JP2003119720A - Bridge floor slab inspecting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a bridge floor slab inspecting apparatus with high working efficiency. SOLUTION: According to the bridge floor slab inspecting apparatus, a main girder gripping device (5) of the apparatus is brought closer to a bridge floor slab (3) by a high-altitude working vehicle or the like, and main girder traveling wheels (14) are engaged with a main girder (2) by rotating wheel arms (12), followed by rigidly linking an inspection equipment mounting member to the main girder by a fixing magnet (13). Then, a link mechanism deforming device is operated to place a link mechanism (6) to a location that allows engagement of a gripping claw (9a) with the main girder, and thereafter the gripping claw is engaged with the main girder by extending an elevating device. Thereafter, the elevating device is slightly shrunk, and the wheel arms are rotated to release the engagement between the main girder traveling wheel and the main girder, followed by driving rail traveling wheels (11) by a motor, whereby the inspection equipment mounting member is horizontally moved along rails (8a, 8b) to carry out floor slab inspection. In this manner, the rail traveling wheel is driven with the main girder traveling wheels engaging with the main girder, and then the rail traveling wheels can be transferred to another main girder.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an inspection device for detecting a defect in a floor slab such as a bridge, and more particularly to a mechanism for attaching the inspection device to the bridge and moving the inspection device.

[0002]

2. Description of the Related Art As a concrete floor slab of a bridge has cracks on its surface or cavities or cracks are generated inside, the cracks and cavities are found early and In order to repair it immediately, it is constantly inspected. Here, since the upper surface of the floor slab is usually paved or rails are laid, it is difficult to inspect the floor slab from the upper surface, and the inspection is performed from the lower surface. Therefore, conventionally, as shown in FIG.
The inspection equipment 100 is mounted on the support base 4b at the tip of the work arm 4a of the aerial work vehicle 4, the aerial work vehicle 4 is parked under the bridge, and then the work arm 4a of the aerial work vehicle is extended to inspect the equipment. 100
It was common to approach the floor slab 3 for inspection.

However, the conventional method has the inconvenience that the stopping place of the aerial work vehicle 4 is limited, and the aerial work vehicle 4 is moved each time the floor slab inspection location is moved. It is necessary to stop the aerial work vehicle 4 during the inspection work because it has to be done, and it is necessary to stop the aerial work vehicle 4 during the inspection work. There was a problem such as causing a traffic jam.

[0004]

SUMMARY OF THE INVENTION In view of the above problems, an object of the present invention is to provide a floor slab inspection device that is not limited in working place and has good working efficiency.

[0005]

According to the invention of claim 1, a bridge floor for inspecting a floor slab of a bridge arranged on a plurality of main girders having an I-shaped cross section having upper and lower flanges. A plate inspection device, comprising: a main girder holding device that holds at least two main girders; and an inspection device that is attached to the main girder holding device via an inspection device attachment member. , A link mechanism that rotatably connects a pair of rails and a pair of connecting members to each other to form a parallelogram and that can change the distance between the connecting members, and a main girder at the tip that is erected on each of the pair of connecting members. A suspension arm having a grip claw that can be engaged with the upper surface of the lower flange, and is brought close to the main girder by the access means, and the inspection equipment attachment member is further driven by the drive means to move on the rail. Available rail running wheels and pivotable wheel arms select main girder A main girder traveling wheel which is engaged with the main girder and is movable by a drive means so as to be suspended from the main girder and movable, and the main girder gripping device is brought close to the main girder by the access means. There is provided a bridge deck slab inspection apparatus for engaging a wheel arm of a main girder with a main body girder and then adjusting a distance between connecting members of a link mechanism to engage a grip claw with an upper surface of a lower flange of the main girder. .

According to the bridge floor slab inspection apparatus having the above-described structure, the main girder holding member that holds the main girder by changing the distance between the connecting members of the parallelogram link mechanism is connected to the inspection equipment mounting member. The floor slab of the bridge will be inspected from the bottom side with the inspection equipment installed.

According to the invention of claim 2, in the invention of claim 1, there is provided a bridge floor slab inspection device for gripping two adjacent main girders.

According to a third aspect of the present invention, in the first aspect of the invention, there is provided a bridge floor slab inspection device in which the main girder holding device engages the holding claws on the distal sides of the two main girders. It

According to the invention of claim 4, in the invention of claim 1, the rail traveling wheel is disposed so as to be always engaged with the rail while sandwiching the rail from above and below, and the wheel arm is engaged with the main girder.
Provided is a bridge floor slab inspection device capable of driving a rail traveling wheel to move a rail in a direction perpendicular to a main girder without engaging a grip claw with the main girder.

