JPH0415844B2 - - 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 carried out, which requires a lot of labor and money, takes a long time, and is extremely inefficient. There were issues such as the accompanying human disasters that could not be completely prevented.

[Prior art and its problems] In order to solve these problems, a support arm 17 that is extendable and rotatable is installed on a traveling bogie 16 installed on the shoulder of a steel bridge, as shown in FIG. This support arm 1 is equipped with the support arm 17.
7 rotates outward of the steel bridge, and a vertical rod 18 is provided which can be raised and lowered from the tip extending outward of the steel bridge, and a shaft is attached to the lower end of this vertical rod 18 so as to be able to rotate horizontally by at least 180 degrees. A device has been developed in which a robotic device with a coating tool is attached to a jointed beam (not shown) attached to the surface.

This device has the advantage of being able to clean and paint over a wide area in a fixed position by rotating the horizontally articulated beam, but it also has the advantage of being able to perform cleaning and painting work over a wide area in a fixed position. This has the disadvantage of obstructing traffic, and as maintenance and inspection progress, the support arm may come into contact with lamp posts, sign posts, etc. installed in the ground, and the progress of the equipment may be blocked. Each time, the above-mentioned device must be collected onto the traveling trolley 16, the traveling trolley 16 must be moved to a position that avoids the lamp post or sign post, and the device must be installed again, which is complicated. There are issues such as having to postpone the date and time.

The object of the present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a simple yet rational means, in particular, a vertical suspension system that allows maintenance and inspection equipment to be releasably suspended from the ground covering of a steel bridge. A plurality of replacement formwork bodies each having a guide rail horizontally extending in the longitudinal direction of the steel bridge at the bottom thereof are suspended from the bridge in a detachable manner between the guide rails of the frame bodies, and are movable. Equipped with a robotic device and configured with a horizontal beam, it solves the problems of conventional technology and allows lamp posts, sign posts, etc. The aim is to improve the efficiency of maintenance and inspection of steel bridges by providing a device that can be successfully dodged and advanced.

[Problems to be solved by the invention] The structure of the present invention that solves the problems of the prior art includes a vertical hanging member that is releasably suspended from the ground cover of a steel bridge, and a vertical suspension member that is attached to the lower part of the steel bridge. The bridge is removably suspended between a plurality of replacement formwork bodies having horizontal guide rails in the longitudinal direction and the guide rails of the replacement formwork bodies suspended on the left and right sides of the ground cover, and is movable. It consists of a horizontal beam equipped with a robot device capable of carrying out continuous maintenance and inspection of the steel bridge by transferring the reassembled formwork to the lower side of the work.

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

FIG. 1 is a partially cutaway front view of the robot device in a working state, 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 paved deck slabs 1, ground covering 1a, handrails 2, main girders 3, and the like. Reference numeral 4 denotes a vertical hanging member which has a locking portion 4a at its upper end that is engaged with the ground covering 1a, and is extendable and retractable by a fluid cylinder mechanism 5, a pinion, a rack mechanism, etc. As is clear from FIG. 2, the suspension members 4 are composed of a set of two, and the lower end of each vertical suspension member 4 is located along the longitudinal direction of the steel bridge A and between both vertical suspension members 4. The guide rail 6 is connected to the upper surface of the guide rail 6, which is longer than the distance between the guide rails 6 and 6. As shown in FIG. 1, the guide rail 6 is made of I-beam steel.

The lower part of each vertical hanging member 4 is provided with a hook portion 7a that engages with the inner edge of the lower flange 3a of the main girder 3, and is also provided with a hook portion 7a that engages with the inner edge of the lower flange 3a of the main girder 3. Therefore, a locking rod 7 that moves in the horizontal direction is provided, and a stopper 8 that can be freely engaged and detached from the outer edge of the lower flange 3a is provided on the upper surface of the midway portion of the locking rod 7. , this stopper 8 is provided so as to be movable and adjustable in the longitudinal axis direction of the locking rod 7. The hook portion 7a and the stopper 8, which engage with the lower flange 3a of the main girder 3, prevent the vertical hanging member 4 from swinging. The refill form frame body B (hereinafter abbreviated as a frame pair) is constructed with the above structure. Incidentally, if each vertical hanging member 4 is connected to the ground cover 1a so as not to swing, the anti-sway mechanism consisting of the locking rod 7 having the hook portion 7a and the stopper 8 is unnecessary.

