JPH0415843B2 - - 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 17 that is extendable and rotatable is equipped on a traveling bogie 16 installed on the shoulder of a steel bridge, as shown in Fig. 1. The support arm 17 is provided with a vertical rod 18 that can be rotated outward from the steel bridge and raised and lowered from the tip extending outward from the steel bridge, and at the lower end of the vertical rod 18, At least 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 horizontal rotation of 180 degrees.

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-mentioned 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 lower flanges of the left and right main girders of a steel bridge. and a horizontal movable body that can move along the guide rail provided on the walking frame and lock onto the outer edge of the lower flange of the main girder. We will solve this problem and provide a device that can move independently of lamp posts, sign posts, etc. without obstructing traffic by blocking the top surface of the deck slab with a running trolley, etc., and improving the efficiency of steel bridge maintenance and inspection. The aim is to improve the

[Means for Solving the Problems] The structure of the present invention that solves the problems of the prior art includes two vertical suspension members each having a locking portion that locks on the upper surface of the outer edge of the lower flange of the left and right main girder of a steel bridge. A pair of left and right walking frames whose lower ends are respectively connected to both ends of the guide rail, and in which the vertical hanging member can be expanded and contracted in the vertical direction, and the guide rail is connected between the guide rails of the pair of left and right walking frames. A horizontal beam that is movable along the bridge is constructed, and both ends of this horizontal beam are provided with locking parts that lock onto the upper surfaces of the outer edges of the lower flanges of the left and right main girders of the steel bridge, and the horizontal beam expands and contracts in the vertical direction. A horizontal moving body is provided with a vertical hanging member for books, and a robot 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. , the walking frame is made to advance like an inchworm by the vertical movement drive mechanism and the traverse drive mechanism of each of the vertical hanging members.

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

Figure 1 is a front view showing the state of maintenance and inspection work, Figure 2 is a side view of the same as above, Figures 3 a, b, c, and d are illustrations of the inchworm movement of the walking frame, and Figure 4 is the robot device. It is a front view.

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 rack mechanism or the like, and a locking portion 4a that locks onto the upper surface of the outer edge of the lower flange 3a of the main girder 3 is formed at the upper end of the vertical hanging member 4. Further, as is clear from FIG. 2, the vertical suspension members 4 are composed of a set of two, and the lower ends of both vertical suspension members 4 are connected to the steel bridge A.
It is connected to a guide rail 5 in a horizontal position along the longitudinal direction. The walking frame body B is configured as described above.

7 is an extendable horizontal beam that is bridged between the guide rails 5 of the left and right walking frame bodies B and is movable along the guide rails 5;
A pair of vertical hanging members 8 are attached to both ends of the horizontal beam 7. and,
The upper end of this vertical hanging member 8 has a locking portion 8a that locks on the upper surface of the outer edge of the lower flange 3a of the main girder 3.
Furthermore, a robot device C is mounted on the horizontal beam 7, which is movable along the longitudinal direction of the horizontal beam. The horizontal moving body D is configured with the above configuration.

Next, the configuration of the robot device C will be explained with reference to FIG. 4. Reference numeral 9 denotes an arm having a cylindrical structure, one end of which is vertically fixed or tiltably mounted on a base plate 10 running on a horizontal beam 7. A telescopic arm 11 having a rod structure is rotatably connected to the arm 9. Also, this telescopic arm 1
Link arms 12 and 13 having a multi-jointed link structure are connected to the outer end of the arm 1 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. The robot device C is constructed as described above.

Furthermore, the movement and positioning control of the robot device C can be either manual or fully automatic, 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, the working device of the present invention described above, in detail,
A device for transporting and setting the walking frame B and the horizontal moving body D to the starting point of work on the steel bridge A, and for collecting and carrying out the working equipment at the end of the work will be described.

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
Most of this is stored in the horizontal beam 7 to make it more compact, and the horizontal beam 7 is further reduced or folded to be transformed into a smaller size, and one end of the horizontal beam 7 is connected to the rotating part 20 of the vertical rod 18. The collected items are loaded onto a traveling trolley 16 and transported to the site. Then, the support arm 17 is extended upward and rotated outward by about 90 degrees to position the beams on the outside of the steel bridge A.
A is rotated to place the vertical rod 18 in a vertical position as shown by an imaginary line, and the vertical rod 18 is lowered.