According to the invention of claim 5, in the invention of claim 1, the main girder traveling wheel engages with the upper surface of the lower flange of the main girder on both sides of the vertical portion of the I-shaped section of the main girder. A slab inspection device is provided.

According to the invention of claim 6, in the invention of claim 1, the bridge floor slab inspection device in which the lifting device capable of adjusting the height of the inspection device mounting member with respect to the rail is attached to the inspection device mounting member. Will be provided.

According to a seventh aspect of the invention, there is provided the bridge deck slab inspection device according to the first aspect of the invention, having parallelogram deforming means capable of adjusting the distance between the connecting members.

According to the invention of claim 8, in the invention of claim 1, there is provided a bridge floor slab inspection device comprising a magnet for attracting the inspection equipment mounting member to the main girder.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a diagram for explaining an example of the overall use of the first embodiment of the present invention, in which a support base 4b provided at the tip of a work arm 4a of an aerial work vehicle 4 stopped on the ground, The main girder holding device 5 to which the inspection equipment is attached via the inspection equipment mounting member 10 is placed, the working arm 4a is extended, the main girder holding device 5 is accessed to the main girder 2, and the main girder 2 is gripped. After the main girder holding device 5 once holds the main girder 2, the main girder holding device 5 can be operated to move the inspection equipment mounting member 10 to continuously inspect the entire area of the floor slab 3. The aerial work vehicle 4 can be moved to another place.

Next, the main girder holding device 5 will be described in detail with reference to FIGS. A pair of connecting members 7a, 7b and a pair of rails 8a, 8b are rotatably connected via a pin 6a to form a parallelogram link mechanism 6. A pair of suspending arms 9 is erected on both ends of each of the connecting members 7a and 7b, and a grasping claw 9a is laterally projected on the upper end of the suspending arm 9.

The rails 8a and 8b have a U-shaped cross section,
The U-shaped discontinuous portions are arranged so as to face each other. Then, sandwich the upper side of the U-shape from above and below,
Two rail traveling wheels 11 are arranged on the upper side and two rail traveling wheels 11 are arranged on the lower side, and these rail traveling wheels 11 are driven by a motor 16 mounted on the lower side of the inspection equipment mounting member 10.

A pair of wheel arms 12 are rotatably mounted on the upper part of the inspection equipment mounting member 10.
The main girder traveling wheel 14 mounted on the main girder 2 engages with the upper surface of the lower flange of the I-shaped section of the main girder 2 as will be described later, and is driven by the traveling motor 15 to mount the inspection equipment along the main girder 2. The member 10 can be moved. A fixed magnet 13 for temporarily fixing the inspection equipment attachment member 10 is also provided on the upper surface of the inspection equipment attachment member 10.

On the other hand, below the inspection equipment mounting member 10,
As shown in FIG. 3, an elevating device 18 is provided, and after engaging the main girder traveling wheels 14 with the main girder 2, the elevating device 18 is extended / shortened to raise or lower the rails 8a, 8b. As a result, the grip claw 9a of the hanging arm 9 can be engaged with or released from the main girder 2. A motor 16 for driving the rail traveling wheels 11 and a link mechanism deforming device 17 for deforming the parallelogram shape of the link mechanism 8 are further arranged in the lower box of the elevating device 18. The mechanism deforming device 17 can arbitrarily change the intervals between the connecting members 7a and 7b and the rails 8a and 8b.

FIG. 6 shows an example of the link mechanism deforming device 17. A gear 11b is fitted to a pair of axles 11a connecting the rail traveling wheels 11 to each other, and stoppers 11 are provided at both ends.
The gear 17a is meshed with the gear 11b, and the pair of rails 8a and 8b and the connecting members 7a and 7b are rotated by rotating the gear 17a as shown in FIG.
Rotate in parallel with each other, and the rail spacing and the connecting material spacing become wider or narrower. By this operation, the grip claws 9a of the hanging arms 9 are engaged with or released from the main girders 2. It is possible.

