JP2002087342A - System for inspecting funnel cylinder and the like, and carriage moving on wall surface - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inspection system for a funnel cylinder or the like for inspecting a vertical face such as an outer circumferential surface of the funnel cylinder, and a wall surface moving carriage used therefor capable of riding across a tall obstacle in a stable condition. SOLUTION: This wall surface moving carriage having carriers 3 journaled to a body and turn-driven, two magnetic wheels 1, 1 journaled respectively to the each of the one carriers 3 to be turn-driven, a carrier driving mechanism (4, 6, 5a, 7 and the like) for turn-driving the carriers 3 independent of the two wheels 1, 1, a wheel driving mechanism for turn-driving the two wheels 1, 1, a motor for outputting turn-driving force transmitted to the carriers 3 via the carrier driving mechanism, and another motor for outputting turn-driving force transmitted to the two wheels 1, 1 via the wheel driving mechanism, and mounted also with an ultrasonic probe 51 searches the funnel cylinder while self-traveling on the outer circumferential vertical face of the funnel cylinder. When the carriage comes to the obstacle such as a jack-up ring fixed to the funnel cylinder, the carriers 3 are drive-controlled to allow the carriage to ride across the obstacle in the stable condition.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is directed to inspecting an environment, such as a wall surface, a lower surface or a vicinity of a wall surface, by moving on a wall surface of a structure having a vertical surface and an inclined surface such as an outer peripheral surface of a chimney tube body. The present invention relates to an inspection system for a chimney cylinder body and the like, and a wall moving truck used for the inspection system.

[0002]

2. Description of the Related Art Applicants have disclosed Japanese Patent No. 2799667 (Japanese Patent Application Laid-Open No. 8-68622) or Japanese Patent Application Laid-Open
No. 7,197,761 discloses a chimney cylinder body inspection system and a wall-moving trolley used therefor. For example, FIG. 4 of Japanese Patent No. 2799667 shows a wall-moving trolley for chimney cylinder body inspection in which four magnetic wheels (drive wheels) are supported on a vehicle body. FIG. 1 of Japanese Patent Application Laid-Open No. H10-71197 shows that three planetary magnetic wheels (drive wheels) are further supported on a carrier that is supported by a vehicle body, and have only a wheel drive mechanism and a wheel drive source. A wall moving trolley is shown. These three wheels are arranged at each vertex of the triangle.

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to provide a wall-moving trolley capable of overcoming a higher obstacle in a more stable manner on a vertical surface such as the outer peripheral surface of a chimney tube body, and using the same. In particular, it is an object of the present invention to provide an inspection system for inspecting chimney cylinder bodies.

[0004]

Here, the process of completing the present invention and the findings of the present inventors will be described.

[0005] The present inventors have previously proposed a wall moving trolley in which three planetary wheels are arranged in a triangular shape. In this wall moving trolley, only two wheels are attached to the wall, and one wheel is not attached to the wall. For this reason, when the attracted wheel is separated from the wall surface, the traveling stability of the bogie may possibly be impaired.

Therefore, this time, the present inventors have two wheels, and the carriers of these two wheels can be rotated in accordance with the obstacle, and all the wheels are always attracted to the wall surface. I came up with a new wall moving trolley that can maintain its state.

[0007] When this new wall-moving trolley climbs over an obstacle such as an acute-angled convex portion, the posture of the trolley tilts away from the wall surface, so that the wheels are opposed to the attraction force. The bogie's load acts so that the wheels separate from the wall. Note that a wheel that has once lost the suction force cannot recover the suction by itself.

However, in this new wall moving trolley, the carrier can be forcibly rotated so that the wheel does not separate from the wall or the wheel that has once separated approaches the wall. As a result, the suction ability of the wheels can be restored.

[0009] When the new wall moving trolley gets over a small obstacle such as a projection or a recess having a substantially right angle or less, it is not necessary to actively rotate the carrier. There is.

Based on the above findings, the present inventors have completed the present invention, and have provided the following novel wall moving cart.

That is, in order to achieve the above object, the present invention provides a vehicle body, a carrier pivotally supported on the vehicle body and driven to rotate, and one or two carriers for one carrier.
A wheel that is individually supported and is rotationally driven and adsorbs to a wall surface, a carrier drive mechanism for rotating the carrier independently of the wheel, and a wheel drive mechanism for rotationally driving the wheel, A carrier drive source that outputs a rotational drive force transmitted to the carrier via the carrier drive mechanism, and a wheel drive source that outputs a rotational drive force transmitted to the plurality of wheels via the wheel drive mechanism. The present invention provides a wall moving trolley characterized by having:

This wall-movable trolley can be equipped with an inspection sensor. Even if it is a vertical wall, the inspection data is missing using this inspection sensor while traveling or ascending and descending in a stable state. It can be collected without.

Further, the present invention provides a worm wheel, wherein the carrier driving mechanism is connected to the carrier and rotated to rotate the carrier, and the carrier driving mechanism is meshed with the worm wheel and drives the carrier. A worm to which the rotational driving force from the source is transmitted;
And a worm gear mechanism including the worm gear mechanism.

According to the wall moving cart, the rotation angle of the carrier can be finely adjusted via the worm gear, and unexpected reverse rotation of the carrier can be prevented. For example, even when the driving force of the carrier is temporarily lost, unexpected reverse rotation of the carrier is prevented.

Incidentally, in the case of the above-mentioned wall state where there is no possibility that the suction ability of the wheels is reduced, it is sufficient that one carrier is provided with one wheel. Also in the wall moving truck of the present invention having this configuration, if the posture of the truck is appropriately controlled by the rotation control of the carrier, the suction capability of the wheels is improved, and it is easy to collect inspection data without missing data. Become.

