JP2001349876A - Hammering testing device for structure, and hammering testing device for tunnel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hammering testing device for a structure, by which a hammering test regarding a tunnel wall can be performed with efficiency and with safety. SOLUTION: The hammering testing device 1 for a tunnel is provided with an inspection head 5, a head movement device 6 and a track land vehicle 7. The head 5 is provided with a plurality of hitting elements 39, which hit the face to be inspected 4 of a railroad tunnel 3 at a prescribed hitting force and at prescribed hitting intervals and a plurality of microphones 43 for hitting-sound collection, which collect the hitting sounds. The movement device 6 is provided with a swivel base 17. The head 5 is pressed against the face 4 by an air cylinder 25, for arm erection and collapse of an erection and collapse arm 18 and the air cylinder 36, for head-attitude control of a head support part 19, and it is moved by following undulations on the face 4. The movement device 6 is mounted on the vehicle 7. While the head 5 is made to follow the face 4, the track land vehicle 7 is moved at a prescribed speed, the hitting sounds are collected, and the state of the tunnel 3 is inspected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure for hitting an inspection surface of a concrete structure such as a tunnel or a bridge and inspecting the state of the structure based on a tapping sound generated at that time. It relates to an inspection device.

[0002]

2. Description of the Related Art As a structure, for example, when inspecting the condition of a wall surface 102a of a concrete wall 102 such as a road tunnel or a railway tunnel 101 and the inside 102b thereof, the inspection work is generally performed by a special inspection. It is performed manually by a worker 103 skilled in the work. Specifically, as shown in FIG.
The work vehicle 105 capable of moving along the rails 104 in the internal space 101a of FIG. This work vehicle 105 is provided with a work platform 106 on which a plurality of workers 103 can move freely within a predetermined range. Each worker 103, while walking on the work scaffold 106, uses the inspection hammer 107 possessed by him / her to hit the wall 102a of the concrete wall 102 at the inspection location almost and evenly and frequently. Listen to each one of them.

[0003] On the wall surface 102a of the concrete wall 102,
Fine cracks 108, which are difficult to recognize with the naked eye, have formed on the surface, or the concrete wall 1
In the case where a cavity 109 or the like is present in the inside 102b of the 02, the tapping sound when such an abnormal portion 110 is hit with the inspection hammer 107 is used to inspect a normal portion where concrete is densely filled and hardened. It is different from the tapping sound when hit with the hammer 107. Each worker 103 recognizes a normal or abnormal condition of the wall surface 102a of the concrete wall 102 and the inside 102b thereof by recognizing a slight difference between the tapping sounds. Each worker 103
The work scaffold 106 of the stationary work vehicle 105
After the inspection of the range that can be inspected from is completed, each worker 103 is moved together with the working vehicle 105 to the next inspection place, and the same hammering inspection work as described above is performed. Thereafter, the same tapping inspection operation and moving operation as described above are repeated until the inspection of the entire inspection range is completed.

Also, concrete products such as ALC
As a nondestructive inspection method and a nondestructive inspection device capable of detecting the presence or absence of an internal defect of a product or the like with high accuracy, the invention disclosed in Japanese Patent Application Laid-Open No. 7-20097 has been proposed.

[0005] In the nondestructive inspection method for internal defects of a concrete product according to the present invention, the concrete product is tapped with a hammer, the sound pressure of the sound generated at that time is measured and converted into an electric signal. The present invention is characterized in that the presence or absence of an internal defect in a concrete product can be determined by detecting the difference between the sound pressure level and the peak value between a good product and a defective product. At the same time, as an inspection device for carrying out the method of the present invention, a conveyer for transporting a concrete product, a sensor for detecting the concrete product, and a hitting device for hammering the two longitudinal sides of the concrete product at equal intervals based on a signal from the sensor. And a hammer having a gentle and convex hitting surface provided in a hitting device, and a device for detecting a sound pressure of a tapping sound of a concrete product hammered by the hammer.

An invention disclosed in Japanese Patent No. 2954491 has been proposed as an outer wall diagnosis method and apparatus for automatically detecting the degree of deterioration of an outer wall of a building based on a change in hitting sound.

According to the outer wall diagnosis method of the present invention, a lifting mobile trolley suspended via a wire from a roof mobile trolley provided at the top of a building is lifted and lowered by a wall hitting means provided on the vertical mobile trolley. Diagnosis of the wall surface is performed by hitting the wall surface of the building, and the rotational balance of each winding pulley of the vertically movable carriage engaging with the wire is performed by a differential gear. At the same time, an outer wall diagnostic apparatus for carrying out the method of the present invention comprises a traversable roof movable truck provided at the top of a building, and an upper wall driving means suspended from the roof movable truck via an arm and a plurality of wires. A lifting and lowering carriage having a microphone, a winding pulley that is engaged with each of the wires provided on the rooftop carriage, and a differential gear mechanism connected to each of the winding pulleys to balance the rotation of each of the winding pulleys. It is characterized in that it is configured to obtain.

[0008]

SUMMARY OF THE INVENTION Railway tunnel 101
In order to inspect the hammering sound, almost all hammering sound inspection work must be completed within a limited short time from midnight to early morning, for example, so as not to hinder the railway operation schedule. Therefore, when a heavy and long structure such as the concrete wall 102 of the railway tunnel 101 is subjected to a complete hammering inspection by the above-mentioned skilled worker 103, it is necessary to perform the hammering inspection work in a short time. For example, it is possible to simply increase the number of workers 103. However, there is a limit to the number of workers 103 who can ride on one work vehicle 105. At the same time, in a state where a plurality of workers 103 are placed on the work vehicle 105, the moving speed of the work vehicle 105 when moving to the inspection place is gradually reduced in order to secure the safety of the workers 103. The degree is preferred.

[0009] In order to increase the working speed, for example, a plurality of working mobile vehicles 10 are placed in one railway tunnel 101.
5 may be arranged. However, even in this case, compared to the slowness of the inspection speed of the hammering inspection by the manual labor of the worker 103 and the slowness of the moving speed of each working vehicle 105 which is only slowing down. 10
The effect of improving the work efficiency by increasing the number of persons 3 and the number of work vehicles 105 cannot be expected much. In some cases, by increasing the number of workers 103 and the number of mobile vehicles 105 for work, the inside of the railway tunnel 101 becomes congested, and it becomes impossible to smoothly move the inspection place. Will drop. Further, there is a possibility that the safety of the worker 103 who must perform the hammering inspection work manually in the overcrowded railway tunnel 101 cannot be ensured.

Also, the work scaffold 106 is assembled to a height near the highest inspection place so that the worker 103 can manually perform a hammering inspection at the highest inspection place of the railway tunnel 101. ing. This allows
There is a possibility that the worker 103 may slide down his foot from the work scaffold 106 at a high position during the hitting sound inspection and fall.

That is, even if the number of workers 103 and the number of work vehicles 105 are increased, the work efficiency and safety are expected to be almost improved, although the labor cost and equipment cost required for the inspection work are increased. There is no.

Further, the hitting sound inspection operation using the inspection hammer 107 described above is a very special operation in which each worker 103 has to directly discriminate the slight difference of each tapping sound by his / her own ear. Requires skill. In addition, since the absolute number of skilled workers 103 is small, it is difficult to stably secure the number of skilled workers 103 for hitting sound inspection.

Further, the invention disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 7-20097 discloses a method in which the object to be inspected is conveyed by a conveyor with a length of 1200 mm to 6000 mm and a width of 300 mm to 6 mm.
Since it is limited to a concrete product having a size of about 00 mm and a thickness of about 75 mm to 150 mm, it is almost impossible to inspect the internal state of a heavy and long structure such as the above-mentioned railway tunnel 101.

Further, the invention disclosed in the above-mentioned Japanese Patent No. 2954491 is not limited to the object to be diagnosed being limited to the outer wall of a building formed of a plane having almost no unevenness. In the method and the device, while moving vertically moving a lifting and lowering carriage suspended by a wire from a rooftop carriage disposed on the roof of the building, each outer wall surface of the building is moved from one end in the width direction thereof. Since the diagnosis is performed sequentially up to the other end, it is almost impossible to diagnose the internal state of a structure formed of a curved surface as in the above-described railway tunnel 101.

Therefore, a first problem to be solved by the present invention is to efficiently perform a hammering test on a structure, and
An object of the present invention is to provide a structure sounding inspection device that can be safely inspected.

A second object of the present invention is to provide a tunnel hitting sound inspection apparatus capable of smoothly, efficiently and safely inspecting a hitting sound on a tunnel wall.

[0017]

In order to solve the above-mentioned first problem, a structure hitting sound inspection apparatus according to the present invention comprises a tapper for hitting an inspection surface of a structure and a tapping sound detection for detecting a tapping sound. Inspection head having a sensor for use, a head moving means formed to support the inspection head so as to be capable of tilting and turning, moving the inspection head while pressing the inspection head against the inspection surface, and a self-propelled vehicle equipped with the head moving means And a vehicle.

In practicing the present invention, the head moving means is provided on a moving means supporting pedestal mounted on the self-propelled vehicle so as to be able to turn, and is provided on the turning table so as to be capable of falling. It is preferable that the tilting arm include a tilting arm and a head supporting portion that supports the inspection head at a tip end of the tilting arm so that the attitude of the inspection head can be controlled.

In practicing the present invention, a head attitude control cylinder provided between the inspection head and the head support, and an arm tilt cylinder provided between the swivel base and the tilt arm. And
It is good to be a structure which is each an air cylinder.

Further, in practicing the present invention, it is preferable that the inspection head is configured to be capable of changing its attitude so as to avoid a projection projecting from the inspection surface under the control of the head attitude control cylinder.

In practicing the present invention, a head attitude detecting sensor attached to a head support shaft connecting the inspection head and the head support to recognize the attitude of the inspection head with respect to the head support. An up / down angle detection sensor attached to an up / down axis connecting the up / down arm and the swivel base to detect an up / down angle of the up / down arm with respect to the swivel base; A turning angle detection sensor that is attached to a turning shaft connecting the moving means support gantry and detects a turning angle of the turning table with respect to the moving means support gantry; A vehicle position detecting sensor for detecting a traveling position of the self-propelled vehicle; and a vehicle moving distance detecting device mounted on the axle for detecting a moving distance of the self-propelled vehicle. It may be configured to and a capacitor.

Further, in practicing the present invention, it is preferable that the inspection head is provided with a plurality of rotatable rotating members which are in contact with the inspection surface.

In practicing the present invention, it is preferable that the inspection head includes a plurality of sets of the tapper and the tapping sound detecting sensor forming a pair with the tapper.

Further, in carrying out the present invention, the tapper and the tapping sound detecting sensor are each one and are integrally connected. May be provided so as to be able to reciprocate along the longitudinal direction.

In order to solve the second problem,
A hitting sound inspection device for a tunnel according to the present invention has a hitter for hitting an inspection surface of a tunnel and a hitting sound detection sensor for detecting a hitting sound, and a tilting and turning support that supports the checking head. A head moving means formed and moving the inspection head while pressing the inspection head against the inspection surface;
And a self-propelled vehicle equipped with the head moving means.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A structure sounding inspection apparatus according to a first embodiment of the present invention shown in FIGS. 1 to 3 will be described below.
Particularly, the present invention is a tunnel hitting sound inspection device 1 capable of performing a hitting sound inspection of a railway tunnel 3.

In the following description with reference to FIGS. 1 and 2, the front, rear, left, right, up and down directions of the track-and-land vehicle 7 and the front, rear, left and right and up and down directions of the railway tunnel 3 and the tunnel hitting sound inspection device 1 of this embodiment will be described. The direction is the same.

As shown in FIGS. 1 and 2, the hitting sound inspection device 1 for a tunnel has an inspection head 5 for hitting the sound by hitting an inspection surface 4 of a railway tunnel 3, and supports the inspection head 5. The head moving means 6 is formed so as to be able to move up and down, and is capable of moving while moving the test head 5 against the test surface 4, and a self-propelled vehicle 7 on which the head move means 6 is mounted. .

As the self-propelled vehicle 7, a track-and-land vehicle 7 that can run on a road (not shown) and run on a rail 8 laid in the railway tunnel 3 is used.

