JP2003119721A - Work truck for elevated structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a work truck for an elevated structure capable of being moved while also corresponding to the changes of the width, thickness, angle of inclination or the like of the flange of a structural material for the elevated structure, avoiding an obstruction in the longitudinal direction of the flange along the flange. SOLUTION: The work truck for the elevated structure has at least two pairs of supporting arms 2 capable of rotating hand drum-shaped rollers 1 with inclined contact surfaces 1a around the fixed axes of rotation, a base unit 3 on which an operating device can be loaded, supporting-arm urging means 4 urging the supporting arms 2 so that the rollers 1 for each pair of the supporting arms 2 are brought into contact mutually, the inclined contact surfaces 1a are abutted against the edges of the flange of the structural material in these rollers and the flange is held and throttled and roller turning driving means 5 turning and driving the rollers.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a structure such as a beam or girder of an elevated structure along the flange of the structure for performing inspection work or repair work of the elevated structure such as a bridge. The present invention relates to a work truck for an elevated structure that moves in a direction.

[0002]

2. Description of the Related Art For elevated structures such as bridges and highways, periodic inspection work after installation, welding / painting for deterioration due to long-term service, or other damage / deterioration, etc. It is essential to carry out repair work.

Conventionally, in the inspection work and repair work for the lower portion (back surface) of such an elevated structure, for example,
A scaffold for work assembled with steel pipes is suspended on the beams and girders below the bridge using suspension metal fittings, and a worker rides on this scaffold for visual inspection and manual welding / painting. I was doing repair work.

However, erection of this work scaffold requires a great deal of time and labor, and the work of disassembling and removing this scaffold each time the work place is moved and newly assembling and suspending the work is required. Since it has to be carried out, the construction period of inspection and repair work must be extended, and traffic restrictions on bridges and lower roads must also be controlled at the same time.Therefore, in addition to the construction cost of work scaffolding, inspection and repair work is required. There was a problem that the cost for the whole work also increased.
Also, the assembling and disassembling work itself associated with the construction of such work scaffolds is dangerous due to work at high places,
Improvement of work equipment was essential.

Therefore, in order to solve the problems associated with the above-mentioned erection work, a dedicated rail is fixedly fixed to the bridge in advance, and a work carriage movable by a drive device is run on the dedicated rail. There has been proposed a type in which a work carriage travels while being suspended from a girder bottom flange via drive wheels.

However, in the case of a work truck of the type which is run on a dedicated rail, it is necessary to previously attach the dedicated rail to an elevated structure such as a bridge to be repaired. There is a problem that the dedicated rail can be used only for a limited structure in which it is fixed in advance, and the versatility to the existing structure is lacking, while the cost accompanying the fixing is increased.

Further, in the case of a work carriage of a type that is run while suspended from the under beam girder of the bridge, the work vehicle is suspended by the weight of the work vehicle only with the drive wheels placed on the under beam girder. Therefore, there is a problem that the work trolley is swung due to the influence of strong wind and the like, which causes troubles in the inspection and repair work, and in the worst case, the drive wheel may come off from the girder bottom flange. .

Further, in the case of a suspension traveling type work truck, there are obstacles such as a group of joint bolts and vertical ribs on the upper surface of the girder lower flange which is the traveling surface of the drive wheel, and the width, thickness and inclination of the bridge girder. There is a problem in that it is not possible to respond smoothly to changes in the corners, etc., and the work trolley falls into a state in which it is difficult to move (run).

In order to solve this problem, it is conceivable to provide a mechanism for avoiding obstacles on the girder lower flange on the work carriage, but in a work carriage traveling in a state suspended from the girder bottom flange of a bridge. Has a limited installation space for providing additional functions such as climbing over bumps and avoiding obstacles, and the complicated mechanism increases the weight of the device, which adversely affects movement (running) performance. Therefore, in addition to the problem of the installation space, there is a problem that the working conditions in the inspection / repair work, which is the original purpose, are limited.

The present invention has been made in view of the above conventional problems, and in an elevated structure such as a bridge,
Along the flange of the structural material, in the longitudinal direction, while avoiding obstacles, the width and thickness of the flange of the beam and girder of the bridge,
It is an object of the present invention to provide a work truck for elevated structures that can move while responding to changes in the inclination angle and the like.