According to such a wall-moving trolley, the state where all the wheels are attracted to the wall surface or the surface on the obstacle is maintained as much as possible when the vehicle gets over the obstacle, and each wheel and the wall surface or the obstacle are maintained. Sliding with the upper surface is reduced. Thus, the wall moving trolley can overcome obstacles in a more stable state.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described.

In a preferred embodiment of the wall moving truck according to the present invention, a magnetic wheel is used as a wheel that is attracted to a wall surface so that the wall moving truck according to the present invention can freely travel or ascend and descend on an inclined surface and a vertical surface. (Magnet wheel)
Is used. Alternatively, a wheel that is attracted to a wall surface by pneumatic force may be used.

In a preferred embodiment of the wall moving cart according to the present invention, a pair of carriers facing each other in the left-right direction of the vehicle body are driven in conjunction with each other.

In a preferred embodiment of the wall moving trolley according to the present invention, four carriers (driving carriers) are respectively supported on the front, rear, left and right of the vehicle body, and each carrier has two
Drive wheels are supported.

In a preferred embodiment of the wall moving cart according to the present invention, the carrier driving mechanism and the wheel driving mechanism are provided independently. This facilitates independent drive control of the carrier and the wheels. More preferably, the carrier drive source and the wheel drive source are provided independently.

In a preferred embodiment of the wall moving cart according to the present invention, a carrier drive mechanism is connected to the carrier and is driven by the drive to rotate, so that the worm wheel meshes with the worm wheel. And a worm to which a rotational driving force from a carrier driving source is transmitted. Thus, through the worm gear mechanism,
By rotating the carrier, the carrier rotation angle can be finely adjusted.

According to another preferred embodiment, the carrier drive source and the carrier are connected via a link mechanism. As the carrier driving source, for example, various actuators, for example, a hydraulic shilling and the like can be used.

In a preferred embodiment of the wall moving cart according to the present invention, the wheel drive mechanism includes a planetary gear mechanism mounted on a carrier and transmitting a rotational driving force from a wheel drive source to a plurality of wheels. You. As described above, by using the planetary gear mechanism, a wheel drive mechanism that needs to drive a plurality of wheels can be made compact. By mounting the planetary gear mechanism on the carrier, it is possible to make room for the body of the vehicle.

In a preferred embodiment of the wall moving cart according to the present invention, the carrier is loosely fitted on the wheel driving shaft. According to this embodiment, the wheel driving shaft has a multi-function, that is, a function of transmitting rotational driving force to a plurality of wheels, and a function of supporting a carrier.
It is no longer necessary to separately use a shaft for supporting the carrier, and the weight and compactness of the wall moving cart can be achieved.

In a preferred embodiment of the wall moving cart according to the present invention, the carrier is connected via a rotating member (particularly, a worm wheel) whose rotation is controlled, and a spring. According to this embodiment, sudden rotation of the carrier is reduced, and the impact applied to the carrier is prevented from being directly transmitted to the rotation member.

[0027] In a preferred embodiment of the wall moving trolley according to the present invention, the wall moving trolley includes monitoring means for detecting a running state such as a contact state of the plurality of wheels or a contact state with an obstacle, and the monitoring means. Control means for controlling the carrier drive source in accordance with the traveling condition detected by the control means, thereby driving the carrier to rotate.

[0028] A preferred wall moving vehicle according to the present invention is a vehicle body, a wheel driving shaft pivotally supported by the vehicle body and extending along the left-right direction of the vehicle body, and is loosely fitted on the wheel driving shaft. A carrier rotatably driven along the side surface of the vehicle body, two wheels pivotally supported on the carrier, two wheel gears respectively rotating together with the two wheels, and the wheel drive A sun gear provided so as to integrally rotate on a shaft for use, two pinions rotatably supported on the carrier, meshing with the sun gear, respectively, and meshing with one of the two wheel gears, respectively; The two wheels are respectively rotated via the sun gear, the two pinions, and the two wheel gears by being mounted on a vehicle body and rotatingly driving the wheel driving shaft. A wheel drive source, a worm wheel coupled or integrated with the carrier, and rotating along the side surface of the vehicle body to rotate the carrier along the side surface of the vehicle body; A carrier driving shaft that is disposed and extends along the front-rear direction of the vehicle body; a worm that is provided on the carrier driving shaft so as to rotate integrally therewith and meshes with the worm wheel; and that is provided on the carrier driving shaft. A driven bevel gear, a bevel gear drive shaft pivotally supported by the vehicle body and extending along the left-right direction of the vehicle body, and a drive bevel gear provided on the bevel gear drive shaft so as to rotate integrally therewith and meshing with the driven bevel gear; The bevel gear drive shaft is mounted on the vehicle body and is driven by rotating the bevel gear drive shaft. Berugiya, the driven bevel gear, wherein the carrier drive shaft, via the worm and the worm wheel, and having a carrier driving source for rotating along the carrier to the side of the vehicle body.

[0029] More preferably, the carrier includes a pair of carrier plates facing each other along the left-right direction of the vehicle body, and the worm wheel is disposed between the pair of carrier plates. The plates are integrated with each other by bolts penetrating the worm wheel. Along the rotation direction of the worm wheel, between the bolt and the worm wheel, a relative position between the pair of carrier plates and the worm wheel is provided. It is characterized in that there is a clearance so as to allow rotation, and the pair of carrier plates and the worm wheel are connected via a spring.

In a preferred embodiment of the inspection system according to the present invention, the wall moving cart according to the present invention is provided with a CCD.
A camera and an inspection sensor are mounted. On the other hand, a monitor that displays an image transmitted from the CCD camera outside the wall-moving trolley, receives an inspection signal transmitted from the inspection sensor, and monitors the monitor. And a control panel (controller) for controlling at least the carrier driving source via control means (for example, a microcomputer mounted on a wall moving trolley). The inspection sensor inspects the environment on the wall surface, under the wall surface, or near the wall surface on which the wall moving vehicle travels or moves up and down. As the inspection sensor, for example, a sensor for detecting an ultrasonic wave or an eddy current, or a CCD
A camera, as well as various other detectors, can be used.