This track-and-land vehicle 7 has two road running front wheels 9a (only one right-hand side is shown in FIG. 1) and two road running rear wheels 9b (also the right-hand side one in FIG. 1). (Only one is shown). The two road traveling rear wheels 9b are both connected and supported by one road traveling rear wheel drive shaft 10 as an axle. The track-and-land vehicle 7 is a rear-wheel drive vehicle in which two road-driving rear wheels 9b are driven to rotate by an engine and a driving force transmission device (not shown), and these road-driving rear wheels 9b are driven to rotate. Can move forward or backward.

The track-and-land vehicle 7 includes four rail traveling front wheels (not shown) and two rail traveling rear wheels 11 (only the right one is shown in FIG. 1). Has wheels. The two rail running front wheels are connected and supported by a single rail running front wheel support shaft (not shown) as an axle. At the same time, the two rail traveling rear wheels 11 are both connected and supported by one rail traveling rear wheel drive shaft 12 as an axle. In this track-and-land vehicle 7, even when traveling on the rail 8, the two rail traveling rear wheels 11 are rotationally driven by the engine and the driving force transmission device. By rotating these rear wheels 11 for rail traveling, the track-and-land vehicle 7 moves forward on the rails 8,
Or you can go backwards. In this case, when the wheels for traveling on the rails are mounted on the rails 8, the wheels 9 for traveling on the road, which are located outside the rail traveling wheels in the axial direction of the vehicle, are separated from the rails 8 and the rail tunnels 3. It is arranged so that it rises from the ground, and does not hinder the rail running. Further, the engine and the driving force transmission device are connected to a control unit (not shown).

The driver can operate the driving force transmission device switching device from the driver's seat to select and switch the transmission destination of the engine driving force at any time. The driving force of the engine can be transmitted to one of the rear wheel drive shaft 10 for driving and the rear wheel drive shaft 12 for rail traveling.

As shown in FIG. 1, the track / land vehicle 7 includes a vehicle position detecting sensor 13 for accurately detecting the running position of the track / land vehicle 7 with respect to the railroad tunnel 3 to be inspected, and the track / land vehicle 7. A moving distance detection sensor 14 for accurately detecting the moving distance of the camera is mounted.

The vehicle position detecting sensor 13 includes an encoder 13a connected to each of the axle for traveling on the road and the axle for traveling on the rails of the rail vehicle 7, and mounted on the rail vehicle 7. And a vehicle position identification device 13b. The encoder 13a and the vehicle position identification device 13b are connected to a control unit.

The encoder 13a is connected to the road running rear wheel drive shaft 10 as a road running axle and the rail running rear wheel drive shaft 12 as a rail running axle, respectively. As the vehicle travels on a road including a vehicle tunnel (not shown) or a vehicle bridge (not shown), the rotation angle, rotation speed, angular velocity, and the like of the road driving rear wheel drive shaft 10 are detected. Similarly, the encoder 13a used when the track-and-land vehicle 7 travels on the rail 8 detects the rotation angle, the number of revolutions, each speed, and the like of the rear wheel drive shaft 12 for rail travel, and inspects the track-and-land vehicle 7. The position from the starting point can be accurately detected.

The vehicle position identification device 13b has a sensor unit (not shown) of a marker (not shown) for vehicle position detection (not shown) provided at a predetermined interval in the railway tunnel 3 in advance. It is arranged and mounted at a predetermined position on the rail vehicle 7 so that a marker position detection signal can be detected. It is assumed that the sensor unit of the vehicle position identification device 13b can detect a marker position detection signal of the vehicle position detection marker using, for example, infrared rays or a laser beam. Thereby, when the track-and-land vehicle 7 passes through the railway tunnel 3, the vehicle position identification device 13
Thus, the relative position of the rail vehicle 7 from the departure point can be accurately detected.

By using the vehicle position detection sensor 13 composed of the encoder 13a and the vehicle position identification device 13b described above, the relative position of the rail vehicle 7 with respect to the railway tunnel 3 can be grasped more accurately. .

Similarly to the encoder 13a, the traveling distance detecting sensor 14 includes a road traveling rear wheel drive shaft 10 as a road traveling axle and a rail traveling rear wheel as a rail traveling axle. Each is connected to the drive shaft 12. Further, the moving distance detecting sensor 14
Is connected to the control unit. When the track-and-land vehicle 7 travels on a road, the moving distance detection sensor 14 detects the rotation angle, the number of revolutions, the angular velocity, and the like of the road-driving rear wheel drive shaft 10 and sets a predetermined track-and-land vehicle. The moving distance (running distance) along the running direction from the starting point 7 can be accurately detected and measured. When the track-and-land vehicle 7 travels on the rail 8, the travel distance detection sensor 14 detects the rotation angle, the number of revolutions, the respective speeds, and the like of the rail traveling rear wheel drive shaft 12, and is set in advance. The moving distance along the running direction from the starting point of the tracked land vehicle 7 can be accurately detected and measured. In the hitting sound inspection device 1 for a tunnel, an encoder,
Alternatively, it is preferable to use a highly accurate angle detector such as a potentiometer. The angle detector used in the moving distance detection sensor 14 is set so that the traveling distance of the rail vehicle 7 can be detected and measured more accurately than the odometer (not shown) of the rail vehicle 7. It is assumed that Thus, the railway tunnel 3
, The distance traveled along the traveling direction from the departure point of the rail vehicle 7 can be detected and measured more accurately.

As described above, the track-and-land vehicle 7 including the vehicle position detecting sensor 13 and the moving distance detecting sensor 14 can more accurately grasp the relative position with respect to the railway tunnel 3 and the moving distance. Therefore, the hitting sound inspection device 1 for a tunnel having the track-and-land vehicle 7 has:
When an abnormal location is found on the inspection surface 4 of the railway tunnel 3 or inside thereof by a hammering inspection operation described later, the location of the abnormal location can be grasped more accurately. Therefore, by using the hammering inspection device 1 for a tunnel, a bit map (not shown) that records the inspection surface 4 or the internal state of the railway tunnel 3 to be inspected can be created with higher accuracy. At the same time, once this high-precision bitmap is created, the railway tunnel 3
Repair work or maintenance / inspection work can be performed more efficiently.

Also, the hitting sound inspection device 1 for a tunnel is shown in FIG.
As shown in the figure, a GPS receiver 47 equipped with a gyro device for self-sustained navigation (not shown)
It is preferable to adopt a configuration in which is attached. This allows
The relative position of the rail vehicle 7 with respect to the railway tunnel 3,
And the moving distance can be grasped more accurately. At the same time, the above-described bitmap can be created with higher accuracy. The GPS receiver 47 can obtain various kinds of information in the vicinity of the work site in real time from the Internet or a dedicated wireless LAN such as an intranet owned by a business owner who conducts a sound inspection work on the railway tunnel 3. It is preferable to construct as a system that can.
As a result, for example, weather information such as a typhoon near the work site or earthquake information can be known in real time by a worker at the site (not shown), so that it is possible to easily assure the safety of the worker and make a sound inspection. Work can be done.

The hitting sound inspection device 1 for a tunnel is shown in FIG.
As shown in FIG. 7, a receiver 48 for enabling the track-and-land vehicle 7 to remotely control various operations of the tunnel hitting sound inspection apparatus 1 by wireless communication via a control unit, including the wireless control of the track-and-land vehicle 7. It is preferable to adopt a configuration in which is attached. At the same time, a CCD camera (not shown) that can be remotely operated by wireless communication via a control unit, or an infrared camera (not shown) is provided in the tunnel hammer inspection apparatus 1 at a plurality of predetermined locations where the various operations can be easily understood. It is preferable to install monitoring means such as a camera and connect these CCD cameras or infrared cameras to a monitor (not shown). Thus, when performing a hammering test on a railway tunnel 3 or the like where there is a risk of falling, for example, an on-site worker is made to stand by outside the railway tunnel 3, and only the hammering inspection device 1 is used for a railway. Put inside tunnel 3. In this state, a worker or the like waiting outside the railway tunnel 3 observes an image inside the railway tunnel 3 sent from a CCD camera or an infrared camera on a monitor or the like, and performs remote control. By remote control by wireless communication using the receiver 48, it is possible to easily and smoothly perform a hammering inspection work on the railway tunnel 3.
Therefore, it is possible to easily secure the safety of the worker during the hammering inspection work without substantially hindering the working efficiency of the hammering inspection using the hammering inspection apparatus 1 for tunnels.

Further, in order to enhance the stability during the hitting sound inspection operation, the hitting sound inspection device 1 for tunnels has a plurality of jacks (not shown) which can be protruded and retracted by a hydraulic cylinder (not shown) at the lower part of the rail vehicle 7. It is preferable to provide the structure provided. For example, a total of four jacks are provided, one in front of each of the two road running front wheels 9a of the rail vehicle 7 and one behind each of the two road running rear wheels 9b. When the track-and-land vehicle 7 is moved, a worker at the site operates the operation unit to store all four jacks in the vehicle via the control unit so as to be separated from the ground or the like. In addition, when the track-and-land vehicle 7 is moved to the vicinity of the inspection place to perform a hammering inspection, a worker at the site operates the operation unit, and all four jacks are connected to the ground via the control unit. It is projected from inside the vehicle to ensure the ground. This makes it possible to increase the stability of the tunnel hitting sound inspection device 1 during operation without substantially hindering the movement performance of the track-and-land vehicle 7. Therefore,
The worker's safety during the hammering inspection work can be easily ensured without substantially hindering the working efficiency of the hammering inspection using the hammering inspection apparatus 1 for tunnels.

Head moving device 6 as head moving means
As shown in FIG. 1 and FIG.
5 is mounted. The head moving means 6 is provided with a swivel 17 which is rotatably provided on a moving device supporting gantry 16 serving as a moving means supporting gantry mounted on a carrier 15 of the rail vehicle 7, A tilting arm 18 is provided so as to be tiltable on the head, and a head support 19 for supporting the inspection head 5 at the tip end 18a of the tilting arm 18 so as to control the posture.

As shown in FIGS. 1 and 2, the swivel base 17 is swiveled within a predetermined range via a swivel shaft 20 on a moving device support base 16 mounted on a carrier 15 of the rail vehicle 7. Mounted as possible. The swivel base 17 is connected, for example, to an electric motor or a hydraulic motor as a swivel driving force source (not shown) installed inside the moving device support base 16 via a swivel driving force transmission device (not shown). . These electric motors or hydraulic motors and the turning driving force transmission device are connected to an operation unit via a control unit. The operator operates the operation unit to transmit the driving force of the turning drive power source to the swivel table 17 via the control unit and the turning drive force transmission device,
The turntable 17 is driven to turn at a predetermined turning speed. The turning drive force source can be set by changing the magnitude of the driving force delicately via the operation unit and the control unit so that the turntable 17 can be turned by a small angle.
Similarly, the turning driving force transmission device also increases the driving force transmission efficiency for transmitting the driving force of the turning driving force source to the turning table 17 so that the turning table 17 can be turned by a small angle.
It can be finely controlled and set via the operation unit and the control unit. The turning direction of the turntable 17 is indicated by an arrow A in FIG.
The direction is set to a direction orthogonal to the traveling direction of the track-land vehicle 7, that is, a direction orthogonal to the longitudinal direction of the railway tunnel 3. Thereby, the swivel 17 is
The below-mentioned lifting arm 18 attached to this is
With the rotation axis 20 as the center of rotation, it is possible to turn within a predetermined range from both the left and right sides of the moving device supporting gantry 16 and upwards from a height substantially equal to that of the moving device supporting gantry 16 within a predetermined range.

The turning shaft 20 is connected to a turning angle detector 21 serving as a turning angle detecting sensor for detecting the turning angle of the turning table 17 with respect to the moving device support base 16.
The turning angle detector 21 is connected to a control unit. In the hit sound inspecting apparatus 1 for a tunnel, it is preferable that a high-precision angle detector such as an encoder or a potentiometer is used as the turning angle detector 21. Thereby, for example, first, the swivel base 17 is brought up and down in the vertical plane with the elevating arm 18 mounted thereon, that is, the swivel base 17 is erected with respect to the moving device support base 16. (In the following description, this state is referred to as the initial state of the swivel 17). At the same time, the turning angle of the turning table 17 with respect to the moving device support base 16 in this initial state is initially set to 0 °. Then, thereafter, it is possible to accurately and easily know how many times the swivel base 17 has been swiveled left and right with respect to the moving device support base 16 as the center of rotation and the center of symmetry. That is, during the hammering inspection work, the falling arm 1
8, it is possible to accurately and easily know how many times the inspection head 5, which will be described later, is turned left and right from within the vertical plane.