[0011]

[Means for Solving the Problem and Its Action and Effect] A work carriage for an elevated structure of the present invention which achieves the above-mentioned object is for an elevated structure which moves along a flange of a structural material of an elevated structure such as a bridge. In a work trolley, a support arm that supports a drum-shaped roller having a substantially V-shaped inclined contact surface so as to be rotatable about a predetermined rotation axis, and at least two sets of the support arms. The at least two sets of support arms are separated from each other in the traveling direction of the work carriage so that the rollers of the support arms forming the same set can approach and separate from each other in a direction orthogonal to the traveling direction. Of the roller is disposed in a direction in which the rotation axis extends at right angles to both the traveling direction and the approaching and separating directions of the rollers, and a work device mountable on the roller. Unit and the rollers of the support arms of each set come close to each other, and the rollers bring the inclined contact surfaces into contact with the edges of the flanges of the structural material to sandwich the flanges. It comprises a support arm urging means for urging the support arm and a roller rotation driving means for rotationally driving at least one of the rollers.

In such an elevated structure work trolley,
A base unit capable of mounting a working device includes at least two support arms that rotatably support drum-shaped rollers each having a substantially V-shaped inclined contact surface about a predetermined rotation axis. In the traveling direction of the work carriage, which is the flange extending direction, the rollers of the supporting arms forming the same set can approach and separate from each other in a flange width direction orthogonal to the traveling direction. And a direction in which the rollers of the at least two sets of support arms extend in a direction in which the rotation axis is a flange thickness direction that is perpendicular to the traveling direction and the approaching and separating directions of the rollers. The support arm biasing means is arranged such that the rollers of the support arms of each set come close to each other and the rollers are at the edge of the flange of the structural material. The inclined contact surface is in contact to urge the support arm so as Yakusuru clamping said flange,
Then, the roller rotation drive means rotationally drives at least one of the rollers to drive the work carriage.

Therefore, according to the work truck for the elevated structure of the present invention, the upper and lower edges of the flange of the structural material such as the beam and the girder of the elevated structure such as a bridge have a flange thickness direction. Of the drum-shaped roller rotatably supported by the support arm around the rotation axis extending in the direction of the shaft, the inclined contact surfaces having a substantially V-shape that expands from the central portion in the axial direction toward both ends by two-point contact. Since the roller and the flange are in contact with each other in contact with each other, stable running without slipping or vibration is realized.

Further, according to the work truck for elevated structure of the present invention, the hourglass-shaped rollers of each set of the support arms urged by the support arm urging means come close to each other, and the rollers are bridged. Since an approximately V-shaped inclined contact surface is brought into contact with the edge of the flange of a structural material such as a beam or girder of an elevated structure to clamp both edges of the flange, an elevated structure such as a bridge Stable running of the structure along the longitudinal direction of the flange of the structural material in a suspended state, a crossed state, or a sideways state with respect to the structural material is realized.

Even when the structural material such as a bridge or a girder has a gradient due to the structure of an elevated structure such as a bridge, the contact surface of the roller that abuts the edge of the flange of the structural material. Is a substantially V-shaped inclined contact surface, and the substantially V-shaped inclined contact surfaces come into contact with the upper and lower edges of the flange edge portion by two-point contact, whereby the roller and the flange are rotationally driven. Since the fitting state becomes possible, the working carriage can be driven without the roller idling or the like against the gradient of the flange, and stable traveling is realized.

Further, the support arms of each set are urged by the support arm urging means to bring the rollers into contact with both edge portions of the flange, and at least one of them is rotationally driven by the roller rotation drive means to form a drive wheel. Since the flange is clamped by the rollers, it is not necessary to specially adjust the pressurization of the drive wheel to the flange by using a pressing wheel or a weighting spring separately from the roller. A work trolley having a simple and lightweight structure and having less restrictions on the size and weight of the work device mounted on the base unit is realized.

According to the work truck for an elevated structure of the present invention, when the shape of the flange of the structural material of the elevated structure such as a bridge changes, for example, the thickness of the flange increases along its longitudinal direction. When the shape is changed, the distance between the rollers of the pair of support arms sandwiching both edges of the flange is increased, and the roughly V-shaped inclined contact surface of the rollers and the plate thickness are increased. It suffices that the two contact points with the edge portion of the flange move in the direction in which they are separated from each other along the slope, and the traveling of the work carriage itself is not hindered.
Similarly, when the flange is changed in shape so that the thickness decreases along the longitudinal direction thereof, similarly, the distance between the rollers that sandwich the both edges of the flange of the pair of support arms is reduced, The two contact points of the roughly V-shaped inclined contact surface of the rollers and the flange edge portion having the reduced plate thickness need only move in the directions approaching each other along the inclination, and the work carriage itself can travel. There will be no hindrance.