In a preferred embodiment of the present invention,
The two wheels supported by one carrier are independently driven and controlled. This allows these two wheels to rotate at different speeds, and prevents slippage of the wheels, especially when climbing over an obstacle.

FIGS. 15A and 15B are diagrams for explaining the principle of this embodiment.
FIG. 15A is an operation explanatory diagram when two wheels pivotally supported by one carrier are controlled together when the wheels approach an obstacle, and FIG. It is operation | movement explanatory drawing at the time of a wheel approaching an obstacle base.

Referring to FIGS. 15A and 15B, one carrier 3 has two wheels, ie, the front wheel 1.
-1 and the rear wheel 1-2 are pivotally supported. Here, when the front wheel 1-1 and the rear wheel 1-2 are drive-controlled together,
When traveling on a flat wall without obstacles, the front wheel 1
-1 and the rear wheel 1-2 rotate at the same speed, and if they are reduced, the movement distances of both of them for the fixed time are the same. However, when overcoming the obstacle H, the front wheels 1-1
When the vehicle approaches the base or upper part of the obstacle H, the moving distances per unit time are different from each other even though the front wheel 1-1 and the rear wheel 1-2 are driven to rotate at the same speed. Become. That is, in FIG. 15A, the front wheel 1-1 hardly moves per fixed time, whereas the rear wheel 1-2 moves by the distance w1. In FIG. 15 (B), while the rear wheel 1-2 hardly moves per fixed time, the front wheel 1-1 is not moved.
Moves by a distance w2. Such a difference in the moving distance of the front wheel 1-1 and the rear wheel 1-2 per fixed time causes a slip between the front wall 1-1 and the surface on the obstacle. Therefore, as described above, the two carriers supported by one carrier
By independently controlling the drive of the wheels, that is, by connecting the drive systems independent of each other to the two wheels,
The slip can be highly prevented.

In a preferred embodiment of the present invention,
Two wheels are pivotally supported on one carrier, and the axis of this carrier is provided at an intermediate position on a straight line connecting the two wheel axes.

FIGS. 16A and 16B are views for explaining the principle of this embodiment.
(A) is an explanatory view of a case where the carrier shaft is located at an intermediate position on a straight line connecting two wheel shafts, and FIG. 16 (B) is a case where the carrier shaft is located above a straight line connecting the two wheel shafts. FIG.

Referring to FIG. 16 (A), one carrier 3 has two wheels, ie, a front wheel 1-1 and a rear wheel 1
-2 is supported. Furthermore, two wheel shafts 1-1
carrier axis 3 at an intermediate position on a straight line connecting
d is arranged. According to this configuration, when the vehicle gets over the obstacle H, the carriage moves forward by the distance w3 in the traveling direction without the carrier shaft 3d retreating. As a result, slip and reverse rotation of the rear wheel 1-2 are prevented.

Preferably, by disposing the carrier shaft near one of the two wheel shafts,
The other wheel is preferably attracted to the wall surface because the force that causes the truck to separate from the wall surface is reduced by the load of the bogie. In particular, the adsorption performance of the wheels at the forefront of the truck (the uppermost portion when the wall is raised and lowered) is improved, and the movement of the truck is further stabilized.

On the other hand, referring to FIG. 16B, two wheels, that is, a front wheel 1-1 and a rear wheel 1-2 are supported on one carrier 3. Furthermore, two wheel axles 1
-1d and 1-2d, on the straight line connecting the carrier shaft 3
d is arranged. According to this configuration, the front wheel 1-1
When the vehicle approaches the base and upper corners of the obstacle H, the rear wheel 1-2 slips or the bogie moves backward by the distance w4.

For example, in the wall moving truck disclosed in FIG. 1 of the above-mentioned Japanese Patent Application Laid-Open No. Hei 10-71197, three planetary magnetic wheels are pivotally supported on one carrier, and these three planetary wheels are supported. Magnetic rings are arranged at each vertex of the triangle. This configuration corresponds to the configuration shown in FIG.

The wall-moving trolley according to the present invention is suitable for inspecting a chimney cylinder body having obstacles, for example, jack-up rings, reinforcing ribs, and extra welds on the surface to be inspected, and particularly for measuring the thickness of a steel sheet. The present invention is suitably applied to inspection of inner and outer wall surfaces of pipes, storage tanks, ships, and the like, a part of which includes a vertical surface or an inclined surface.

[0041]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In order to further clarify the preferred embodiments of the present invention described above, an embodiment of the present invention will be described below with reference to the drawings.

<First Embodiment> A wall moving trolley according to a first embodiment of the present invention will be described. 1 (A) to 1
(F) is a process diagram for describing a drive control method and operation when the wall moving vehicle according to the first embodiment of the present invention gets over an obstacle.

First, the structure of the wall moving trolley according to the first embodiment of the present invention will be described. Referring to FIG. 1 (A), the wall moving trolley includes a pair of left and right front carriers 3-1 and 3-.
1 and a pair of left and right rear carriers 3-2 and 3-2 (the front and rear carriers 3-1 and 3-2 on the other side are not shown). The left and right front carriers 3-1 and 3-1 are driven in conjunction with each other. Similarly, a pair of left and right rear carriers 3-
2, 3-2 are also driven in conjunction with each other. A pair of left and right front carriers 3-1 and 3-1 and a pair of right and left rear carriers 3-
2, 3-2 are pivotally supported on the vehicle body so as to be rotatable along the side surface of the vehicle body.

