a front view of the robot device. 4... Vertical hanging member, 4a... Locking part, 5... Guide rail, 7... Horizontal beam, 8... Vertical hanging member, 8a... Locking part, 15... Fluid cylinder, A
...Steel bridge, B...Walking frame body, C...Robot device, D...Horizontal moving body.

Claims (1)

[Scope of Claims] 1. The lower ends of two vertical hanging members each having locking portions that lock onto the outer edges of the left and right ground coverings of a steel bridge are connected to both ends of a guide rail, and the vertical hanging members are A pair of left and right walking frames that can be expanded and contracted in the direction and rotated in the left and right directions, and a horizontal beam that is movable along the guide rails is bridged between the guide rails of the pair of left and right walking frames. At both ends of this horizontal beam, two vertical hanging members are provided that are equipped with locking parts that lock onto the outer edges of the left and right ground coverings of the steel bridge, and that extend and contract in the vertical direction and rotate in the left and right directions. It also comprises a horizontal moving body in which a robotic device is movably mounted on the horizontal beam, and a drive mechanism such as a fluid cylinder that moves these separately between the walking frame and the horizontal moving body, and each vertical suspension This automatic bridge painting suspension system is characterized in that a walking frame is made to advance in an inchworm-like manner using a vertical movement of timber, a horizontal rotation mechanism, and a traverse drive mechanism.