Therefore, by using the turning angle detector 21 and the above-described turning driving force source and turning driving force transmission device, the turning angle of the inspection head 5 can be set with a small angle with high accuracy via the control unit. it can. Further, when it is desired to conduct a thorough sound inspection at an inspection place in a specific range of the railway tunnel 3, the turning angle of the inspection head 5 is set so as to completely cover the inspection range, and the turning angle of the set turning angle is set. Within the range, the inspection head 5 can be accurately reciprocated by the control unit.

It should be noted that, in order to turn the turntable 17, a driving force of an engine of the rail vehicle 7 may be used as a turning driving force source instead of the electric motor or the hydraulic motor described above. I do not care. Thereby, a stronger driving force can be obtained, and the driving force is transmitted to the swivel base 17 via the above-described swivel driving force transmitting device so that the swivel base 17 can be swiveled by a small angle. it can. Therefore, even when the weight of the raising / lowering arm 18 and the inspection head 5 mounted on the swivel base 17 is increased, the swivel base 17 can be swung with high accuracy in a stable state.

As shown in FIGS. 1 and 2, the raising / lowering arm 18 is attached to a raising / lowering arm support 24 provided on the swivel base 17 via a raising / lowering shaft 22 so as to be capable of raising / lowering. As shown in FIG. 2, the length of the raising / lowering arm 18 is formed in advance to a size that allows the inspection head 5 to be pressed against the inspection surface 4 of the railway tunnel 3 to be subjected to hammering inspection. The raising / lowering arm 18 is raised / lowered by a worker operating an operation unit to operate an arm raising / lowering cylinder (also referred to as an up / down cylinder) 25. An air cylinder is used as the arm raising / lowering cylinder 25, and is referred to as an arm raising / lowering air cylinder 25 in the following description. The raising / lowering arm 18 can perform a sounding test on the inspection surface 4 of the railway tunnel 3 having various sizes and shapes and having undulations such as undulations and irregularities in an appropriate state. The posture of the inspection head 5 with respect to the inspection surface 4 can be arranged and maintained in a predetermined state. That is, the raising / lowering arm 18 can be pressed so that the inspection head 5 can elastically (softly) come into contact with the inspection surface 4 and move the inspection head 5 smoothly while following the undulation of the inspection surface 4. Can be. For this purpose, the air cylinder 25 for raising and lowering the arm is used for the inspection when the inspection head 5 comes into contact with the inspection surface 4, the vibration when the inspection head 5 scans on the inspection surface 4, or the inspection during the tapping inspection operation. It also has a function as an air spring having sufficient elasticity to attenuate and absorb vibrations and the like accompanying the operation of the head 5.

The arm raising / lowering air cylinder 25 projects from one end of the arm raising / lowering cylinder body 25a to one end of the arm raising / lowering cylinder body 25a, or extends from one end of the arm raising / lowering cylinder body 25a to the inside thereof. And a piston rod 25b for raising and lowering the arm. Also, the air cylinder 25 for raising and lowering the arm
Are connected to a compressor and a pressure regulating valve (not shown). These compressor and pressure regulating valve are connected to an operation unit via a control unit. The operator operates the operating unit to operate the compressor and the pressure regulating valve via the control unit, thereby causing the arm rod piston 25b to project from the arm cylinder cylinder 25a to the outside thereof. Alternatively, the arm raising / lowering piston rod 25b can be inserted into the arm raising / lowering cylinder body 25a from outside.

The arm raising / lowering air cylinder 25 has an end on the side opposite to the side where the arm raising / lowering piston rod 25b of the arm raising / lowering cylinder body 25a protrudes and retracts behind the raising / lowering arm 18. It is rotatably attached to the raising / lowering arm support base 24 via an arm raising / lowering cylinder body mounting shaft 26. The arm raising / lowering cylinder body mounting shaft 26 is mounted on the raising / lowering arm support base 24 so as to be located behind and below the above-mentioned raising / lowering shaft 22. At the same time, the arm raising / lowering air cylinder 25 is
The end opposite to the side accommodated in the arm raising / lowering cylinder body 25a is connected to the rear end of one side of the raising / lowering arm 18 via an arm raising / lowering piston rod mounting shaft 28 in the longitudinal direction. It is rotatably attached to an arm raising / lowering piston rod attaching section 27 provided in the section.

The turning direction of the raising / lowering arm 18 is as follows.
As shown by an arrow B in FIG. 1, a direction perpendicular to the turning direction A of the turntable 17, that is, a traveling direction of the track-and-land vehicle 7 and a longitudinal direction of the railway tunnel 3, and a height of the railway tunnel 3. Direction is set. As a result, the raising / lowering arm 18 moves from the back of the swivel base 17 to the front with the raising / lowering axis 22 as the center of the upward movement, and from above the same height as the swivel base 17 to the upper side. The arm can be raised and lowered within a predetermined range according to the length of the piston rod 25b for raising and lowering the arm that protrudes from the cylinder body 25a.

The raising / lowering arm 18 is housed in the arm raising / lowering cylinder body 25a of the arm raising / lowering air cylinder 25 until the arm raising / lowering piston rod 25b is stopped from entering. From the angle of the state in which the cylinder length of the raising / lowering air cylinder 25 is the shortest, from within the arm raising / lowering cylinder body 25a,
The arm raising / lowering piston rod 25b can be raised and lowered to an angle in the extended state (in other words, the state where the cylinder length of the arm raising / lowering air cylinder 25 is the longest). Of course, while the raising / lowering arm 18 is raised and lowered to the angle at which the cylinder length of the arm raising / lowering air cylinder 25 is the longest, the inspection head 5 provided on the tip side of the arm is moved to the concrete position of the railway tunnel 3. Wall 2
When abutting, to maintain the abutting state,
The tilting angle is held by the arm tilting air cylinder 25.

The tilting shaft 22 has a tilting angle detector 2 as a tilting angle detecting sensor for detecting the tilting angle of the tilting arm 18 with respect to the swivel 17 and the tilting arm support 24.
3 are connected. The tilt angle detector 23 is connected to the control unit. In the hitting sound inspection device 1 for a tunnel, it is preferable that a highly accurate angle detector such as an encoder or a potentiometer is used as the tilt angle detector 23. Thus, for example, first, the arm raising / lowering air cylinder 25 is stored in the arm raising / lowering cylinder body 25a until the arm raising / lowering piston rod 25b is stopped from being retracted, ie, the arm raising / lowering The air cylinder 25 is set to a state in which the cylinder length is the shortest (this state is referred to as an initial state of the raising / lowering arm 18 in the following description). At the same time, the falling arm 1 in this initial state
8 is measured in advance from the horizontal direction, and this angle is initialized as an initial angle. Then, after that, the turning arm 1 and the turning arm support stand 24
It is possible to accurately and easily know how many times the upper and lower parts 8 have been moved up and down and back and forth. That is, during the hitting sound inspection operation, it is possible to accurately and easily know how many times the raising / lowering arm 18 and, consequently, the inspection head 5 are moved up and down from the horizontal direction and up and down and back and forth. Therefore, by using the tilting angle detector 23, the tilting angle of the inspection head 5 can be accurately measured by a small angle, and the height position of the inspection head 5 from the ground or the like can be accurately measured.

Incidentally, in order to raise and lower the arm 18, a hydraulic cylinder may be used as the arm raising / lowering cylinder 25 instead of the air cylinder described above. Thereby, even when the weight of the inspection head 5 attached to the raising / lowering arm 18 is increased, the raising / lowering arm 18 can be smoothly and vertically lowered in a stable state. Further, the raising / lowering arm 18 of the present embodiment includes:
In accordance with the size of the internal space of the railway tunnel 3 to be inspected, it is formed in advance into a non-stretchable shape and structure having a predetermined length, but may be formed into a stretchable shape and structure. The raising / lowering arm 18 is not limited to the railway tunnel 3 but has various sizes by making the telescopic arm 18 a stretchable multi-stage structure composed of a plurality of ladders, such as a ladder part of a fire ladder truck. The object 3 can be tested for hammering. That is, by making the raising / lowering arm 18 a multistage structure that can be extended and contracted, the range of the testable object (usable range) can be expanded.

As shown in FIGS. 1 and 2, the head support 19 is rotatably attached to the tip 18 a of the raising / lowering arm 18 via a support support shaft 29. The head support 19 is formed in an L-shape in which the vicinity of one end in the longitudinal direction is bent at a right angle in a side view. The head support portion 19 is rotatably supported by the distal end portion 18a of the raising / lowering arm 18 by passing the support portion support shaft 29 through the bent portion 19b in a direction perpendicular to the bending direction. . In addition, when the posture of the swivel table 17 is in the above-described initial state, the above-described tilting arm 1
Regardless of the tilting angle of 8, the head support portion 19 is held in such a posture that the direction toward the head mounting side end portion 19a, which is the end portion far from the bent portion 19b, is vertically upward. The tip 18 of the arm 18
a is rotatably supported. At the same time, the head support portion 19 is held in its posture such that the direction toward the link member attachment side end portion 31 which is the end portion near the bent portion 19b is directed forward in the horizontal direction, and the tilting arm 18 is held. Is rotatably supported by the distal end portion 18a.

More specifically, the head support 19 is connected to the tip 18 a of the tilting arm 18 via the support shaft 29.
And is rotatably attached to the raising / lowering arm support base 24 via the parallel link member 30. The parallel link member 30 has a link member head side end portion 30a, which is one end portion in the longitudinal direction, rotatably attached to a link member mounting side end portion 31 of the head support portion 19 via a link member head side support shaft 32. Have been. At the same time, the parallel link member 30 has a link member swivel side end 30b which is the other end in the longitudinal direction.
Are rotatably attached to the raising / lowering arm support base 24 via the link member turning base side support shaft 33. The parallel link member 30 is formed in an elongated flat plate shape, and has a length along the longitudinal direction substantially equal to a length along the longitudinal direction of the tilting arm 18. At the same time, the distance between the link member head-side support shaft 32 that supports the parallel link member 30 and the link member swivel table-side support shaft 33 is set to the value of the tilting shaft 2 attached to the tilting arm 18.
The size is set to be approximately equal to the distance between the support shaft 2 and the support shaft 29.

Further, for example, when the posture of the swivel base 17 is in the initial state, the link member swivel base side support shaft 33 is raised and lowered so as to always be located forward and upward with respect to the tilt shaft 22. It is rotatably attached to the arm support 24. Similarly, when the posture of the turntable 17 is in the initial state, the link member head side support shaft 32 is
The head support 19 is attached to the link member attachment-side end 31 of the head support 19 so as to always be located forward and upward with respect to. Further, irrespective of the turning angle of the turning table 17 and the turning angle of the turning arm 18, the direction connecting the turning shaft 22 and the link member turning table side support shaft 33 is the same as the support section support shaft 2.
9 is set to be always parallel to the direction connecting the link member head-side support shaft 32. in this way,
Regardless of the turning angle of the turning table 17 and the turning angle of the turning arm 18, the turning shaft 22, the link member turning table side support shaft 3
3. The link member head-side support shaft 32 and the support portion support shaft 29 are attached with their relative positions determined in advance so as to always form a parallelogram having a constant shape. . That is, regardless of the turning angle of the swivel table 17 and the tilting angle of the tilting arm 18, the parallel link member 30 is arranged so that its longitudinal direction is along the longitudinal direction of the tilting arm 18, and The link member mounting side end portion 31 is held in a position relative to the tilting arm 18 so that the link member mounting position is always parallel to the link member.
And it is rotatably attached to the raising / lowering arm support stand 24.

According to the attachment state of the parallel link member 30 to the tilting arm 18 described above, for example, when the posture of the swivel table 17 is in the initial state, the tilting arm 1
Regardless of the tilting angle of the head 8, the head support portion 19 is held in its posture such that the direction from the bent portion 19 b toward the head mounting side end portion 19 a is vertically upward, and the tip of the tilting arm 18 is held. It is rotatably supported by the part 18a. Similarly, when the posture of the swivel table 17 is in the initial state, the head support portion 19 moves in the direction from the bent portion 19b toward the link member mounting side end portion 31 regardless of the tilting angle of the tilting arm 18. Is held in its posture so as to face forward in the horizontal direction, and is rotatably supported by the distal end portion 18 a of the raising / lowering arm 18.