Reference numeral 9 denotes a self-propelled horizontal beam movably suspended between the guide rails 6 of the frame B suspended from the left and right ground coverings 1a. A pair of left and right wheels 9a are provided which ride on the lower flange of the guide rail 6 made of I-shaped steel and sandwich the web of the guide rail 6. In addition, the horizontal beam 9 is expandable and retractable,
Alternatively, it is configured to be foldable so that it can be miniaturized during transportation.

A robot device C as shown in FIG. 3 is movably mounted on the upper part of this horizontal beam 9.

Next, the configuration of the robot device C will be explained with reference to FIG. 10 connects one end to the horizontal beam 9
This is an arm of a cylinder mechanism that is vertically fixed or tiltably mounted on a base plate 11 running above, and a rod-structured telescopic arm 12 is rotatably connected to the arm 10. Furthermore, link arms 13 and 14 having a multi-jointed link structure are connected to the outer end of the telescoping arm 12 so as to be tiltable and rotatable. A tool 15 such as a swinging tool, a paint spray gun, or a spray nozzle is attached to the tip of the most advanced link arm 14.
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 control is performed using software that creates data.

Next, the above-described device of the present invention, specifically the frame B and the horizontal beam, are set on the steel bridge A,
We will explain the work of reordering.

The frame B is transported to the site by a tow truck or the like with the vertical hanging members 4 and engagement rods 7 reduced. The frame body B lifted by the truck is guided to the outside of the steel bridge A and lowered. First, the locking part 4a of the vertical hanging member 4 is engaged and fixed to the ground covering 1a as shown in FIG.
is extended by a predetermined length so that the engaging rod 7 corresponds to the lower flange 3a of the main girder 3. Next, the engaging rod 7 is extended to engage the inner edge of the lower flange 3a as shown in FIG. 1, and the stopper 8 is slid and adjusted to engage the outer edge of the lower flange 3a. It is set on the steel bridge A, and after the frame B is set, the connection between the tow truck and the frame B is released. In this way, multiple frames B
Attach as shown in Figure 2.

Further, as described above, the horizontal beam 9 is attached to the tip of the rotatable and extendable support arm 17 that is mounted on the traveling trolley 16 that runs and is installed on the shoulder of the steel bridge A.
A vertical rod 18 that is raised and lowered by a pinion rack mechanism 18a or the like is attached, and a rotating part 20 that is rotated by a gear mechanism 19 or the like is provided at the lower end of this vertical rod 18. This rotating part 20 is connected to the horizontal beam 9.
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.

The operation of installing and recovering the horizontal beam 9 of the present invention on a replacement frame B attached to a steel bridge A will be explained. One end of the horizontal beam 9 that has been reduced or folded down is connected to the rotating part 2 of the vertical rod 18.
The material bound to zero is loaded onto 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 part 17a of the support arm 17 to vertically The rod 18 is placed in a vertical position as shown in the figure, and this vertical rod 1
Lower 8.

Next, the gear mechanism 19 provided at the other end of the vertical rod 18 rotates the rotating part 20 by about 90 degrees to insert the horizontal beam 9 under the steel bridge A. The rollers 9a provided at both ends of the horizontal beam 9 are aligned with the ends of the guide rails 6 of the frame B which have already been installed.

Once the position is suitable, this roller 9a is placed on the guide rail 6, and the horizontal beam 9 is placed on both guide rails 6.
After suspending the bridge between them and fixing a stopper (not shown) to the end of the guide rail 6, the fixed relationship between the end of the horizontal beam 9 and the rotating part 20 of the vertical rod 18 is released, and the vertical rod 18 and support are removed. Return the arm 17 onto the traveling carriage 16 by reversing the procedure described above. The traveling cart 16 that has been erected leaves the site.