The procedure of work using the apparatus of the present invention configured as described above will be described below. In the first embodiment, as shown in FIG. 1, the inspection equipment mounting member 10 is placed on the support base 4b at the tip of the work arm 4a of the aerial work vehicle 4 parked on the ground, and the work arm 4a is fixed. The main girder gripping device 5 is extended to approach the floor slab 3 of the bridge. At this time, the link mechanism 6 has a rectangular shape so that the distance between the opposing gripping claws 9a is larger than the distance between the outer sides of the flanges of the adjacent main girders 2 as shown by the chain double-dashed line in FIG. Are formed.

Then, the rail traveling wheels 11 are driven by the motor 16
Driven by, the inspection equipment mounting member 1 is located just below one of the main girders 2.
0 is moved (it is not necessary to move it directly under the inspection equipment mounting member 10 when the work vehicle 4 is elevated). Then, as shown in FIG. 2, the wheel arm 12 is rotated to engage the main girder traveling wheel 14 with the main girder 2. Then, the fixed magnet 13 is made to act to strongly couple the main girder 2 and the inspection equipment mounting member 10. The wheel arm 12 may be rotated after the fixed magnet 13 is acted on. And the work arm 4a of the aerial work vehicle 4
Is slightly lowered to separate the main girder holding device 5 from the support base 4b.

Then, the link mechanism deforming device 17 is operated to bring the link mechanism 8 to the position shown by the solid line in FIG. 4 so that the grip claw 9a can be engaged with the main girder 2, and then the lifting device 1 is used.
8 is extended and, as shown in FIG. 3 and FIG.
The two grip claws 9 a are engaged with the main girder 2. With this, since the main girder holding device 5 is surely suspended from the main girder 2, the installation or mounting of the main girder holding device 5 on the main girder 2 is completed. Therefore, the aerial work vehicle 4 can move to a place where the work arm 4a is completely lowered and the traffic is not disturbed.

The inspection work of the floor slab 3 performed after the main girder holding device 5 is installed on the main girder 2 as described above will be described with reference to FIGS. 7 (A) to 7 (C). To do. First, the lifting device 18 is slightly contracted to operate the main girder traveling wheels 14.
After separating from the main girder ((A) in FIG. 7), the wheel arm 12 is rotated to release the engagement between the main girder traveling wheel 14 and the main girder 2 ((B) in FIG. 7). After that, the rail traveling wheels 11 are driven by the motor 16 to move the inspection equipment mounting member 10 to the rails 8a,
The floor slab 3 is inspected while moving laterally on 8b ((C) of FIG. 7). In addition, the inspection is the inspection equipment mounting member 1
It is carried out by using, for example, a video camera 10a (see FIG. 4) attached to No. 0.

Next, referring to FIGS. 8A to 8F,
The transfer procedure between the main girders of the main girder holding device 5 will be described. The main girder holding device 5 uses the suspension arm 9 to suspend the main girder 2B at the center and the main girder 2 at the right.
In the state of being hung on C, first, the rail traveling wheels 11 are driven by the motor 16 to move the inspection equipment mounting member 10 directly below the central main girder 2B, and the wheel arms 12 are rotated to move the main girder. The wheel 14 is engaged with the central main girder 2B, and the fixed magnet 13 is attracted to the bottom of the central main girder 2B to fix the inspection equipment mounting member 10 in position ((A) of FIG. 8).

Next, the elevating device 18 is shortened to separate the grip claw 9a of the hanging arm 9 from the main girder 2B at the center. afterwards,
By operating the link mechanism deforming device 17, the rails 8a, 8b
So as to form a right angle with respect to the main girder 2,
The spacing of the gripping claws 9a facing each other is widened by widening the spacing of 7b.
And the distance between the outer edges of the flanges of 2A and 2A (FIG. 8B).

In this state, as shown in FIG. 9 (a view taken along the line IX-IX in FIG. 8B), the lifting device 18 is extended so that the suspension arm 9 does not interfere with the main girder 2. Rails 8a, 8
b is lowered.

Next, the rail traveling wheels 11 are driven by the motor 16 to move the rails 8a and 8b toward the left main girder 2A ((C) in FIG. 8). Thus, rail 8
When a and 8b have moved to a predetermined position, the lifting device 18 is shortened to raise the rails 8a and 8b to a height at which the grip claws 9a of the hanging arm 9 can engage with the main girder 2 ((D in FIG. 8). )).

Next, the link mechanism deforming device 17 is operated to narrow the rail interval to narrow the connecting material interval, and then the elevating device 18 is extended to engage the suspension arm 9 with the main girder 2, and , The attraction of the fixed magnet 13 to the main girder 2 is released, and the inspection equipment mounting member 10 is brought into a state of being movable on the rails 8a and 8b ((E) of FIG. 8).