The parallel link member 30 of this embodiment is
Is formed in advance in a non-stretchable shape and structure having a predetermined length according to the size of the internal space of the railway tunnel 3 to be inspected, similarly to the above-described tilting arm 18. It may be formed in any shape and structure.
The raising / lowering arm 18 has a multi-stage structure that can be extended and retracted and includes a plurality of ladders, for example, like the ladder portion of a fire ladder truck described above, and is parallel to the raising / lowering arm 18 having such a structure. By forming the link member 30 into a multistage structure that can be expanded and contracted, structures 3 of various sizes can be formed.
Can be held in the above-mentioned fixed posture also when performing a hammering test.

The swivel 17 and the tilting arm 1 described above are used.
According to the head moving device 6 including the head support portion 19, the turning angle detector 21, the tilt angle detector 23, and the like, the relative position of the inspection head 5 with respect to the moving device support base 16 can be accurately determined. And it can be easily grasped. At the same time, according to the head moving device 6, the track-land vehicle 7
In the direction perpendicular to the traveling direction of the vehicle, that is, in the left-right direction, the inspection head 5 can be accurately turned at every minute angle, so that the inspection surface 4 of the railway tunnel 3 is hit in an appropriate state. So that we can do the inspection
The posture of the inspection head 5 with respect to the inspection surface 4 can be arranged in an appropriate state. Therefore, the hitting sound inspection device 1 for tunnels having the head moving device 6 can perform an accurate sounding inspection of the inspection surface 4 of the railway tunnel 3 or the inside thereof in an appropriate state. At the same time, the hitting sound inspection device 1 for a tunnel having the head moving device 6 performs a hitting sound inspection operation as long as a head attitude control cylinder 36 described later is held in a constant state. Since the posture of the inspection head 5 can be held constant, the hitting sound inspection operation can be performed stably.

When the track-and-vehicle vehicle 7 is driven during non-inspection such as when moving to an inspection place, or when avoiding a large-sized tunnel obstacle 46 in a later-described work to avoid the tunnel obstacle 46, the arm is used. Air cylinder for lifting 2
The test head 5 is largely separated from the concrete wall surface 2 of the railway tunnel 3 by contracting the 5 and tilting the raising / lowering arm 18. Thus, the possibility of applying an excessive impact to the inspection head 5 can be avoided, so that the function of the inspection head 5 is maintained in a normal state, and the life of the inspection head 5 and, consequently, the life of the tunnel sounding inspection device 1 are extended. be able to.

The head moving device 6 can be operated not only by a worker on the site around the hammering inspection device 1 for a tunnel but also by manipulating the operation section directly by hand. Similarly, remote control can be performed by wireless communication using a remote control receiver 48 and monitoring means such as a CCD camera or an infrared camera.

As shown in FIGS. 1 and 2, the inspection head 5 is mounted on the tip end 19a of the head support 19 via a head support shaft 34 so as to be controllable in attitude. The inspection head 5 is rotated by an operator operating an operation unit to operate a head attitude control cylinder 36. An air cylinder is used as the head attitude control cylinder 36, and is referred to as a head attitude control air cylinder 36 in the following description. Inspection head 5
According to the head moving device 6, the inspection surface 4 of the railway tunnel 3 having various sizes and shapes and having undulations such as undulations and irregularities can be subjected to hammering inspection in an appropriate state. As described above, the posture with respect to the inspection surface 4 is arranged and held in a predetermined state. That is, the inspection head 5 is pressed by the head moving device 6 so as to be able to elastically (softly) contact the inspection surface 4, and is smoothly moved while following the undulation of the inspection surface 4.
For this reason, the air cylinder 36 for controlling the head attitude, similarly to the air cylinder 25 for raising and lowering the arm described above, receives an impact when the inspection head 5 contacts the inspection surface 4 and scans the inspection head 5 over the inspection surface 4. The air spring also has a function as an air spring having sufficient elasticity to attenuate and absorb the vibration at the time of the operation or the vibration accompanying the operation of the inspection head 5 during the hitting inspection operation.

During the hammering sound inspection operation using the hammering sound inspection apparatus 1 for the tunnel, an on-site worker or the like operates the operating section to operate the arm moving air cylinder 25 and the By appropriately combining the expansion / contraction operations (expansion / retraction operations) of the head attitude control air cylinder 36, the inspection head 5 moves smoothly while following the inspection surface 4 of the railway tunnel 3 having undulations. In addition, it is possible to perform a tapping test in an appropriate state. Accordingly, the hammering inspection device 1 for a tunnel can perform the hammering inspection in an extremely stable state, so that an abnormal location of the railway tunnel 3 can be found with extremely high accuracy and its position can be grasped. A highly accurate bitmap can be created.

The head attitude control air cylinder 36 is provided with a head attitude control cylinder body 36a and a head attitude control cylinder body 36a which protrudes from one end of the cylinder body 36a to the outside of the head attitude control cylinder body 36a.
And a piston rod 36b for controlling the head attitude which is immersed in the inside from one end of the head. The head attitude control air cylinder 36 is connected to a compressor, a pressure adjusting valve, and the like, similarly to the arm raising / lowering air cylinder 25 described above. These compressor and pressure regulating valve are connected to an operation unit via a control unit. The operator operates the operation unit, and operates the compressor and the pressure adjustment valve via the control unit.
The head attitude control piston rod 36b is projected from the head attitude control cylinder body 36a to the outside thereof, or the head attitude control piston rod 36b is inserted into the head attitude control cylinder body 36a from the outside.
Can be immersed.

The head attitude control air cylinder 36 is attached to a head attitude control cylinder body (not shown) at the end opposite to the side where the head attitude control piston rod 36b of the head attitude control cylinder body 36a protrudes and retracts. Via a shaft, it is rotatably attached to the right side of the head support 19, which is on the right side as viewed from the front in the traveling direction of the track-and-land vehicle 7. That is, the head attitude control cylinder body 36a is rotatably attached at one end to a head attitude control cylinder body attachment part 37 provided at a longitudinally intermediate portion of the head support part 19. At the same time, the head attitude control air cylinder 36
Is connected to the end of the head attitude control piston rod 36b opposite to the side housed in the head attitude control cylinder body 36a via a head attitude control piston rod mounting shaft (not shown). The test head 5 is rotatably attached to one end surface of the test head 5 on the side of the raising arm 18 which is on the right side of the head support shaft 34 in the traveling direction of the head. That is, one end of the head attitude control piston rod 36b is rotatably attached to the head attitude control piston rod attachment part 38 provided near the one end in the longitudinal direction of the inspection head 5.

The direction of rotation of the inspection head 5 is, as shown by the arrow C in FIG.
, That is, a direction orthogonal to the traveling direction of the track-and-land vehicle 7 and the longitudinal direction of the railway tunnel 3. As a result, the inspection head 5 is moved to the head support shaft 34.
With the rotation center as the rotation center, the head attitude control cylinder body 3
6a Piston rod 3 for head attitude control protruding and retracting from inside
It can rotate within a predetermined range according to the length of 6b.

The inspection head 5 is moved from the angle in which the head attitude control piston rod 36b is housed in the head attitude control cylinder body 36a of the head attitude control air cylinder 36 until the head attitude control piston rod 36b is stopped from entering. The head attitude control piston rod 36b can be rotated from the inside of the control cylinder body 36a to the protruding angle until the protrusion is stopped. That is, the inspection head 5 rotates from the angle at which the cylinder length of the head attitude control air cylinder 36 is the shortest to the angle at which the cylinder length of the head attitude control air cylinder 36 is the longest. it can. Of course, the inspection head 5
During the rotation of the head attitude control air cylinder 36 to the angle at which the cylinder length becomes the longest, an inspection head guide roller 45 described later provided at both ends thereof is fixed to the concrete wall 2 of the railway tunnel 3. When contacting,
The rotation angle is held by the head attitude control air cylinder 36 so as to maintain the contact state.

The head support shaft 34 has a head support 19
A head attitude detector 35 as a head attitude detecting sensor for detecting the rotation angle of the inspection head 5 with respect to the angle, ie, the attitude of the inspection head 5 is connected. This head attitude detector 35 is connected to the control unit. In the hit sound inspecting apparatus 1 for a tunnel, it is preferable that a high-precision angle detector such as an encoder or a potentiometer is used as the head attitude detector 35. Thus, for example, first, the head attitude control air cylinder 3
6 is housed in the head attitude control cylinder body 36a until the head attitude control piston rod 36b is stopped from being retracted, that is, the head attitude control air cylinder 36 has the shortest cylinder length. (In the following description, this state is referred to as the initial state of the inspection head 5). Further, the head attitude control air cylinder 3 is controlled so that the rotation angle of the inspection head 5 from the horizontal direction in this initial state is 0 °.
6, the mounting position and mounting angle of the head attitude control air cylinder 36 with respect to the inspection head 5 and the head support 19 are set in advance. Then, it is possible to accurately and easily know how many times the inspection head 5 has been rotated in the left-right direction with respect to the head support 19. That is, by using the head attitude detector 35, the inspection head 5
Can be measured with a small angle with high accuracy.

In order to rotate the inspection head 5, a hydraulic cylinder may be used as the head attitude control cylinder 36 instead of the above-described air cylinder. Thereby, even when the weight of the inspection head 5 is heavy, the inspection head 5 can be smoothly rotated in a stable state.

As shown in FIG. 3, the main part of the inspection head 5 is covered and protected by an inspection head cover 50 formed in a long rectangular parallelepiped shape. One end face of the inspection head cover 50 along the longitudinal direction is a structure facing surface 5a facing the concrete wall 2 of the railway tunnel 3 to be hit-tested.
From below, the hammer 40 of the tapper 39 described later enters and exits freely toward the inspection surface 4 of the railway tunnel 3. In addition, the inspection head cover 50 rotates and comes into contact with the inspection surface 4 of the railway tunnel 3 near both ends of the inspection head cover 50 in the longitudinal direction near the structure facing surface 5a.
Inspection head guide rollers 45 as rotators that smoothly guide along are provided one by one so as to be rotatable. The inspection head 5 is configured such that the pair of inspection head guide rollers 45 and the air springs of the air cylinder 25 for raising and lowering the arm and the air cylinder 36 for controlling the head attitude have the function of the concrete wall of the railway tunnel 3. While being pressed toward the second inspection surface 4, the tap sound inspection can be performed in an appropriate state while smoothly moving on the inspection surface 4 along the undulations.

The inspection head cover 50 of the inspection head 5
Inside, a tapper 39 for tapping the inspection surface 4 of the railway tunnel 3 along the longitudinal direction of the structure facing surface 5a, and a tapping sound detection paired with the tapper 39 to detect a tapping sound. A plurality of tapping sound collecting microphones 43 as inspections are arranged and attached. In the inspection head 5 according to the present embodiment, a plurality of sets of tappers 39 are provided.
Also, five sets of tapping sound collecting microphones 43 are provided.

The five tappers 39 are used for the inspection head cover 5.
0, a long striking cylinder fixing member 4 provided along its longitudinal direction and over both ends thereof.
2, a hitting cylinder 4 which each has
1 is fixed to the inspection head 5 by fixing the side portion. The striking cylinder fixing member 42 is provided inside the inspection head cover 50 so that the striking cylinder 41 is fixed.
The hammer portion 40 attached to the tip of the below-described striking piston rod 41b has a structure facing surface 5a, protrudes from the inside of the inspection head cover 50 to the outside, and reliably strikes the inspection surface 4. It is provided at a position where it can be made. Further, the five tappers 39 are provided on the structure facing surface 5.
along the longitudinal direction of a, each of the adjacent beating cylinders 41
They are fixed to the tapping cylinder fixing member 42 with a predetermined distance from each other.

Similarly, five tapping sound collecting microphones 43
Is attached to the test head 5 by being fixed to a long tapping sound collecting microphone fixing member 44 provided at both ends thereof along the longitudinal direction inside the test head cover 50. ing. The tapping sound collecting microphone fixing member 44 is provided inside the test head cover 50 at each tapping position where each hammer section 40 of each tapper 39 taps the test surface 4. 43 are provided at positions that are arranged close to each other. In addition, the five tapping sound collecting microphones 43 are connected to the structure facing surface 5.
Along the longitudinal direction of a, the adjacent tapping sound collecting microphone 4
The gaps 3 are fixed to the tapping sound collecting microphone fixing member 44 at a predetermined distance from each other. The size of the interval between these adjacent tapping sound collecting microphones 43 is approximately equal to the size of the interval between the adjacent tapping cylinders 41 described above.