In addition, when removing the horizontal beam 9 of the present invention, the traveling trolley 16 is installed at the recovery site, the rotating part 20 of the vertical rod 18 is connected to one end of the horizontal beam 9, and the horizontal beam 9 is supported while being rolled. After the wheel 9a is removed from the guide rail 6, it is collected and mounted on the traveling trolley 16 in the reverse order of the above-mentioned installation procedure, and then carried out.

In addition, in the above explanation, the horizontal beam 9 of the present invention is carried in and out by a traveling trolley, but
It can also be set together with frame B on a steel bridge as a permanent installation. In this case, the horizontal beam 9
does not need to be a stretchable or collapsible structure.

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 the horizontal beam is equipped with equipment before and after automatic work. Safe and necessary for visual inspection by workers, etc.
This involves adding the necessary walkways, handrails, ramps, etc. to the facility.

[Description of Effect] Next, the effect of the present invention will be explained. As shown in FIG. 2, at least two or more frames B are set on the left and right ground coverings 1a using a tow truck or the like, and both guide rails 6 are butted against each other on the same axis. As shown by the arrow in Fig. 2, the horizontal beam 9 is moved while cleaning and painting work is performed.
When the horizontal beam moves from the guide rail 6 on the right side of the page to the guide rail 6 on the left side of the page, the frame B on the right side becomes obsolete. In this state, the tow truck is introduced onto the steel bridge A, and with the used frame B connected to the tow truck in a suspended manner, the stopper 8 of the locking rod 7 is
At the same time, the hooks 7a of the locking rods 7 are moved inward to unlock the frame B and the main girder 3, and then the locking portions 4a of the vertical hanging members 4 are removed from the ground cover 1a. After removing it, remove frame B from steel bridge A. Next, the removed frame B is moved to the working area of the left frame B in Fig. 2 using a tow truck, and is installed on the ground cover 1a using the above-mentioned attachment means, and is installed in parallel to the existing frame B. do. This work is repeated in sequence. It goes without saying that if there are two or more frames B, there will be more time to replace the used frames B.

In addition, if there is a lamp post or a sign post on the ground cover 1a, and an extra space is created between the frame bodies B, and a gap is created between adjacent frame bodies B, use a tow truck or the like to remove this gap. Attach an auxiliary rail (not shown) to ensure that work is not interrupted.

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

(a) Utilizing the ground cover of a steel bridge, multiple frames are successively installed along this ground cover, and maintenance point inspection work is performed continuously while moving the horizontal beam along the guide rail of the frame. In addition, since the used frame is transferred to the lower side of the work, there is no break in the work, and the floor slab is not blocked with a retoucher or the like except during this replacement work. It does not obstruct traffic.

(b) In addition, lamp posts and sign posts on the ground can be easily avoided, and maintenance and inspection work efficiency can be improved with simple equipment and operation.

[Brief explanation of drawings]

FIG. 1 is a partially cutaway front view, FIG. 2 is a side view of the same, and FIG. 3 is a front view of the robot device. 4... Vertical hanging member, 4a... Locking portion, 5... Fluid cylinder mechanism, 6... Guide rail, 7... Locking rod, 7a... Hook portion, 8... Stopper, 9...
...Horizontal beam, 9a...Rolling wheels, A...Steel bridge, B...
... Replacement formwork body, C... Robotic device.

Claims (1)

[Scope of Claims] 1. A plurality of replacement types that are equipped with vertical hanging members that are removably suspended from the ground part of a steel bridge, and that have horizontal guide rails in the longitudinal direction of the steel bridge at the bottom. It consists of a frame body and a horizontal beam that is removably suspended from the bridge between the guide rails of the replacement formwork body suspended on the left and right sides of the ground cover, and is equipped with a movable robotic device. This automatic bridge painting suspension system is characterized in that maintenance and inspection of a steel bridge can be continuously performed by repositioning the completed repositioning formwork to the lower side of the work.