After that, the lifting device 18 is slightly extended,
After rotating the wheel arm 12 to disengage the main girder traveling wheel 14 from the main girder 2, the rail traveling wheel 11 is driven by the motor 16 so that the inspection equipment 10a attached to the inspection equipment attachment member 10 is attached to the rails 8a, 8b. While moving up, the floor slab 3 is inspected ((F) in FIG. 8).

The above-mentioned installation operation, inspection movement operation, and inter-main girder transfer operation of the main girder gripping device 5 are performed by remote operation or fully automatic operation.

As described above, the main girder holding device 5 of the present invention
According to the above, after the apparatus is mounted on the main girder 2 of the floor slab from the ground using the aerial work vehicle 4, the aerial work vehicle 4 can be moved to another place. There is no need to restrict traffic during inspection work, and once the main girder gripping device 5 has been set, the inspection equipment mounting member 10 can automatically traverse and travel along the main girder 2. In addition, since it is possible to transfer between a plurality of main girders, there is an effect that the inspection of the entire floor slab can be continuously performed, and the inspection work of the floor slab can be performed efficiently and safely.

Next, a second embodiment will be described.
In the second embodiment, as shown in FIG. 10, a main girder holding device 5 equipped with an inspection equipment mounting member 10 is mounted on a floor slab 3 of a bridge. The main girder gripping device is different in that the main girder gripping device 5 is placed on a support base 4b 'provided at the tip of 4a' and the working arm 4a 'is operated to install the main girder gripping device 5 on the main girder 2 of the floor slab. The structure and action of 5 are unchanged.

The second embodiment is effective when the bridge pier 1 is very high or when the aerial work vehicle 4 cannot be stopped on the ground, and the main girder holding device 5 can be installed from above the bridge.
After the main girder gripping device 10 is installed, the aerial work vehicle 4'can be moved to another place on the floor slab 2, so that there is no need for traffic regulation as in the past and the device can be safely set. There is an effect. Other effects are similar to those of the first embodiment.

[0034]

The invention of each claim is a bridge floor slab inspection device for inspecting a floor slab of a bridge arranged on a plurality of main girders of I-shaped cross section having upper and lower flanges. A main girder gripping device for gripping at least two main girders, and an inspection device attached to the main girder gripping device via an inspection device mounting member. The main girder gripping device includes a pair of rails and a pair of rails. A link mechanism that rotatably connects the connecting members of the parallelogram to form a variable distance between the connecting members, and a pair of connecting members that are erected upright on the upper surface of the lower flange of the main girder. A suspension arm having a gripping claw that can be engaged, and a rail traveling wheel that is brought close to the main girder by the access means and that is movable on the rail by being driven by the drive means. , The pivotable wheel arm drives the main girder to be selectively engaged. A main girder traveling wheel that is driven by a means and can be suspended from the main girder and is moved, and the main girder gripping device is brought close to the main girder by the access means, and the wheel arm of the inspection equipment mounting member is attached to the main girder. Then, the distance between the linking members of the link mechanism is adjusted to engage the grip claws with the upper surface of the lower flange of the main girder. Therefore, the main girder gripping device is brought close to the main girder by the access means, but the main girder is gripped by changing the interval of the connecting members of the parallelogram link mechanism of the main girder gripping member. There is no need to rely on means and the access means can be moved to any place, so there is little obstruction to traffic. In particular, as in claim 4, the rail traveling wheel is always arranged to be engaged with the rail by sandwiching the rail from above and below, the wheel arm is engaged with the main girder, and the grip claw is not engaged with the rail. If the rail traveling wheel is driven so that the rail can move in the direction perpendicular to the main girder, another main girder can be gripped without using the access means.

[Brief description of drawings]

FIG. 1 is a diagram showing a usage example of a first embodiment of the present invention.

FIG. 2 is a detailed view of a portion II of FIG.

FIG. 3 is a view on arrow III-III in FIG.

4 is a view taken along the line IV-IV in FIG.

5 is a view taken along the line VV of FIG.

FIG. 6A is a diagram showing a link mechanism deforming device of the main girder holding device according to the first embodiment. (B) It is a figure which shows the effect | action of the link mechanism deformation | transformation apparatus of the main girder holding | grip apparatus which concerns on 1st Embodiment.