Each of the tapping sound collecting microphones 43 is provided with a recording device (not shown) for recording a tapping sound generated by the hammer section 40 of each tapper 39 tapping the inspection surface 4, and a recording device (not shown). It is connected to a tapping sound analysis device that analyzes data based on the tapping sound. Based on the tapping sound recorded by the recording device, the tapping sound analysis device includes a material, a shape, and a thickness of the structure 3 to be subjected to the tapping inspection, and a material, shape, and Considering the size, and various conditions (measurement parameters) such as the strength, speed, and beating interval of each hammer unit 40 when the hammer unit 40 strikes the inspection surface 4, any of these measurement parameters is considered. A large number of various structural analysis programs capable of accurately grasping the internal state of the structure 3 according to the combination are installed in advance. Alternatively, a tapping sound analysis is performed by selecting various recording media (not shown) such as a floppy disk, a CD-ROM, or a magneto-optical disk in which the various structural analysis programs optimal for the analysis are recorded in accordance with the various measurement parameters. A configuration may be adopted in which the optimum seed structure analysis program is read into the tapping sound analysis device by being inserted into the device. Alternatively, the above-described Internet, intranet, and dedicated wireless LAN
A configuration may be adopted in which the various structural analysis programs optimal for the analysis are taken into the tapping sound analyzer at any time via the GPS receiver 47 connected to an AN or the like in accordance with the various measurement parameters. This allows
The tapping sound analysis device can accurately evaluate the inspection surface 4 of the structure 3 and its internal state based on the tapping sound recorded by the recording device through each tapping sound collecting microphone 43, and therefore, the normal portion, and Abnormal locations such as cavities and cracks can be accurately analyzed and grasped.

The hitting sound analyzing apparatus includes an encoder 13 which constitutes the vehicle position detecting sensor 13 described above.
a, the vehicle position identification device 13b, and the movement distance detection sensor 1
4. Various position data and various angle data of the inspection head 5 sent from the GPS receiver 47, the turning angle detector 21, the tilt angle detector 23, the head attitude detector 35, and the like can also be recorded. . Therefore, an extremely accurate bit map of the inspection surface 4 of the structure 3 subjected to the hammering inspection and its internal state can be created. In addition, the tapping sound analysis device can also record accurate position data of an obstacle 46 in a tunnel, which will be described later. Both the recording device and the tapping sound analyzing device are connected to the control unit.

As described above, five sets of the tapper 39 and the tapping sound collecting microphone 43 are provided in pairs, and each tapping sound collecting microphone 43 is located close to the tapping position of each tapper 39. According to the inspection head 5 having the configuration attached in this manner, the inspection sound can be inspected by hitting the inspection surface 4 having an area substantially equal to at least the structure facing surface 5a of the inspection head 5 uniformly in a short time, and the tapping sound thereof can be inspected. Can be accurately collected. Therefore, when the tunnel hitting sound inspection apparatus 1 having the inspection head 5 finds an abnormal place on the inspection surface 4 or inside the railway tunnel 3 as an inspection place, the position of the abnormal place is determined. Can be grasped quickly and more accurately. Therefore, by using the hammering inspection apparatus 1 for a tunnel, the railway tunnel 3 to be inspected is used.
A bit map (not shown) recording the state of the inspection surface 4 or the inside thereof can be created quickly and with higher accuracy.

In this embodiment, five tappers 39
As shown in FIG. 3, the first tapper 39 a, the second tapper 39 b, and the third tapper 39 are directed from the right side to the left side in the traveling direction of the tunnel hitting inspection device 1.
c, the fourth tapper 39d and the fifth tapper 39e. In addition, the first to fifth tappers 39a to 39e
Has a hammer portion 40 as a hitting portion for hitting the inspection surface 4 with a first hammer portion 40a, a second hammer portion 40b, a third hammer portion 40c, a fourth hammer portion 40d, and a fifth hammer portion 40e. Called.
At the same time, the five tapping sound collecting microphones 43 mounted in pairs with the first to fifth tapping elements 39a to 39e are connected to the tunnel tapping inspection device 1 as shown in FIG. From the right side to the left side, the first tapping sound collecting microphone 43a, the second tapping sound collecting microphone 43b, the third tapping sound collecting microphone 43c, and the fourth tapping sound. This is referred to as a sound collecting microphone 43d and a fifth tapping sound collecting microphone 43e. According to the relative arrangement of the tapper 39 and the tapping sound collecting microphone 43 described above, most of the tapping sound generated by the first hammer unit 40a tapping the inspection surface 4 is mainly the second tapping sound. The sound is collected and recorded (collected) by the single tapping sound collecting microphone 43a. Similarly, the second hammer portion 40b, the third hammer portion 40c, and the fourth hammer portion 4
Most of the tapping sounds generated by tapping the inspection surface 4 by the respective 0d and the fifth hammer unit 40e are mainly the second tapping sound collecting microphone 43b and the third tapping sound collecting microphone, respectively. Sound is collected by the microphone 43c, the fourth tapping sound collecting microphone 43d, and the fifth tapping sound collecting microphone 43e.

The above-described first to fifth tappers 39a to 39a-3
9e comprises a first to a fifth hammer portion 40a to 40e, a tapping cylinder 41 for projecting the first to the fifth hammer portion 40a to 40e toward the inspection surface 4, and the like. An air cylinder is used as the tapping cylinder 41, and is referred to as a tapping air cylinder 41 in the following description.

The first to fifth hammer portions 40a to 40e
Is formed in a substantially spherical shape. Each of the first to fifth hammer portions 40a to 40e grasps the characteristics of the inspection surface 4 when the inspection surface 4 is hit in consideration of various conditions such as the material, shape, and thickness of the structure 3 to be inspected. It is preferable to be formed of a material that can be easily used and can obtain a sound that can easily distinguish a normal portion from an abnormal portion. These first to fifth hammer portions 40a to 40e are the first to fifth hammer portions 40a to 40e.
Each of the fifth tappers 39a to 39e has
Each of the beating piston rods 41b, which will be described later, is attached to the end opposite to the side of the beating air cylinder 41.

Each of the tapping air cylinders 41 is provided with a tapping cylinder body 41a and a tapping piston rod projecting from one end of the tapping cylinder body 41a to the outside thereof, or being immersed therein from one end of the tapping cylinder body 41a. 41b. Each of the air cylinders 41 for tapping is, similarly to the air cylinder 25 for raising and lowering the arm and the air cylinder 36 for controlling the head attitude, independently of each other via an air tube (not shown) as a driving force transmitting means. And a pressure regulating valve. These compressor and pressure regulating valve are connected to an operation unit via a control unit. Thereby, the air cylinder 41 for each tapping
The operator operates the operation unit to operate the compressor and the pressure regulating valve via the control unit,
Each air pressure (operating air pressure) can be set to a predetermined value and held independently of each other as needed. So, for example,
Each of the tapping air cylinders 41 is set to a constant air pressure, and the tapping piston rod 41b is projected from the tapping cylinder body 41a to the outside, or the tapping piston rod 41b is tapped into the tapping cylinder body 41a from the outside. The use piston rod 41b can be immersed. That is, according to the first to fifth tappers 39a to 39e, the first to fifth hammer portions 40a of
Each tapping force of ４０40e is set as needed to a predetermined size suitable for the tapping sound inspection, in consideration of various conditions such as the material, shape, and thickness of the railway tunnel 3 to be subjected to the tapping inspection, In addition, the inspection surface 4 can be hit while maintaining the size.

The first to fifth tappers 39a
When the operator operates the operating unit to operate the compressor and the pressure regulating valve via the control unit, the first to fifth hammer units 40 to 39e are provided.
The order and timing at which each of a to 40e strikes the inspection surface 4 can be set and held independently of each other as needed. Therefore, for example, each of the first to fifth tappers 39a
To 39e each of the first to fifth hammer portions 40a to 40e
0e indicates the order of striking the inspection surface 4, the first being the first hammer 40a, the second being the second hammer 40b, and the third being the third.
The third returns to the third hammer portion 40c, the fourth returns to the fourth hammer portion 40d, the fifth returns to the fifth hammer portion 40e, and returns to the first first hammer portion 40a again. 4 can be set to hit.
In this setting, the first to fifth hammer sections 40a to 40a
The interval at which each of 40e hits the inspection surface 4 can be lengthened or shortened. According to each of the first to fifth tappers 39a to 39e having such a configuration, considering the various conditions such as the material, shape, and thickness of the railway tunnel 3 to be subjected to the tap sound inspection, The hitting interval of each of the first to fifth hammer portions 40a to 40e can be set at any time to a predetermined size suitable for the hitting sound inspection, and the inspection surface 4 can be hit while maintaining the size. .

According to the inspection head 5 having the first to fifth tappers 39a to 39e configured as described above,
In conjunction with the moving speed of the track-and-land vehicle 7 described above, the tapping interval of the first to fifth hammer portions 40a to 40e of the first to fifth hitters 39a to 39e may be set as desired. By setting the value of
That is, the inspection density of the hammering inspection can be set to an arbitrary value at any time.

The first to fifth hammer portions 40a to 40a
In order to strike the inspection surface 4 at 40e, each striking cylinder 41 may be configured to use a hydraulic cylinder instead of the air cylinder described above. Thereby, the first
The fifth to fifth hammer portions 40a to 40e are formed of heavy metal or the like having high rigidity and high density, and even when their weight is increased, the first to fifth hammer portions 40a to 40e are formed.
e allows the inspection surface 4 to be hit smoothly in a stable state.

Further, inside the inspection head 5, as shown in FIGS.
Obstacle detection for detecting a convex portion 46 protruding from the inspection surface 4 of the railway tunnel 3, which is located ahead of the track-and-land vehicle 7 in the traveling direction of the railway head 7, that is, ahead of the inspection head 5 in the scanning direction. It is preferable to adopt a configuration in which an obstacle detector 49 as a sensor for use is attached. The means by which the obstacle detector 49 detects the convex portion 46 is, for example, a means that does not interfere with the tapping sounds generated by the first to fifth hammer portions 40a to 40e, such as infrared rays or laser beams. It is preferable that In the hitting sound inspection device 1 for a tunnel, the obstacle detector 49 is
As a means for detecting 6, a laser beam which has high accuracy and can reach a long distance is used.
Thereby, when this tunnel hammer inspection apparatus 1 performs hammer inspection of a long railway tunnel 3 having a total length of several kilometers,
Obstacles 46 in the tunnel protruding from the inspection surface 4 of the concrete wall 2, for example, overhead lines such as overhead wires or antennas for mobile communication bodies, are far away in the scanning direction irrespective of their size and shape. From the near side, detection can be performed with sufficient margin. The obstacle detector 49 is connected to a warning device (not shown) or a monitor via a control unit.

The obstacle detector 49 detects the obstacle 46 in the tunnel.
Is detected, it is transmitted to a warning device or a monitor via the control unit. For example, if a worker at the site detects that an obstacle 46 is present in front of the inspection head 5 in the scanning direction by a warning by a warning device or a monitoring operation by a monitor during a hammering inspection operation, Operates the operation unit to operate the above-described head moving device 6, and shifts the inspection head 5 until the obstacle 46 in the tunnel comes off the scanning line. Then, while maintaining this state, the orbital vehicle 7 is advanced until the obstacle 46 in the tunnel is located behind the inspection head 5. After the worker at the site near the track-and-rail vehicle 7 confirms that the obstacle 46 in the tunnel is located behind the inspection head 5, the worker operates the operation unit to move the head moving device. 6 is operated to return the inspection head 5 to the original scan line again, and the interrupted tapping sound inspection work is continued. Thereafter, when the obstacle detector 49 detects the presence of the obstacle 46 in the tunnel ahead of the inspection head 5 in the scanning direction, the obstacle avoidance work described above is performed at any time, so that the obstacle 46 And the hitting sound can be inspected evenly in the target inspection range.