Next, the gear mechanism 19 provided at the lower end of the vertical rod 18 rotates the rotating part 20 by about 90 degrees to cause the horizontal beam 7 to intervene under the steel bridge A. At this time,
Extend the vertical hanging members 4 and 8 on both sides upwards,
The respective locking portions 4a, 8a are positioned slightly above the upper surface of the lower flange 3a. Also, the vertical hanging members 4 and 8 that are farther from the vertical rod 18 are positioned outward from the main girder 3 as shown by the phantom line in Figure 1 by the action of the cylinder 6, and the horizontal beam 7 is set as shown in Figure 1. When the vertical hanging members 4, 8 are moved back to the position indicated by the solid line by the action of the cylinder 6, all the vertical hanging members 4, 8 are lowered, and each vertical hanging member 4, 8 is lowered.
The upper end locking portions 4a, 8a of 8 are locked and fixed to the upper surface of the outer edge of the lower flange 3a.

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 has no use for it, 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 Action] Next, the advancing movement of the walking frame B like an inchworm will be explained with reference to FIGS. 3a, b, and c. In the state shown in FIG. 2, the upper end locking portion 4a of the vertical hanging member 4 of the walking frame B is firmly locked to the lower flange 3a of the main girder 3, and the upper end of the vertical hanging member 8 of the horizontal moving body D is locked. The portion 8a is free with respect to the lower flange 3a, and the horizontal moving body D is gradually sent, for example, to the right in the drawing by the action of the fluid cylinder 15, and a cleaning or painting operation is performed.

When the horizontal movable body D is moved to the right while working and comes close to the vertical hanging member 4 on the right side and its progress is obstructed, as shown in FIG. 3a, the vertical suspension of the horizontal movable body D The member 8 is lowered and the locking portion 8a at the upper end thereof is locked to the upper surface of the lower flange 3a.

When this work is completed, the vertical hanging member 4 of the walking frame B is unlatched to the lower flange 4a, and at the same time, the vertical hanging member 4 is slightly raised to allow the vertical hanging member 4 of the walking frame B to become the main digit 3
Regardless of this, this walking frame body B is made free and is entrusted to the horizontal moving body D.

When the fluid cylinder 15 is operated to extend in this state, only the walking frame B moves to the right in the paper as shown by the arrow in FIG. The operation of the fluid cylinder 15 is stopped when it comes into contact with the left side surface. In this way, as shown in FIG. 3c, a large space is created between the right side surface of the horizontally moving body D and the right vertical hanging member 4 of the walking frame B, in which the horizontally moving body D can move. In this state, the vertical hanging member 4 of the walking frame B is lowered and its upper end locking portion 4a is locked to the lower flange 3a.

When this operation is completed, as shown in FIG. 3d, the vertical hanging member 8 of the horizontal moving body D is slightly raised and separated from the lower flange 3a, making the horizontal moving body D independent of the main girder 3. At the same time, this horizontal moving body D
is deposited on the walking frame B and gradually moved by the fluid cylinder 15 while performing the necessary cleaning and painting work.

In addition, as shown in Fig. 2, the main girder 3 has a joint 3b.
If there is such a problem, avoid it by straddling it, or allow each vertical hanging member 4, 8 to move up and down independently. You can make inchworm-like progress.

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

(a) Utilizing the outer edge of the lower flange of the main girder of a steel bridge, it has a walking frame that moves in an inchworm-like manner along this lower flange, and a robot device that moves along the guide rail of this walking frame. Maintenance by the cooperation of horizontal moving bodies,
Inspection work can be done quickly and reliably.

(b) In addition, it is possible to proceed completely independently of lamp posts, sign posts, etc. on the ground, and
It has the advantage of being able to proceed regardless of the joints of the main girders, etc., and there is no need to remove and reinstall the equipment to avoid these obstacles as in conventional technology, making maintenance and maintenance easier.
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]

Figure 1 is a partially cutaway front view, Figure 2 is a side view of the same as above, Figures 3a, b, c, and d are explanatory diagrams of the inchworm movement of the walking frame, and Figure 4 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)

[Claims] 1. The lower ends of two vertical suspension members each having a locking portion that locks on the upper surface of the outer edge of the lower flange of the left and right main girder of a steel bridge are connected to both ends of a guide rail, and the vertical A horizontal beam movable along the guide rails is bridged between a pair of left and right walking frames in which hanging materials can be expanded and contracted in the vertical direction, and the guide rails of the pair of left and right walking frames. At both ends of the steel bridge, two vertical hanging members are provided which are provided with locking parts that lock onto the upper surfaces of the outer edges of the lower flanges of the left and right main girders of the steel bridge, and which expand and contract in the vertical direction. a horizontal moving body movably mounted thereon; a drive mechanism such as a fluid cylinder that moves these separately between the walking frame and the horizontal moving body; and a vertical movement drive mechanism for each of the vertical hanging members. A bridge automatic painting suspension system characterized by a traverse drive mechanism that allows a walking frame to advance like an inchworm.