FIG. 7 (A) is a view for explaining the procedure of moving the inspection equipment attachment member for inspection with the inspection equipment. (B) It is a figure explaining the procedure which moves an inspection equipment attachment member in order to inspect with inspection equipment. (C) It is a figure explaining the procedure which moves an inspection equipment attachment member in order to inspect with inspection equipment.

FIG. 8 (A) is a diagram for explaining an operation of moving the main girder holding device between main girders. (B) It is a figure explaining the movement operation between main girders of a main girder holding device. (C) It is a figure explaining the movement operation between main girders of a main girder holding device. (D) It is a figure explaining the movement operation between main girders of a main girder holding device. (E) It is a figure explaining the movement operation between main girders of a main girder holding device. (F) It is a figure explaining the movement operation between main girders of the main girder holding device.

FIG. 9 is a diagram viewed from the arrow IX-IX in FIG.

FIG. 10 is a diagram showing a usage example of the second embodiment.

FIG. 11 is a diagram illustrating a conventional technique.

[Explanation of symbols]

2 ... Main girder 3 ... Floor slab 4 ... Aerial work vehicle 5 ... Main girder gripping device 6 ... Link mechanism 6a ... pin 7a, 7b ... Connecting material 8a, 8b ... Rail 9 ... Hanging arms 9a ... Gripping claw 10 ... Inspection equipment mounting member 10a ... inspection equipment 11 ... Rail running wheels 11a ... axle 11b ... Gear 12 ... Wheel arm 13 ... Fixed magnet 14 ... Main girder traveling wheel 15 ... Motor 16 ... Motor 17 ... Link mechanism deforming device 17a ... Gear 18 ... Lifting device

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Naoki Kumamoto             4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture               Mitsubishi Heavy Industries Ltd. Hiroshima Research Center (72) Inventor Nao Teramoto             4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture               Mitsubishi Heavy Industries Ltd. Hiroshima Research Center F term (reference) 2D059 AA14 EE02 EE04 GG39

Claims (8)

[Claims] 1. A bridge floor slab inspection device for inspecting a floor slab of a bridge, which is arranged on a plurality of main girders of I-shaped cross section having upper and lower flanges, wherein at least two main girders are provided. The main girder gripping device for gripping the main girder and the inspection equipment attached to the main girder gripping device via the inspection equipment mounting member, the main girder gripping device rotatably rotates a pair of rails and a pair of connecting members. A link mechanism that is connected to form a parallelogram and that can change the distance between the connecting members, and a gripping claw that is erected on each of the pair of connecting members and that can be engaged with the upper surface of the lower flange of the main girder at the tip. A suspension arm which has a suspension arm, and which is brought into proximity to the main girder by the access means, and the inspection equipment attachment member is further driven by the drive means and is movable on the rail. Is selectively engaged with the main girder and driven by the drive means. A main girder traveling wheel that is suspended from the main girder and movable is attached, and the main girder gripping device is brought close to the main girder by the access means, and the wheel arm of the inspection equipment mounting member is engaged with the main girder. , The bridge floor slab inspection device that adjusts the distance between the linking members of the link mechanism to engage the grip claws with the upper surface of the lower flange of the main girder. 2. The bridge deck slab inspection device according to claim 1, wherein the main girder gripping device grips two adjacent main girders. 3. The bridge deck slab inspection device according to claim 1, wherein the main girder holding device engages the holding claws on the distal sides of the two main girders, respectively. 4. The rail traveling wheel is arranged by sandwiching the rail from above and below and always engaging with the rail. The wheel traveling arm is engaged with the main girder, and the gripping claws are not engaged with the main girder. The bridge deck slab inspection device according to claim 1, wherein the rail can be moved in a direction perpendicular to the main girder by driving. 5. A bridge deck slab inspection according to claim 1, wherein the main girder traveling wheels engage with the upper surface of the lower flange of the main girder on both sides of the vertical portion of the I-shaped section of the main girder. apparatus. 6. The bridge deck slab inspection device according to claim 1, wherein the inspection equipment mounting member is provided with a lifting device capable of adjusting the height of the inspection equipment mounting member with respect to the rail. 7. The bridge deck slab inspection device according to claim 1, further comprising parallelogram deforming means capable of adjusting a distance between the connecting members. 8. The bridge deck slab inspection device according to claim 1, further comprising a magnet that attracts the inspection equipment mounting member to the main girder.