The work of avoiding the inspection head 5 from the obstacle 46 in the tunnel is not only performed by a worker at the site near the track-and-land vehicle 7 by directly operating the operation unit, but also by moving the head as described above. As in the case of the device 6, the remote control can be performed by wireless communication using the remote control receiver 48, monitoring means such as a CCD camera or an infrared camera, and a monitor in combination. Particularly, in a work site where a sufficient amount of visible light can be received in the railway tunnel 3 so that the hammering inspection operation can be performed while visually confirming it, the use of a CCD camera makes it possible for a worker on the site to use the naked eye. The obstacle 46 in the tunnel can be detected with approximately the same accuracy as that confirmed by the above. Therefore, the work of avoiding the inspection head 5 from the obstacle 46 in the tunnel is performed.
In places where remote control can be performed using a CCD camera, the inspection head 5 from the obstacle 46 in the tunnel may be used.
Can be performed more safely and smoothly without substantially hindering the work efficiency and inspection accuracy.

Alternatively, the work of avoiding the inspection head 5 from the obstacle 46 in the tunnel may be performed by automatic control by the control unit of the hammer inspection apparatus 1 for tunnels. For example, the monitoring means such as the obstacle detector 49 or the CCD camera or the infrared camera is arranged so that the obstacle 4 in the tunnel is located on the scanning direction line of the inspection head 5.
When the controller 6 detects the hardware 6 (various memories such as ROM and RAM, or the obstacle in the tunnel), the control unit moves the inspection head 5 to a position where it does not contact the obstacle 46 in the tunnel. C for exclusive use of avoidance work of 46
A program for obstacle avoidance is installed in advance on a PU or the like. The control unit includes an engine of the track-and-land vehicle 7, a driving force transmission device, an electric motor or a hydraulic motor that drives the swivel 17 to turn, a turning driving force transmission device, and a raising / lowering arm 18.
Are driven, and various driving devices of the tapping sound inspection device 1 such as a compressor and a pressure adjusting valve for rotating the inspection head 5 are connected.

When the obstacle 46 in the tunnel is detected by the obstacle detector 49 or the like, the inspection head 5
The control unit, based on the obstacle avoidance program, moves the vehicle to a position where it does not contact the obstacle 46 in the tunnel.
The various driving devices of the tunnel hitting sound inspection device 1 connected thereto are operated. The control unit keeps the inspection head 5 shifted to a position where the obstacle 46 in the tunnel is not on the scanning line, and holds the obstacle 4 in the tunnel.
Until the vehicle 6 is located behind the inspection head 5
To move forward. When the obstacle detector 49 detects that the obstacle 46 in the tunnel is located behind the inspection head 5, the fact is transmitted to the control unit. Then, the control unit activates various driving devices of the tunnel hitting sound inspection device 1 connected thereto to return the inspection head 5 to the original scanning line again. Thereafter, the control unit operates the inspection head 5 and the like to restart the interrupted tapping inspection work. Thereafter, when the obstacle detector 49 detects the presence of the obstacle 46 in the tunnel ahead of the inspection head 5 in the scanning direction, the control unit automatically performs the above-described obstacle avoidance work at any time. It is possible to automatically perform a hammering test on the target test range evenly while avoiding the obstacle 46 in the tunnel. According to the hardware-based automatic control by the control unit, the work of avoiding the inspection head 5 from the obstacle 46 in the tunnel can be performed more safely. As a result, the hitting sound can be more safely inspected without preventing the inspection head 5 from coming into contact with the obstacle 46 in the tunnel and without changing the target inspection range.

Further, after a bitmap of the internal state of the railway tunnel 3 to be inspected is created once by a hammering inspection work described later, the bitmap of the tunneling tunnel inspection obstruction work in the hammering inspection work of the railroad tunnel 3 is performed. The work of avoiding the inspection head 5 described above may be performed by automatic control using software. For example, the bitmap data of the desired railway tunnel 3 created by the above-described tapping sound analysis device connected to the control unit is stored in various recording media such as a floppy disk, a CD-ROM, or a magneto-optical disk, or Via the GPS receiver 47 connected to the Internet, an intranet, a dedicated wireless LAN, or the like, the tapping sound analysis device is again read. The read bitmap data of the desired railway tunnel 3 includes the inspection surface 4 of the railway tunnel 3 and the normal location of the internal state thereof and the abnormal location such as a cavity or a crack at the time of the previous hitting inspection. Are recorded together with detailed various position data and various angle data of the inspection head 5. At the same time, the read bitmap data of the desired railway tunnel 3 includes accurate position data of the obstacle 46 in the tunnel projecting from the inspection surface 4 of the railway tunnel 3 at the time of the previous sounding inspection. Etc. are also recorded. At the same time, an obstacle avoidance program similar to the above-described work for avoiding the obstacle 46 in the tunnel by the hardware-based automatic control of the control unit is transmitted to the tapping sound analysis device using the past bitmap of the desired railway tunnel 3. The data is read into a storage device (not shown) connected to the control unit by a predetermined method similar to the case where the data is read. However, the software obstacle avoidance program accesses the past bitmap data read by the tapping sound analyzer at any time to confirm the exact position of the obstacle 46 in the tunnel, It is assumed that a command for operating various driving devices of the tunnel hitting sound inspection device 1 so that the head 5 does not come into contact is provided.

According to the software-based automatic control by the control unit, similarly to the above-described work to avoid the obstacle 46 in the tunnel by the hardware-based automatic control of the control unit, the inspection head 5 from the obstacle 46 in the tunnel is controlled. Work can be performed more safely. As a result, the hitting sound can be more safely inspected without preventing the inspection head 5 from coming into contact with the obstacle 46 in the tunnel and without changing the target inspection range. In addition, since it is easy to set an inspection range in advance and incorporate it into a program each time a tapping inspection is performed, even when inspecting a plurality of discontinuous inspection locations, it is possible to set the inspection locations in advance. In addition, it is possible to automatically perform a tapping sound inspection in a predetermined inspection range in a detailed and wasteful or even manner.

At the same time, once the bitmap is created, the past bitmap data may be read into the tapping sound analyzer in accordance with the railway tunnel 3 to be subjected to the tapping inspection. Accordingly, it is possible to cope with an extremely large number of railway tunnels 3. Actually, such a tunnel hitting sound inspection apparatus 1 is owned by a predetermined vehicle storage location (ward) that covers a certain area. That is, 1
The railway tunnel 3 to be inspected by the two tunnel hitting inspection devices 1 is roughly determined in advance. Therefore, if each of these tunnels 3 is subjected to hammering inspection once and bitmap data is created, thereafter, unless the railway tunnel 3 to be inspected undergoes major renovation work, etc. Based on the past bitmap data, it is possible to perform an unattended hammering inspection using the tunnel hammering inspection apparatus 1.

According to the hitting sound inspection device 1 for a tunnel having the above-described structure, a hitting sound inspection of a wide range of arbitrary inspection places along the concrete wall 2 of a railway tunnel 3 as a structure to be hit-tested. Data can be uniformly and efficiently collected and analyzed under predetermined stable conditions. In other words, according to the hitting sound inspection device 1 for a tunnel, the sounding inspection of the inspection surface 4 of the railway tunnel 3 or the inside thereof can be performed smoothly, efficiently, safely and accurately. In addition, according to the hammering inspection device 1 for a tunnel, when abnormal locations such as cracks and cavities are present on the inspection surface 4 of the railway tunnel 3 or inside thereof, the positions of the abnormal locations are extremely accurately determined. Can be detected. Furthermore, according to the hitting sound inspection device 1 for a tunnel, a bitmap that records the inspection surface 4 of the railway tunnel 3 or the state of the inside thereof can be created with extremely high accuracy.
The comparison for each different inspection part of the railway tunnel 3 can be performed very easily and with extremely high accuracy. At the same time, according to the hammering inspection device 1 for a tunnel,
The same inspection part of the railway tunnel 3 is periodically subjected to hammering inspection at predetermined time intervals, and a bitmap of the same inspection part is created with extremely high accuracy.
A change in the state of the same part over time can be grasped very easily and with extremely high accuracy. Therefore, according to the tunnel hitting inspection device 1, the bitmap of the railway tunnel 3 created by the tunnel hitting inspection device 1 can be extremely effectively used for deterioration diagnosis of the railway tunnel 3 and the like. Therefore, once the high-precision bitmap is created, the repair work or the maintenance / inspection work of the railway tunnel 3 can be performed more efficiently by using the bitmap data.

Next, an outline of one embodiment of a tunnel hitting sound inspection operation using the tunnel hitting sound inspection apparatus 1 will be described.
A description will be given based on FIG. 1 and FIG.

First, the turning table 17, the tilting arm 18, and the inspection head 5 of the hammering inspection device 1 for a tunnel are held in the above-mentioned initial state, respectively, and the inspection head 5 is moved from the concrete wall 2 of the railway tunnel 3 to the inspection head 5. In a state where the vehicle is pulled apart, the track-and-land vehicle 7 is caused to travel on the rail 8 to perform a hammering inspection, and the hammering inspection device 1 for a tunnel is provided near an inspection start location.
To move. Next, an on-site worker operates the operation unit to operate each movable unit of the head moving device 6 to perform a tapping inspection of the inspection head 5 in an appropriate state as shown in FIG. And hold it in a position where it can That is,
A worker at the site operates the operation unit to turn the turntable 17, raise the raising arm 18, and turn the inspection head 5 while carefully adjusting the angle from the initial state. As a result, the inspection head 5 is moved to its structure facing surface 5.
a so as to substantially face the inspection surface 4, and maintain the posture of the concrete wall 2 so that the two inspection head guide rollers 45 rotatably contact the concrete wall 2.
Press toward. In this state, the inspection head 5
Is located slightly behind the inspection start position along the inspection start position or the inspection direction.

Thereafter, at a constant low speed calculated and set in advance so as to obtain a desired inspection accuracy, the track-and-vehicle vehicle 7 is controlled.
On the rail 8 toward the front in the inspection direction. At the same time, an on-site worker operates the operation unit, and air pressure (operating air pressure) calculated and set in advance so as to obtain a desired inspection accuracy, and a tapping order, a tapping interval,
5 that the inspection head 5 has
The first to fifth tappers 39a to 39e are respectively operated. In this hitting sound inspection operation, the order in which the first to fifth hammer portions 40a to 40e of the first to fifth hitters 39a to 39e hit the inspection surface 4 is determined by the first order.
The first is the first hammer 40a, the second is the second hammer 40b, the third is the third hammer 40c, the fourth is the fourth hammer 40d, and the fifth is the fifth hammer 4
0e, and then return to the first first hammer portion 40a, and thereafter, set so as to repeatedly hit the inspection surface 4 in this order. First to fifth hammer portions 40a to 40e
Each tapping sound generated by tapping the inspection surface 4 is
Each of the first to fifth tapping sound collecting microphones 43a to 43e which are mounted inside the inspection head 5 in pairs with the first to fifth tapping elements 39a to 39e, respectively, are sequentially collected. Sound. Thereafter, the inspection head 5 set as described above is caused to scan along the longitudinal direction of the railway tunnel 3 from the start end to the end end while following the inspection surface 4 in a certain section for performing the hammering inspection. Just fine.

If the inspection surface 4 to be subjected to the hammering inspection has a width that cannot be inspected by one scanning of the inspection head 5, the track-and-land vehicle 7 is moved in the railway tunnel 3. In addition to reciprocating, each time switching between forward and backward movement,
The operator at the site operates the operation unit to operate each movable unit of the head moving device 6 to sequentially reset the height position of the inspection head 5 from, for example, a lower position to a higher position. Just fine.

Obstacle detector 4 of inspection head 5
When the detector 9 detects that the obstacle 46 in the tunnel is located in front of the scanning line of the inspection head 5 as shown in FIG. 2, the warning is given to a worker on site by a warning device or the like. The worker at the site who recognizes the warning operates the operation unit to operate each movable unit of the head moving device 6 to shift the inspection head 5 to a position where the inspection head 5 does not contact the obstacle 46 in the tunnel to avoid the inspection head 5. . The size of the obstacle 46 in the tunnel is, for example, the structure facing surface 5 of the inspection surface 4 and the inspection head 5.
When the inspection head 5 is about the size of a gap with the head a, the operator at the site operates the operation unit so as to rotate the inspection head 5 in a direction not to contact the obstacle 46 in the tunnel. What is necessary is just to expand and contract the air cylinder 36. When the size of the obstacle 46 in the tunnel is equal to or larger than the size of the inspection head 5 itself, as shown in FIG. Since the raising and lowering arm 18 has a non-expandable structure, a worker at the site operates the operation unit to prevent the inspection head 5 from contacting the obstacle 46 in the tunnel. The head moving device 6 is operated such that the head moves downward diagonally.