Further, according to the work truck for elevated structures of the present invention, for example, when the flange is changed in shape so as to be wide along the longitudinal direction, both edges of the flange of the pair of support arms are formed. It suffices that the distance between the rollers that sandwich the portion is increased in accordance with the increase in the plate width of the flange, and the traveling of the work carriage itself is not hindered. Similarly, when the shape of the flange is changed so that it becomes narrower along the longitudinal direction,
It suffices that the distance between the rollers sandwiching both edges of the flange is reduced in accordance with the reduction change of the plate width of the flange, and the traveling of the work carriage itself is not hindered.

Furthermore, the position of the contact point between the edge of the flange and the roller may be temporarily changed by an obstacle such as a group of joint bolts existing on the surface of the flange of the structural material of an elevated structure such as a bridge. Even in such a case, obstacles such as the joining bolt group can be smoothly avoided by simply moving the contact point on the inclined V-shaped inclined contact surface along the inclination, which hinders the traveling of the work carriage itself. It never happens.

As described above, according to the work truck for elevated structures of the present invention, the rollers contacting the edges of the flanges of structural materials such as beams and girders of elevated structures such as bridges have a substantially V shape. Since it has a drum shape with an inclined contact surface, it can follow changes in plate thickness and width of the flange, and it can also smoothly avoid obstacles such as welding bolts existing on the surface of the flange. Stable running can be performed. Originally, this work carriage was not a mechanism for contacting the drive wheel on the surface of the flange but a mechanism for pinching the flange edge with a roller including the drive wheel. Since it is possible to run without contacting the drive wheels with the obstacles in the above, adjustments for running when the flange plate thickness changes etc. are made by using the drive wheel height adjusting means, step overpass means, etc. separately from the above rollers. Since it is not necessary to perform specially, the construction of the work carriage can be made simple and lightweight, and the work carriage having less restrictions on the size and weight of the working device mounted on the base unit can be realized.

Therefore, according to the work truck for the elevated structure of the present invention, the work unit such as the CCD camera, the digital camera and the VTR camera is mounted on the base unit,
For structural materials such as beams, girders, and floor slabs of elevated structures, corrosion damage, coating deterioration, floor slab concrete, etc. on the lower surface of the bridge in the center of the river where it is difficult for humans to directly visually inspect. It is possible to perform measurement, inspection and repair work by visually observing or recording the crack damage situation etc. with images and making a diagnosis,
In addition, by mounting sensors such as accelerometers and displacement gauges on the base unit, after moving this work truck to an appropriate position on the lower surface of an elevated structure such as a bridge, traffic vibration, aerodynamic vibration, It is possible to measure microtremors, etc. at all times and record the waveforms, and to grasp the natural frequency, damping rate, structural deterioration status, etc. of elevated structures such as bridges from those vibration data. Since it is small and easy to operate, it can be easily used even in an emergency such as a disaster, so install an ultrasonic velocity meter or CCD camera in its base unit and move it to the underside of the bridge in the center of the river. Therefore, it can also be used for applications such as grasping and monitoring the river water level, river flow rate, river cross-sectional shape, etc. during flooding.

When the inclination of the roughly V-shaped inclined contact surface of the roller is linear, the contact between the flange edge portion and the substantially V-shaped inclined contact surface of the roller is increased or decreased by increasing or decreasing the flange plate thickness. The amount of movement of the contact point along its inclination corresponds to the increase / decrease width of the flange plate thickness.
The base unit that supports the support arm travels while maintaining a constant distance from the flange.

Therefore, in the above-mentioned case, the working device mounted on the base unit is capable of performing stable measurement and inspection while maintaining a constant distance with respect to the flange and thus structural materials such as beams and girders of the elevated structure. , Repair work can be done.

The work carriage for elevated structures according to the present invention is
The roller may be provided with a fall prevention edge portion that is adjacent to at least the axial end portion of the inclined contact surface of the roller that is separated from the base unit, and that protrudes radially from the inclined contact surface. With this configuration, even when the contact point between the flange edge portion and the roller deviates from the substantially V-shaped inclined contact surface of the roller, at least the side of the inclined contact surface of the roller that is separated from the base unit. Since the roller is hooked to the flange edge by the fall prevention edge that is adjacent to the axial end portion and projects in the radial direction from the inclined contact surface, it is possible to prevent the work carriage from falling during traveling. You can

Further, in the work truck for elevated structures according to the present invention, the base unit may pivotally support the support arm so that the support arm can support the wheels of the vehicle. Since it functions like a leading arm or trailing arm of a suspension system, when the roller comes into contact with a vertical stiffener or a piece of hanging metal fittings existing on the surface of a beam such as a bridge or a flange of a girder. However, the supporting arm can be swung smoothly, and the roller can smoothly avoid the vertical stiffening material, the hanging metal piece, and the like, which allows stable running.