A front front wheel 1-1 and a front rear wheel 1-2 are pivotally supported below the pair of left and right front carriers 3-1 and 3-1. Front rear wheel 1
1, 1-2 are not shown). Similarly, a rear front wheel 1-3 and a rear rear wheel 1-4 are pivotally supported below the pair of left and right rear carriers 3-2 and 3-2 (a front front wheel and a front part on the other side). Rear wheels 1-3, 1-4 are not shown). Each wheel 1
1, 1-2, 1-3, and 1-4 are configured as magnetic wheels or wheels that are attracted to a wall surface due to a pressure difference.

Next, a description will be given of a control method and an operation when the wall moving trolley overcomes an obstacle according to the first embodiment of the present invention.

First, referring to FIG.
.., 1-4 rotate in the counterclockwise direction, so that the wall-moving trolley continues to run or ascend or descend in the left direction in the figure.

Referring to FIG. 1 (B), when the wall moving vehicle approaches obstacle H, the pair of left and right front carriers 3-1 and 3-1 rotate backward in the traveling direction by control. (Hereinafter, rotation in this direction is referred to as “reverse rotation”).
As a result, the left and right front front wheels 1-1 and 1-1 are lifted and ride on the obstacle H.

Referring to FIG. 1 (C), the pair of left and right front carriers 3-1 and 3-1 are controlled so that the left and right front rear wheels 1-2 and 1-2 are obstacles H. Until it comes into contact with, it rotates forward in the traveling direction (hereinafter, rotation in this direction is referred to as “forward rotation”).

Referring to FIG. 1 (D), a pair of left and right front carriers 3-1 and 3-1 are further rotated forward by control, and are connected to left and right front front wheels 1-1 and 1-1. Front rear wheel 1
The obstacle H is located between the points 2 and 1-2.

Referring to FIG. 1 (E), the pair of left and right front carriers 3-1 and 3-1 are further controlled by the control until the left and right front front wheels 1-1 and 1-1 contact the ground. Turn around.
After the touchdown, the pair of left and right front carriers 3-1 and 3-1 rotate backward by control.

Referring to FIG. 1F, the left and right front rear wheels 1-2 and 1-2 are also grounded. Thus, a pair of left and right front front wheels 1-1, 1-1 and front rear wheels 1-2,
The obstacle moving operation 1-2 is completed. Hereinafter, similarly, by controlling the pair of left and right rear carriers 3-2, the pair of left and right rear front wheels 1-3, 1-3 and the rear rear wheels 1-4, 1-4, these rear carriers 3-2 are controlled. -2 can also overcome the obstacle H. Thus, the wall moving trolley gets over the obstacle H.

According to the wall moving trolley according to the first embodiment of the present invention described above, when the vehicle gets over an obstacle, the carrier is controlled so as to rotate in a predetermined direction so that the height exceeding the wheel diameter can be obtained. Obstacles can easily be overcome.

<Second Embodiment> Next, a chimney cylinder inspection system will be described as a second embodiment of the present invention. The chimney cylinder body inspection system includes a wall-moving trolley that runs or ascends and descends vertically on the outer peripheral surface of the chimney-tube body, and a control system that is installed on the ground and connected to the wall-moving trolley via a control cable. It is composed of First, a schematic configuration of the chimney cylinder body inspection system will be described. FIG. 2 is a diagram for explaining the configuration of the chimney cylinder body inspection system.

Referring to FIG. 2, the wall moving trolley includes a carrier driving mechanism 50, a wheel driving mechanism 51, a wheel observation camera driving mechanism 52, a probe scanning mechanism 53, and a peeling prevention mechanism (driving mechanism). An auxiliary wheel mechanism) 54 is mounted. Further, the wall-moving trolley includes a worm wheel origin detection sensor 60, a carrier drive shaft rotation detection sensor 61, and a bevel gear drive shaft 7 rotation angle detection sensor 6 (see FIG. 13).
2. Tilt sensor 63 for detecting the tilt angle of the vehicle body, ultrasonic probe 64, wheel observation camera 65, probe observation camera 6
6 and a distance sensor 67 are mounted. In addition, a microcomputer 70 is mounted on the wall moving trolley.

On the other hand, the control system installed on the ground
The ultrasonic probe 6 is operated by an operator.
A control panel (external controller) 81 to which a flaw detection signal or the like output by the controller 7 is input, a monitor 82 for operator monitoring that displays images captured by the wheel observation camera 65 and the probe observation camera 66, and a control panel 81 And a pump 83 for supplying a medium through the medium supply hose 84 between the ultrasonic probe 67 and the surface to be inspected.

A control cable 80 is connected between the microcomputer 70 mounted on the wall-movable trolley and the control panel 81 outside the vehicle. A detection signal output from the mechanism of the detection system is input to the microcomputer 70. Microcomputer 70
Outputs this detection signal to the control panel 81. Monitor 82
The operator monitoring the detection signal or the image displayed on the monitor 82 operates the control panel 81 to monitor the microcomputer 70 mounted on the vehicle.
, And the microcomputer 70 controls the driving of the various driving mechanisms based on the control signal. Note that the microcomputer 70 itself can also drive and control the various driving mechanisms.

On the top of the chimney, a winch 90 is installed, and a collective cable 9 connected to the winch 90 is provided.
1 is connected to a wall moving cart. This collective cable 9
1, the control cable 80 and the medium supply hose 84
Is built-in.

Next, details of each mechanism will be described.

FIG. 3 is a front view for explaining the structure of the inspection wall moving trolley included in the chimney inspection system according to the second embodiment of the present invention. FIG. 4 is a plan view (top view) of the wall moving cart shown in FIG.