Hereinafter, the operation of the raising / lowering arm 18 during the work of avoiding the obstacle 46 in such a large tunnel will be described with reference to FIG. A case where the inspection surface 4 of the concrete wall surface 2 on the side closer to the rail 8 on the side to be subjected to hammering inspection using the hammering inspection device 1 for a tunnel will be described.

In this case, the center of rotation of the swivel table 17 is as shown in FIG.
It is located eccentrically from the radial center of the railway tunnel 3 indicated by the middle cross mark to the side on which the track-and-land vehicle 7 is traveling. In this state, the postures of the inspection head 5 and the head moving device 6 are in a state shown by a solid line in FIG. 2, and a large obstacle 46 in the tunnel is located in front of the inspection head 5 on the scanning line. Suppose you have
Since the raising and lowering arm 18 has a non-stretchable structure,
The turning radius is constant. The distance from the turning shaft 20 of the swivel table 17 which is the center of rotation of the raising / lowering arm 18 to the inspection surface 4 on which the hitting sound inspection device 1 for tunneling performs the hitting sound is from top to bottom in FIG. It gets shorter as you go. Therefore, without changing the tilting angle of the tilting arm 18 in the state shown by the solid line in FIG.
If only the vehicle 7 is turned leftward in the forward direction of the track-and-land vehicle 7, the inspection head 5 will strike the concrete wall 2 at a certain height position, and the vehicle cannot move. In order to avoid such a situation, a worker at the site operates the operation unit to turn the swivel base 17 in a direction in which the height of the inspection head 5 is reduced, or to operate such a swivel base 17. In parallel with the turning operation, the arm raising / lowering air cylinder 25 is operated in a direction in which the cylinder length becomes shorter. That is, the air cylinder 25 for raising and lowering the arm
Is contracted, and the tilting arm 18 is tilted in a direction to return to its initial state. By such an operation, the inspection head 5 is lowered toward the front in the traveling direction of the track-and-land vehicle 7 and obliquely rearward.

As described above, by operating the head moving device 6 such that the inspection head 5 descends obliquely rearward, the inspection head 5 does not come into contact with the large-sized tunnel obstacle 46. In addition, the inspection surface 4 on which the tap sound inspection is performed can be inspected evenly.

The inspection head 5 can operate even when the inspection surface 4 has undulations or minute steps due to the action of the air springs of the arm raising / lowering air cylinder 25 and the head attitude control air cylinder 36. , And can move following the inspection surface 4. At the same time, the inspection head 5 has
The first to fifth tappers 39a to 39e can all be operated under almost the same conditions. This allows the tunnel hitting sound inspection device 1 to collect and analyze tapping sound data under substantially constant and stable conditions irrespective of the size or shape of the railway tunnel to be hit-tested.
Therefore. According to the hammering inspection device 1 for a tunnel, when abnormal locations such as cracks or cavities exist on the inspection surface 4 of the railway tunnel 3 or inside thereof, the locations of the abnormal locations can be detected extremely accurately. . Further, according to the hitting sound inspection apparatus 1 for a tunnel, a bitmap in which the state of the inspection surface 4 or the inside of the railway tunnel 3 is recorded can be created with extremely high accuracy.

Next, a tunnel sounding device 51 as a structure sounding inspection device according to a second embodiment of the present invention will be described.
A description will be given based on FIG.

The tunnel hitting sound inspection apparatus 51 of the second embodiment has a structure of an inspection head 52 included in the apparatus.
Only the structure is different from the structure of the inspection head 5 included in the hitting sound inspection device 1 for a tunnel according to the first embodiment described above, and the other configurations, operations, and effects are the same. Therefore,
The different portions will be described, and the description of the same components as those in the first embodiment will be omitted. In addition, the same drawings are omitted from the drawings, and only the drawings that can clearly understand the features of the structure of the inspection head 52 of the present embodiment are shown. In FIG.
The same parts as those of the embodiment are denoted by the same reference numerals.

The hitting sound inspection device 51 for a tunnel according to the present embodiment.
As shown in FIG. 4, the inspection head 52 has a single tapper 39 and a single tapping sound collecting microphone 43 which is paired with the tapper 39, and is integrally connected. The unit is provided so as to be able to reciprocate along the longitudinal direction of the inspection head 52.

One tapper 39 and one tapping sound collecting microphone 43 are integrally connected by a tapping sound collecting microphone connecting member 53 formed in an L shape in side view. ing. The tapping sound collecting microphone 43 is attached to one end of a tapping sound collecting microphone connecting member 53. At the same time, the other end of the tapping sound collecting microphone connecting member 53 is fixed to a predetermined position on the side of the tapping air cylinder body 41b. Specifically, the other end of the tapping sound collecting microphone connecting member 53 is located near the tapping position at which the hammer 40 of the tapper 39 taps the inspection surface 4. 43 is fixed to the side portion of the tapping air cylinder body 41b so that 43 is always located at a fixed position with respect to the tapping position.

[0107] The integrated structure composed of the single tapper 39 and the tapping sound collecting microphone 43 is provided inside the inspection head cover 50 along both ends thereof along the longitudinal direction. A slapping support member 54 is slidably fitted into and supported by a linear guide 55 having a position detecting function as a slapping guide member formed in a long plate shape. At the same time, an integrated body composed of a single tapper 39 and a tapping sound collecting microphone 43 is provided inside the inspection head cover 50 along both ends thereof along its longitudinal direction, A three-dimensional cam 56 as a slapping member sliding member formed in a long round bar shape is provided with a slapping member supporting member 5.
4 for reciprocating engagement.

The tapper support member 54 is fixed to the side of the tapping air cylinder body 41a, and is fitted into a linear guide 55 with a position detecting function. Similarly, it is fixed to the side of the air cylinder body 41a for tapping, and is formed in a substantially cylindrical shape to be groove-engaged with a spiral groove 56a as a tapper guide groove of the three-dimensional cam 56 which will be described later. And a supporting member engaging portion 54b.

The linear guide 55 with the position detecting function is such that the hammer 40 attached to the tip of the tapping piston rod 41b of the tapping air cylinder 41 in the inspection head cover 50 has a structure facing surface. It is provided at a position where it can protrude from the inside of the inspection head cover 50 to the outside through 5a and can reliably hit the inspection surface 4. At the same time, the linear guide 55 with the position detecting function is fitted to the linear guide 55 with the position detecting function in the longitudinal direction of the linear guide 55 with the position detecting function. A function is provided that can accurately detect the position along. That is, the linear guide 55 with the position detecting function has a single tapper 39.
Also, a function is provided for accurately detecting the position along the longitudinal direction of the linear guide 55 with a position detecting function of an integrated object constituted by the tapping sound collecting microphone 43.
The linear guide 55 with a position detection function is connected to a control unit.

The three-dimensional cam 56 is configured to move an integrated object composed of a single tapper 39 and a tapping sound collecting microphone 43 inside the inspection head cover 50 along the longitudinal direction of the linear guide 55 with a position detecting function. Linear guide 55 with a position detecting function so that
Is arranged in parallel with the linear guide 55 with a position detecting function. The three-dimensional cam 56 is rotatably supported at both longitudinal ends thereof by a three-dimensional cam support member 57 as a tapper sliding member support member provided inside the longitudinal end surfaces of the inspection head cover 50. It is attached inside the inspection head cover 50. A spiral groove 56a is formed on the side surface of the three-dimensional cam 56 over substantially the entire surface thereof to reciprocate the slapping support member 54 along the longitudinal direction of the three-dimensional cam 56 by a distance substantially equal to the entire length. ing. The tapper support member 54 is formed such that the hollow portion of the support member engaging portion 54b has a spiral groove 56a of the three-dimensional cam 56.
It is attached to the three-dimensional cam 56 so as to engage with the groove.

The three-dimensional cam 56 is provided with a three-dimensional cam driving motor 5 serving as a tapper sliding member driving device provided inside one end face of the inspection head cover 50 in the longitudinal direction.
8 is driven to rotate. The three-dimensional cam drive motor 58 is connected to a control unit, and the operator operates the operation unit so that the rotation speed and the rotation torque can be set to arbitrary values and driven. Accordingly, the tapper support member 54 is reciprocated along the longitudinal direction of the linear guide 55 with the position detecting function by the three-dimensional cam 56 at a predetermined speed corresponding to the rotation speed and the rotation torque of the three-dimensional cam drive motor 58. Be moved.

The operator operates the operation unit to drive the three-dimensional cam drive motor 58 to rotate the three-dimensional cam 56 in a direction indicated by an arrow D in FIG. 4, for example. Thereby, the tapper support member 54 can reciprocate along the longitudinal direction of the three-dimensional cam 56 by a distance substantially equal to the entire length thereof, as shown by an arrow E in FIG. Therefore, an integrated body composed of a single tapper 39 and a tapping sound collecting microphone 43 is a linear guide 5 with a position detecting function.
5, while being guided slidably along its longitudinal direction, the three-dimensional cam 56 can continuously reciprocate a distance substantially equal to its length along the longitudinal direction of the structure facing surface 5a of the inspection head 52. .

The tapping air cylinder body 41a of the tapping air cylinder 41 of the tapper 39 has an air tube 59 as a tapping cylinder driving force transmitting means.
Is connected. The air tube 59 has flexibility and buckling resistance that can reliably supply air to the tapping air cylinder body 41a while following the reciprocating motion of the tapping air cylinder 41 inside the inspection head 52. It is preferable to be formed of a suitable material. Also,
The air supply line of the air tube 59 is connected to a compressor and a solenoid valve (not shown) as a pressure regulating valve. These compressors and solenoid valves are connected to an operation unit via a control unit. Thereby, the operator operates the operation unit to operate the compressor, the solenoid valve, and the like via the control unit.
The air pressure (operating air pressure) of the tapping air cylinder 41 can be set to an arbitrary size and held as needed. Therefore, according to the tapper 39, the tapping force of the hammer part 40 is suitable for the tapping inspection, considering various conditions such as the material, shape, and thickness of the structure 3 to be subjected to the tapping inspection. The inspection surface 4 can be hit by the hammer unit 40 while being set to a predetermined size and being held at that size.

The tapper 39 is operated by an operator by operating an operation section to intermittently actuate a compressor, a solenoid valve, and the like via a control section, thereby allowing air to flow into the tapping air cylinder body 41a. The supply or the discharge of air from the inside of the tapping air cylinder body 41a can be performed intermittently at any given time interval. In other words, according to the tapper 39, the timing at which the hammer unit 40 hits the inspection surface 4 or the like can be determined at any time.
The hammer unit 40 can intermittently strike the inspection surface 4 at an arbitrary fixed time interval.

In order to hit the inspection surface 4 with the hammer unit 40, the hitting cylinder 41 may be configured to use a hydraulic cylinder instead of the air cylinder described above. Thus, even when the hammer 40 is formed of a heavy metal having high rigidity and high density and the weight thereof is large, the hammer 40 can be smoothly and smoothly hit on the inspection surface 4 in a stable state.

The hitting sound inspection device 51 for a tunnel according to the second embodiment is all the same as the hitting sound inspection device 1 for a tunnel according to the first embodiment, except for the points described above. Therefore, the first problem of the present invention can be solved by using the tunnel hitting sound inspection device 51 of the second embodiment. The embodiment is superior in the following points.

According to the tunnel hitting sound inspection apparatus 51, the single tapper 39 and the tapping sound collecting microphone 43 of the inspection head 52 are integrated by the tapping sound collecting microphone connecting member 53. To form an integral body.
At the same time, the tapping sound collecting microphone 43 is
In the vicinity of the tapping position at which the hammer portion 40 of the tapping device strikes the inspection surface 4, the tapping sound collecting microphone connecting member 53 is connected via the tapping sound collecting microphone coupling member 53 so as to be always located at a constant position with respect to the tapping position. And attached to the tapper 39. This allows
The tapping sound generated when the hammer unit 40 taps the inspection surface 4 can be collected by the tapping sound collecting microphone 43 from a constant position relative to the tapping location. Therefore, by using the inspection head 52, it is possible to collect the tapping sound more reliably under substantially constant conditions and with almost no variation. At the same time, by using the tapping sound having almost no variation as the analysis data, the tapping sound can be analyzed with higher accuracy, so that the state of the internal structure of the railway tunnel 3 as a structure can be further improved. Inspection can be performed with high accuracy.

Further, according to the tunneling sound inspection device 51, the single tapper 39 and the tapping sound collecting microphone 4 are provided.
3 can be reciprocated at an arbitrary speed along the longitudinal direction of the inspection head 52. At the same time, the time interval at which the hammer unit 40 strikes the inspection surface 4 can be set to an arbitrary size, that is, the hammer unit 40 can be set so as to intermittently strike the inspection surface 4 at a constant time interval. did. Thereby, the reciprocating speed of the single object constituted by the single tapper 39 and the tapping sound collecting microphone 43, the tapping timing of the hammer unit 40, and the like are set to arbitrary sizes and combined. The accuracy of the tapping sound inspection, that is, the inspection density of the tapping sound inspection can be set to an arbitrary value at any time.

The tunnel hitting sound inspecting devices (structure hitting sound inspecting devices) 1 and 51 according to the present invention are not limited to the first and second embodiments described above. For example, in the description of the first and second embodiments, the structure sounding inspection device 1 is used for a tunnel sounding inspection of a railway tunnel 3 formed by a concrete wall 2 as a structure. Although described as a hammering sound inspection apparatus, the structure hammering sound inspection apparatus 1 can be naturally applied to a structure 3 other than a railway tunnel. For example, the track-and-land vehicle 7 included in the structure sounding inspection device 1 has a configuration capable of traveling not only on the rail 8 but also on a road. Therefore, by running this track-and-land vehicle 7 on the road, it is possible to perform a hammering test of an automobile tunnel as a structure (not shown), as in the case of the railway tunnel 3 described above. Therefore, the use of the structure impact sound inspection apparatus 1 makes it possible to extremely easily and very accurately diagnose the deterioration of an automobile tunnel. In addition, by using the structure sounding inspection device 1, not only a tunnel for an automobile, but also a structure 3 formed in various sizes and shapes, for example, a pier portion of a general concrete bridge, Or, of course, deterioration diagnosis of a high-rail section or the like can be performed very easily and very accurately.

Further, according to the tapping sound analysis device of the structure tapping sound inspection device 1, the measurement parameters relating to the material of the structure 3 to be hit-tested among the measurement parameters analyzed by the tapping sound analysis device are used. Can be set to any value according to This allows the structure hammering inspection apparatus 1 to perform hammering sound inspection regardless of the material of the structure 3 to be hammering-inspected. It is also very easy and very accurate to diagnose deterioration of structures 3 other than made, for example, a brick building, or a historic building such as a castle wall or archeological site made by stacking huge stones. .

[0121]

In the structure hitting inspection apparatus according to the present invention, the inspection head for hitting the structure by inspection is moved while being pressed against the inspection surface of the structure using the head moving means. While the self-propelled vehicle equipped with the is moved, it is possible to perform a hammering test in a predetermined test range by a continuous series of operations. Therefore, the inspection surface and the internal state of the structure can be efficiently and safely inspected without requiring much manpower.

In the structure sounding apparatus of the present invention, the head moving means includes a swiveling swivel, a tiltable arm, and a head support for supporting the inspection head in a position controllable manner. According to this, even if the inspection surface of the structure is bent, the inspection head can follow the inspection surface, so that the inspection surface and the internal state of the structure can be efficiently and safely inspected. .

According to the structure sounding apparatus of the present invention, the head attitude control cylinder for controlling the attitude of the inspection head and the arm raising / lowering cylinder for raising / lowering the raising / lowering arm are each constituted by an air cylinder. It is possible to efficiently and safely inspect the inspection surface and the internal state of the structure while buffering an impact when the inspection head comes into contact with the inspection surface of the structure and when tracing the undulating inspection surface.

In the structure sounding apparatus of the present invention, the inspection head is controlled by the head attitude control cylinder so that the attitude of the inspection head can be changed so as to avoid the protrusion protruding from the inspection surface of the structure. According to this, it is possible to reduce the possibility that the inspection operation is interrupted by the convex portion, and perform the inspection efficiently and safely.

In the structure sounding apparatus of the present invention, a head attitude detecting sensor for recognizing the attitude of the inspection head, a tilt angle detecting sensor for detecting the tilt angle of the tilting arm, and a turning angle of the turntable are detected. According to the configuration including the turning angle detection sensor, the vehicle position detection sensor that detects the traveling position of the self-propelled vehicle, and the vehicle travel distance detection sensor that detects the travel distance of the self-propelled vehicle, ,
Since the position of the inspection head with respect to the inspection location of the structure and the position of the self-propelled vehicle with respect to the structure can be accurately detected, the inspection surface and the internal state of the structure can be efficiently and safely inspected.

In the structure sounding apparatus of the present invention, according to the configuration in which the inspection head is provided with a plurality of rotatable rotating members that are in contact with the inspection surface, the inspection head follows the inspection surface of the structure more smoothly. Therefore, the inspection surface and the internal state of the structure can be efficiently and safely inspected.

In the structure sounding apparatus of the present invention, according to the structure including a plurality of sets of a tapper and a pair of tapping sound detection sensors, a plurality of places on the inspection surface of the structure can be used. Since each tapping sound can be accurately detected by tapping, the inspection surface and the internal state of the structure can be inspected efficiently and safely.

In the structure hitting apparatus of the present invention, each tapper and the tapping sound detecting sensor are integrally connected, and this integrated article can reciprocate along the longitudinal direction of the inspection head. According to the configuration provided in the above, the position of the tapping sound detection sensor that detects the tapping sound generated by the tapping element can always be kept constant, so that the inspection surface and the internal state of the structure can be efficiently performed. In addition, the inspection can be performed safely, the number of components of the inspection head is small, and the structure of the inspection head can be simplified.

In the hitting sound inspection apparatus for a tunnel according to the present invention, the inspection head to be inspected by hitting the tunnel is moved while being pressed against the inspection surface of the tunnel using the head moving means, and the head moving means is mounted. While moving the self-propelled vehicle, it is possible to perform a hammering test in a predetermined test range by a continuous series of operations. Therefore, the inspection surface and the state of the inside of the tunnel can be efficiently and safely inspected without requiring much human labor.

[Brief description of the drawings]

FIG. 1 is a perspective view schematically showing a hammering inspection device for a tunnel according to a first embodiment of the present invention.

FIG. 2 is a front view schematically showing the operation state of an inspection head included in the hitting inspection apparatus for a tunnel shown in FIG. 1 from the rear of a moving vehicle.

FIG. 3 is a perspective view schematically showing an internal structure of an inspection head included in the tunnel hitting noise inspection apparatus shown in FIG.

FIG. 4 is a perspective view schematically showing an internal structure of an inspection head of a tunnel hitting inspection apparatus according to a second embodiment of the present invention.

FIG. 5 is a front view schematically showing a structure inspection operation according to a conventional technique.

[Explanation of symbols]

1, 51: Tunning sound inspection device (structure hitting sound inspection device) 3: Railway tunnel (tunnel, structure) 4: Inspection surface 5, 52: Inspection head 6: Head moving device (head moving means) 7 ... Rail-land vehicle (self-propelled vehicle) 10 ... Rear wheel drive shaft (axle) for road running 12 ... Rear wheel drive shaft (axle) 13 for rail running 13 ... Sensor for vehicle position detection 13a ... Encoder (sensor for vehicle position detection) 13b ... Vehicle position identification device (vehicle position detection sensor) 14 ... movement distance detection sensor 16 ... moving device support gantry (moving means support gantry) 17 ... turntable 18 ... tilting arm 18a ... tilting arm tip 19 ... head Supporting portion 19a: Head support portion tip portion 20: Revolving shaft 21: Revolving angle detector (rotating angle detecting sensor) 22: Reversing shaft 23: Reversing angle detector (Reversing angle detecting sensor) 25: A Air cylinder for arm raising / lowering (cylinder for arm raising / lowering) 34 ... Head support shaft 35 ... Head attitude detector (sensor for head attitude detection) 36 ... Air cylinder for head attitude control (cylinder for head attitude control) 39 ... Striking Child 39a First tapper 39b Second tapper 39c Third tapper 39d Fourth tapper 39e Fifth tapper 43 Microphone for tapping sound collection (sensor for tapping sound detection) 43a ... First Tapping sound collecting microphone 43b: second tapping sound collecting microphone 43c: third tapping sound collecting microphone 43d: fourth tapping sound collecting microphone 43e: fifth tapping sound collecting microphone 45: inspection head Guide roller (rotating body) 46: Obstacle in tunnel (convex part)

 ──────────────────────────────────────────────────続 き Continued from the front page (72) Inventor Shigemitsu Kikuchi 12 Nishikicho, Naka-ku, Yokohama-shi, Kanagawa Prefecture Mitsubishi Heavy Industries, Ltd.Yokohama Works (72) Inventor Yoshiaki Hoshino 12 Nishikicho, Naka-ku, Yokohama-shi, Kanagawa Prefecture Mitsubishi Heavy Industries Inside Yokohama Works Co., Ltd. (72) Inventor Mikito Kusumi 2-11-5, Miigaoka, Aoba-ku, Yokohama-shi, Kanagawa Prefecture (72) Inventor Hiroyuki Tanase 6-16-6, Aoyama, Niigata-shi, Niigata F-term (reference) 2G047 AA10 AC00 BA04 CA03 DB03 DB16 DB17 EA12 EA19 GA06 GA07 GA19 GD02 GJ02

Claims (9)

[Claims] An inspection head having a tapper for hitting an inspection surface of a structure and a tapping sound detection sensor for detecting a tapping sound; and the inspection head formed to support the inspection head and to be capable of turning up and down and turning. And a self-propelled vehicle equipped with the head moving means. 2. A swivel table, wherein the head moving means is pivotably provided on a moving means support base mounted on the self-propelled vehicle, and a tilting arm, which is tiltably mounted on the swivel table. The structure hitting inspection apparatus according to claim 1, further comprising: a head support section that supports the inspection head at a tip end portion of the raising / lowering arm so that the attitude of the inspection head can be controlled. 3. A head attitude control cylinder provided over the inspection head and the head support portion, and an arm raising / lowering cylinder provided over the swivel base and the raising / lowering arm, respectively, are air cylinders. 3. The structure hitting sound inspection apparatus according to claim 2, wherein: 4. The structure according to claim 3, wherein the inspection head is capable of changing its posture so as to avoid a convex portion protruding from the inspection surface under the control of the head posture control cylinder. Hammer inspection equipment. 5. A head attitude detection sensor attached to a head support shaft connecting the inspection head and the head support, for recognizing the attitude of the inspection head with respect to the head support. An up / down angle detection sensor attached to an up / down shaft connecting the swivel table and detecting an up / down angle of the up / down arm with respect to the swivel table; and connecting the swivel table and the moving means support gantry. A turning angle detection sensor attached to the turning shaft to detect a turning angle of the turning table with respect to the moving means support gantry; and a traveling position of the self-propelled vehicle with respect to the structure, attached to the self-propelled vehicle. And a vehicle movement distance detection sensor attached to the axle and detecting the movement distance of the self-propelled vehicle. Any one of claims 2 to 4
Structure hitting sound inspection device according to the paragraph. 6. The structure impact sound inspection apparatus according to claim 1, wherein the inspection head is provided with a plurality of rotatable rotating bodies that are in contact with the inspection surface. . 7. The inspection head according to claim 1, wherein the inspection head includes a plurality of sets of the tapper and a pair of the tapping sound detection sensors.
Structure hitting sound inspection device according to the paragraph. 8. The tapper and the tapping sound detection sensor are each one and are integrally connected, and the unit is reciprocated along the longitudinal direction of the inspection head. 7. A movably provided device.
The structure hitting sound inspection device according to any one of the above. 9. An inspection head having a tapper for hitting an inspection surface of a tunnel and a tapping sound detection sensor for detecting a tapping sound, and an inspection head formed to support the inspection head and to be capable of turning up and down and turning. A hitting inspection device for a tunnel, comprising: a head moving means for moving the head while pressing it against the inspection surface; and a self-propelled vehicle equipped with the head moving means.