[Carrier Driving Mechanism 50 (See FIG. 2)] Referring to FIGS. 3 and 4, in this wall-moving trolley, the carriers 3 are pivotally supported at a total of four locations on the front, rear, left and right of the lower part of the vehicle body. . Carriers 3 and 3 facing each other along the lateral direction of the vehicle are driven in conjunction with each other. Here, the four carrier drive mechanisms provided respectively on the front, rear, left and right sides of the vehicle body basically have a common structure, and therefore, one carrier drive mechanism will be mainly described below.

In particular, FIGS. 7A, 7B, and 8
Referring to FIG. 8A and FIG. 8B, a wheel driving shaft 2 is rotatably supported on the vehicle body. A substantially semicircular carrier 3 is provided on both ends of the wheel driving shaft 2.
Are rotatably supported. The carrier 3 includes a pair of carrier plates 3a and 3b. A worm wheel 4 is arranged between the pair of carrier plates 3a and 3b and concentrically with the pair of carrier plates 3a and 3b.

The worm wheel 4 is formed with a plurality of elongated holes 4a extending in the rotating direction of the pair of carrier plates 3a, 3b. On the other hand, in the pair of carrier plates 3a and 3b, pin holes are formed at positions facing the long holes 4a, respectively. A hollow pin 8c is inserted into the elongated hole 4a and the pin hole. The hollow pin 8c includes a pair of carrier plates 3a,
3b. On the other hand, a predetermined clearance is formed between the hollow pin 8c and the worm wheel 4 along the rotation direction of the worm wheel 4 (there is a clearance on both sides of the hollow pin 8c).

When the wall-moving trolley inspects the chimney cylinder body, the design height of obstacles (for example, jack-up rings, reinforcing ribs, etc.) on the chimney cylinder body is determined as follows.
It is input to the inspection system in advance, and the rotation angle of the carrier corresponding to the height to get over the inspection system is calculated. When the vehicle actually gets over an obstacle, the carrier is rotated by the calculated rotation angle. Is preferred.

However, the actual obstacle height often differs from the production drawing due to deformation of the steel plate due to welding and the like. Therefore, referring to FIG. 7 (B), in the wall moving truck according to the present embodiment, as described above, the carrier plates 3a, 3b are used to prevent the wheels (magnet wheels) from peeling over obstacles. A bolt hole on the worm wheel for connecting the worm wheel 4 to the worm wheel 4 is formed into an elongated hole 4a larger than the bolt diameter (hollow pin 8c outer diameter).
And a predetermined clearance is provided. Due to this clearance, there is some margin in the rotation of the worm wheel and the movement of the wheel via the carrier plate. further,
In the wall moving truck according to the present embodiment, as described later, the carrier plate 3
a, 3b and the upper part of the worm wheel 4 are connected by springs 9, 9 so as to be relatively rotatable.

With the hollow pin 8c inserted through the elongated hole 4a and the pin hole, bolts 8 are inserted into both ends of the hollow pin 8c.
a and 8b are respectively screwed together, whereby the pair of carrier plates 3a and 3b become an integral rotating body.

Further, on the side surface of the carrier 3 and the side surface of the worm wheel 4, the space between the upper center of the worm wheel 4 and both upper sides of the carrier plate 3 a extends substantially along the rotation direction of the worm wheel 4. The springs 9 and 9 are connected to each other. Thereby, the carrier 3 (a pair of carrier plates 3a, 3b)
Is rotatable relative to the worm wheel 4. The upper limit of the relative rotation angle is determined by the clearance between the hollow pin 8c and the worm wheel 4.

In particular, FIGS. 7A, 7B, and 8
Referring to FIG. 8A and FIG. 8B, a carrier driving shaft 5 extending along the front-rear direction of the vehicle body is disposed above the worm wheel 4. A worm 6 provided on the carrier driving shaft 5 so as to rotate integrally with the carrier driving shaft 5 and meshing with the worm wheel 4 is fixed or integrally formed.

Referring particularly to FIGS. 3 and 9, a driven bevel gear 5a is provided on one end of the carrier driving shaft 5.
Are fixed or integrally formed. On the other hand,
A bevel gear drive shaft 7 extending along the left-right direction of the vehicle body is supported. At both ends of the bevel gear drive shaft 7, a drive bevel gear 7a is fixedly or integrally formed. These drive bevel gears 7a, 7a
The driven bevel gears 5a, 5a on the left and right sides of the vehicle are in mesh with each other.

Referring particularly to FIGS. 9 and 11, a spur gear 10 is fixed to one side of the bevel gear drive shaft 7. On the outer peripheral surface of the spur gear 10, a large-diameter annular gear train 10a and a small-diameter annular gear train 10b are formed. On the other hand, an upper carrier driving motor 13a and a lower carrier driving motor 13b are mounted on the rear end of the vehicle body in a state where they are arranged in parallel in the vertical direction. An upper motor drive gear 11a is fixed on the drive shaft 11 of the upper carrier drive motor 13a so as to rotate integrally therewith. The upper motor drive gear 11a meshes with a large-diameter annular gear train 10a. Lower motor 1 for carrier drive
A lower motor drive gear 12a is fixed on the third drive shaft 12 so as to rotate integrally therewith, and the lower motor drive gear 12a meshes with a small-diameter annular gear train 10b.

With such a carrier driving mechanism, the left and right carriers 3 and 3 are driven in conjunction with each other to perform the same operation.

[Wheel drive mechanism, in particular, planetary gear mechanism] Referring to FIGS. 3 and 4, in this wall-movable trolley, a pair of wheels 1,
1 (planetary magnetic wheel) is provided. The pair of wheels 1, 1 supported by the same carrier 3 are driven in conjunction with each other. Here, the four wheel drive mechanisms provided respectively on the front, rear, left and right sides of the vehicle body basically have a common structure, and therefore, hereinafter, one wheel drive mechanism will be mainly described.

The lower part of the carrier 3 has two wheels 1, 1
Are respectively supported. Planet gears 2p, 2p are respectively fixed on the shafts of the wheels 1, 1 so as to rotate integrally with the respective shafts. A sun gear 2 is provided on the wheel driving shaft 2 so as to rotate integrally with the wheel driving shaft 2.
s is fixed. At the bottom of carrier 3,
A pair of idle gears 2i, 2i are pivotally supported. Each of the pair of idle gears 2i, 2i is engaged with the sun gear 2s, and is also engaged with one of the two wheels 1, 1. The rotational driving force input to the wheel driving shaft 2 via such a planetary gear mechanism is applied to the wheels 1, 1
Respectively.

Next, a configuration for transmitting a rotational driving force from the wheel driving source (motor 18) to the wheel driving shaft 2 will be described.

Referring particularly to FIGS. 8 and 13, a wheel drive worm wheel 15 is fixed on the wheel drive shaft 2 so as to rotate integrally therewith. The wheel driving worm wheel 15 is engaged with a wheel driving worm 16 a fixed on a wheel driving worm shaft 16. A lower spur gear (not shown) for driving a wheel is fixed on the worm shaft 16 for driving the wheel so as to rotate integrally therewith. The lower spur gear for wheel drive is
It meshes with the upper spur gear 17 for wheel drive. The wheel driving upper spur gear 17 is provided with a wheel driving motor 1 described later.
8 so as to rotate integrally with the drive shaft 8. In the lower part of the rear part of the vehicle body, rear left and right wheel drive motors 18, 18 are mounted in a state of juxtaposition along the vehicle body left-right direction. As described above, the rear left wheel drive motor 20 rotationally drives the vehicle rear left wheel 1,1, and the rear right wheel drive motor 18 drives the vehicle rear right wheel 1,1 to the rear left side. Can be rotated independently of the wheels 1,1 of the vehicle.

With the above configuration, the rotational driving force output from the left and right wheel driving motors 20, 21 is transmitted to the left and right wheels (1, 1) and (1, 1), respectively.

Next, the microcomputer 70 (see FIG. 2) mounted on the wall moving trolley, various sensors and their driving mechanisms will be described.

[Original sensor 6 for worm wheel]
[0] Referring to FIG. 3, an origin detection sensor 6 for detecting the origin of the worm wheel 4 is provided on the vehicle body of the wall-moving trolley, at a position facing the worm wheel 4 (on the side of the vehicle body).
0 (see FIG. 12). The origin detection sensor 60 has a Hall element, which detects the rotation of each tooth of the worm wheel 4 and outputs the rotation to the microcomputer 70 (see FIG. 2).

[Rotation Detection Sensor 61 for Carrier Driving Shaft] Referring to FIGS. 12 and 13, a rotation angle detection sensor 61 for detecting the rotation of the carrier driving shaft 5 is provided on the side of the vehicle body of the wall moving truck. Have been. Referring to FIG. 14, the rotation angle detection sensor 61 is a photosensor which is mounted on the other end of the carrier driving shaft 5 and a photosensor which is mounted on the vehicle body side and optically detects the rotation of the rotation plate 30. 31.

[Rotation Angle Detection Sensor 62 of Bevel Gear Drive Shaft] Referring to FIGS. 5 and 13, a rotation angle detection sensor 62 for detecting the rotation of the bevel gear drive shaft 7 is provided at the rear end of the vehicle body of the wall moving truck. ing. Referring to FIG. 14, the rotation angle detection sensor 62 includes a rotation plate 30 attached to the bevel gear drive shaft 7.
And a photo sensor 31 that is attached to the vehicle body and optically detects the rotation of the rotating plate 30. A rotation angle detection sensor for detecting rotation of the front bevel gear drive shaft is also provided at the front end of the vehicle body.

[Tilt Angle Sensor 63 for Detecting Tilt of Vehicle Body]
An inclination sensor 63 (see FIG. 2) for detecting the inclination of the vehicle body of the wall moving trolley is mounted inside the vehicle body.

[Distance Sensor 64 for Measuring the Traveling Distance of Wall Moving Truck] Referring to FIGS. 2 and 3, a distance sensor 64 composed of a rotary encoder is mounted on the bottom of the vehicle body of the wall moving truck. The distance sensor 64 detects the travel distance of the wall moving trolley.

[Wheel Observation Camera (CCD Camera) 65 and Wheel Observation Camera Driving Mechanism 52] Referring to FIGS. 3 and 5, the left and right wheel observation cameras 65, 65 project from the side of the vehicle body of the wall moving trolley. I have. The left and right wheel observation cameras 65, 65 are mounted on a wheel observation camera drive mechanism 52 that is slidable in the vehicle longitudinal direction. The wheel observation cameras 65, 65 capture the state of each of the front, rear, left and right wheels, in particular, the grounding state, and output an image signal thereof. This image signal is input to the control panel 81 or the microcomputer 70.

[Peeling Prevention Mechanism (Auxiliary Wheel Mechanism) 54] FIG.
, At the rear end of the vehicle body of the wall moving vehicle, a separation preventing mechanism 5 is provided to prevent the wheels 1 from separating from the inspection surface.
4 are provided. The peel prevention mechanism 54 includes an auxiliary wheel,
An auxiliary wheel shaft for elastically suspending the auxiliary wheel, and an auxiliary wheel shaft driving source for lifting and lowering the auxiliary wheel shaft are provided.

[Ultrasonic probe 67 and probe scanning mechanism 5]
3, further, probe observation camera 66] FIGS. 3, 4 and 6
Referring to, a probe scanning mechanism 53 is mounted on a frame projecting from the rear of the vehicle body of the wall moving vehicle.
An ultrasonic probe 67 is connected to the probe scanning mechanism 53 so as to be grounded to the inspection surface. Further, on the frame, a probe observation camera 66 for observing the state of the ultrasonic probe 67, particularly, the grounding state is mounted.

[Control Cable and Control Cable Connector] Referring to FIG. 5, a control cable connector 32 to which a control cable including various control lines is connected is attached to the front of the vehicle body of the wall moving vehicle. . The control cable 80 (see FIG. 2) is connected to the control cable connector 32. With reference to FIG.
Microcomputer 70 mounted on the wall moving trolley and the wheel observation camera 6 via a signal line built in
5. The detection signal, the control signal, and the image signal are transmitted and received between the probe observation camera 66 and the ultrasonic probe 67, and the control panel 81 installed outside the vehicle separated from the wall moving vehicle. .

[Winch 90 and Collective Cable 91] Referring to FIG.
A collective cable 91 connected to (not shown) is engaged. This prevents the wall moving trolley from dropping, particularly when inspecting the vertical plane.

[Medium Supply Hose] Referring to FIG. 2, a medium supply hose 84 (a collective cable) for supplying a medium between the ultrasonic probe 67 and the surface to be inspected is provided on the vehicle body of the wall moving truck. 91 is connected, and the base end of the medium supply hose 84 is connected to an external pump 83.

<Measurement Example> When a test for climbing over an obstacle (wheel diameter: 80 mm) was performed using the wall moving trolley according to the second embodiment of the present invention described above, the above-mentioned Japanese Patent Application Laid-Open No. 10-71197 was described. The wall moving trolley according to the comparative example disclosed in the official gazette was difficult to get over, height 80 mm, 85
mm and 90 mm obstacles (simulated as reinforcement ribs on the chimney cylinder body) could be overcome in a stable state. In addition, when a running test was carried out on the extra weld, according to the wall moving trolley according to the second embodiment of the present invention, the wheels are separated from the running surface as compared with the wall moving trolley according to the comparative example. Without any problems, the vehicle continued to run in a stable position.

[0089]

According to the present invention, a wall-moving trolley capable of overcoming a high obstacle stably on a vertical surface such as the outer peripheral surface of a chimney tube body, and an inspection system using the same, particularly, An inspection system for a chimney cylinder or the like is provided.

[Brief description of the drawings]

FIGS. 1A to 1F are process diagrams for explaining a drive control method and operation when a wall moving trolley according to a first embodiment of the present invention gets over an obstacle.

FIG. 2 is a diagram for explaining a configuration of a chimney cylinder body inspection system according to a second embodiment of the present invention.

FIG. 3 is a front view for explaining the structure of a wall moving trolley for inspection included in a chimney inspection system according to a second embodiment of the present invention.

FIG. 4 is a plan view of the wall moving cart shown in FIG. 3;

FIG. 5 is a front view (left side view) of the wall moving cart shown in FIG. 3;

6 is a rear view (right side view) of the wall moving cart shown in FIG. 3;

7A is a front view of a carrier drive mechanism provided in the wall moving vehicle shown in FIG. 3, and FIG. 7B is a rear view (side view) of the same.

8A is a front view for explaining a wheel drive mechanism provided in the wall moving vehicle shown in FIG. 3, and FIG. 8B is a rear view (side view) of the same.

9 is a partial plan view showing a carrier driving mechanism and a carrier driving source included in the wall moving trolley shown in FIG. 3;

FIG. 10 is a front view of FIG. 9;

11 is a partial front view of the carrier driving mechanism shown in FIG.

FIG. 12 is another partial front view showing the carrier drive mechanism provided in the wall moving trolley shown in FIG. 3;

FIG. 13 is a plan view of FIG.

FIG. 14 is a view for explaining a structure of a photosensor mounted on the wall moving trolley shown in FIG. 3;

FIGS. 15A and 15B are diagrams for explaining the principle of a preferred embodiment of the present invention, wherein FIG. 15A shows two wheels pivotally supported by one carrier; And FIG. 9B is an operation explanatory diagram when the wheel approaches an obstacle when the wheels are controlled together. FIG. 10B is an operation explanatory diagram when the wheel approaches an obstacle base.

FIGS. 16A and 16B are diagrams for explaining the principle of another preferred embodiment of the present invention,
(A) is an explanatory diagram of a case where the carrier shaft is located at an intermediate position on a straight line connecting two wheel shafts, and (B) is an explanatory diagram of a case where the carrier shaft is located above a straight line connecting the two wheel shafts. FIG.

[Explanation of symbols]

Reference Signs 1 wheel (planetary magnetic wheel) 1-1 front front wheel 1-1d wheel axle (front wheel axle) 1-2 front rear wheel 1-2d wheel axle (rear wheel axle) 1-3 rear front wheel 1-4 Rear rear wheel 2 wheel driving shaft 2s sun gear 2i idle gear 2p planetary gear 3 carrier 3a, 3b pair of carrier plates 3c pin hole 3d carrier shaft 4 worm wheel 4a long hole 5 carrier driving shaft 5a driven bevel gear 6 worm 7 bevel gear Drive shaft 7a Drive bevel gear 8a, 8b Bolt (for connecting a pair of carrier plates) 8c Hollow pin 9 Spring (for connecting carrier and worm wheel) 10 Spur gear 10a Large ring gear train 10b Small ring gear train 11 Carrier drive Drive shaft of upper motor for motor 11a Upper motor drive gear 12 Lower motor for carrier drive Drive shaft 12a Lower motor drive gear 13, 13 Upper and lower motor for carrier drive 15 Worm wheel for wheel drive 16 Worm shaft for wheel drive 16a Worm for wheel drive 17 Upper spur gear for wheel drive 18 Wheel drive motor 30 rotation Plate 31 Photosensor 32 Cable connector 50 Carrier drive mechanism 51 Wheel drive mechanism 52 Wheel observation camera drive mechanism 53 Probe scanning mechanism 54 Peeling prevention mechanism (auxiliary wheel mechanism) 60 Origin detection sensor of worm wheel 61 Rotation of carrier drive shaft Angle detection sensor 62 Bevel gear drive shaft rotation angle detection sensor 63 Tilt angle sensor for detecting vehicle body tilt angle 64 Distance sensor for detecting travel distance (rotary encoder) 65 Wheel observation camera (CCD camera) 66 Probe view Camera 67 Ultrasonic probe 70 Microcomputer mounted on wall moving carriage 80 Control cable 81 Control panel (external controller) 82 Monitor (monitoring monitor for operator) 83 Pump (medium supply pump) 84 Medium supply hose 90 winch 91 Collective cable H Obstacle w1, w2, w3, w4 Distance (difference in travel distance between front and rear wheels)

[Procedure amendment]

[Submission Date] October 4, 2001 (2001.10.
4)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Claims

[Correction method] Change

[Correction contents]

[Claims]

7. The use of the wall movable carriage according to any one of claims 1 to 6, the test sensor to the vehicle body of said wall movable carriage is mounted, said wheels of said wall movable carriage wall surfaces An inspection system that inspects an environment of the wall surface, the lower surface of the wall surface, or the vicinity of the wall surface by using the inspection sensor.

8. A CCD camera for detecting the running conditions such as contact with the ground conditions or disorders of the wheels, depending on the running condition detected by the CCD camera, and controls the carrier driving source, which Control means for rotating and driving the carrier, a monitor for displaying an image transmitted from the CCD camera mounted on the wall moving trolley outside the vehicle separated from the wall moving trolley, and the inspection sensor. A control panel for receiving the transmitted inspection signal and being operated by an operator who monitors the monitor, and for controlling at least the carrier drive source via the control means, is provided. The inspection system according to claim 7 .

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0033

[Correction method] Change

[Correction contents]

Referring to FIGS. 15A and 15B, one carrier 3 has two wheels, ie, the front wheel 1.
-1 and the rear wheel 1-2 are pivotally supported. Here, when the front wheel 1-1 and the rear wheel 1-2 are drive-controlled together,
When traveling on a flat wall without obstacles, the front wheel 1
-1 and the rear wheel 1-2 rotate at the same speed, in other words , the moving distance per unit time is the same. However, when overcoming the obstacle H, the front wheels 1-1
When the vehicle approaches the base or upper part of the obstacle H, the moving distances per unit time are different from each other even though the front wheel 1-1 and the rear wheel 1-2 are driven to rotate at the same speed. Become. That is, in FIG. 15A, the front wheel 1-1 hardly moves per fixed time, whereas the rear wheel 1-2 moves by the distance w1. In FIG. 15 (B), while the rear wheel 1-2 hardly moves per fixed time, the front wheel 1-1 is not moved.
Moves by a distance w2. Such a difference in the moving distance of the front wheel 1-1 and the rear wheel 1-2 per fixed time causes a slip between the front wall 1-1 and the surface on the obstacle. Therefore, as described above, the two carriers supported by one carrier
By independently controlling the drive of the wheels, that is, by connecting the drive systems independent of each other to the two wheels,
The slip can be highly prevented.

Claims (6)

[Claims] 1. A wall moving trolley that travels on a wall or moves up and down, comprising: a vehicle body; a carrier pivotally supported by the vehicle body; and one or two carriers for one carrier. A wheel rotatably supported and rotationally driven and adsorbing to a wall surface, a carrier drive mechanism for rotating and driving the carrier independently of the wheel, a wheel drive mechanism for rotationally driving the wheel, A carrier drive source that outputs a rotational drive force transmitted to the carrier via a carrier drive mechanism; and a wheel drive source that outputs a rotational drive force transmitted to the plurality of wheels via the wheel drive mechanism. A wall moving trolley comprising: 2. A worm wheel connected to the carrier and rotated by driving the carrier, and a worm wheel meshed with the worm wheel and rotated from the carrier drive source. The wall moving truck according to claim 1, further comprising a worm gear mechanism including a worm to which a dynamic driving force is transmitted. 3. A wheel drive that is rotatably supported by the vehicle body and connected to the wheel drive source to transmit a rotational drive force from the wheel drive source to the plurality of wheels by rotating. 3. The wall moving vehicle according to claim 1, further comprising: a carrier shaft; and the carrier is loosely fitted on the wheel driving shaft. 4. 4. A monitoring means for detecting a running condition such as a contact state of the plurality of wheels with a ground or an obstacle, and controlling the carrier driving source in accordance with the running condition detected by the monitoring means. The wall moving trolley according to any one of claims 1 to 3, further comprising: control means for rotating and driving the carrier. 5. The wall-movable trolley according to claim 1, wherein an inspection sensor is mounted on the vehicle body of the wall-movable trolley, wherein the wheel of the wall-movable trolley has a wall surface. An inspection system that inspects an environment of the wall surface, the lower surface of the wall surface, or the vicinity of the wall surface by using the inspection sensor. 6. A CCD camera for detecting a running condition such as a ground contact state of the wheels or a contact state with an obstacle, and the carrier driving source is controlled according to the running condition detected by the CCD camera. Control means for rotating and driving the carrier, a monitor for displaying an image transmitted from the CCD camera mounted on the wall moving trolley outside the vehicle separated from the wall moving trolley, and the inspection sensor. A control panel for receiving the transmitted inspection signal and being operated by an operator who monitors the monitor, and for controlling at least the carrier drive source via the control means, is provided. The inspection system according to claim 5.