Further, in the work truck for elevated structures according to the present invention, the support arm urging means includes the link member connected to the support arm pivotally supported by the base unit and the base unit. The elastic means may be interposed between the support arm and the support arm urging means can be simply configured, and the support arm biasing point and the elastic means with respect to the link member and the base unit can be formed. At the swinging position where the connecting points of both ends of the means are geometrically aligned, the rotational biasing force of the elastic means with respect to the support arm disappears. Therefore, by stopping the support arm at that swinging position. The distance between the rollers forming the set can be kept large, and the work carriage can be easily attached to and detached from the flange.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings by way of examples. Here, FIG. 1A is a side view showing an embodiment of the work truck for an elevated structure of the present invention, FIG. 1B is a plan view showing the work truck of the embodiment, and FIG. ) Is a front view showing the work carriage of the embodiment, FIG. 1D is a cross-sectional view taken along the line AA of FIG. 1C showing the work carriage of the embodiment, and FIG. 3A and 3B are a plan view showing a normal swinging position of the support arm of the work carriage of the above embodiment and a sectional view at the same position as in FIG. 1D, and FIGS. It is the top view which shows the stop position of the support arm of the working vehicle of the said Example, and sectional drawing in the position similar to FIG.1 (d).

The work truck for elevated structures of this embodiment moves along the flanges of structural materials such as beams and girders of elevated structures such as bridges, as shown in FIG. , A roughly V-shaped inclined contact surface 1a having two truncated conical surfaces facing each other, and integrally adjoining both axial end portions of the inclined contact surface 1a and projecting more radially than the inclined contact surface 1a. It is provided with a support arm 2 which supports a drum-shaped roller 1 having a brim-shaped fall prevention edge portion 1b which is rotatable around a predetermined rotation axis C via a servo motor 5 described later.

The work truck for elevated structures according to this embodiment includes a base unit 3.
In FIG. 1 (b), two pairs of support arms 2 which are the same as the upper and lower ones are shown in FIG. And the rollers 1 of the supporting arms 2 forming the same set can be swung by a supporting shaft 3a penetrating the respective bases of the supporting arms 2 so that the rollers 1 of the supporting arms 2 can approach and separate from each other. And a pair of support arms 2
1A and 1C in which the rotation axis C of the roller 1 extends at right angles to both the running direction and the approaching and separating directions of the rollers 1. Place it in the direction you want. Further, the base unit 3 can have a working device mounted on the surface 3b opposite to the surface facing the roller 1.

Further, the work truck for elevated structures of this embodiment serves as a support arm urging means, and is interposed between a link member 6 and a base unit 3 which are connected to the bases of the support arms 2 at right angles in a bell crank shape. Inserted, as an elastic means,
A gas spring 4 functioning as a compression spring is provided, and the gas spring 4 is pre-compressed and constantly presses and urges the link member 6, so that in the swinging position shown in FIGS. 2 is a direction in which the rollers 1 of the support arms 2 of the respective sets come close to each other and the rollers 1 abut the inclined contact surface 1a on the edge portion of the flange of the structural material to clamp the flange, that is, the base. It is urged to rotate toward the unit 3. On the other hand, in the swinging position shown in FIG. 3, the center of the support shaft 3a, which is the pivot point of the support arm 2, and the connecting points of both ends of the gas spring 4 to the link member 6 and the base unit 3 are geometrically aligned. The support arms 2 can be stopped at the rocking position because the rotational biasing force of the base unit 3 on the support arms 2 disappears in line.

The work truck for elevated structures of this embodiment is provided with four servo motors 5 as roller rotation driving means, which are fixed to the tip ends of the four support arms 2 and rotationally drive each roller 1. As shown in Figure 1 (d)
As shown in FIG. 9, two drivers (driving circuit boards) 10 for respectively driving the four servo motors 5 in each set of the support arms 2 are provided inside the base unit 3, and FIG.
A wireless control panel 12 for wirelessly exchanging signals with the control device 11 shown in FIG. 1 to control the two drivers 10 and control a work device described later and transfer image signals from the work device to the control device 11. And a servomotor 5, a driver 10, a control panel 12, and two batteries 13 as a power source for operating the working device.

FIGS. 4 to 7 show an example of the work truck for an elevated structure of the above-described embodiment when traveling along the lower flange 9 of the I-girder material 8 of the bridge as an example of the structural material of the elevated structure. FIGS. 4A and 4B show a traveling method, FIG. 4A is a bottom view, FIG. 4B is a front view showing a work carriage together with a cross section of a lower portion of the I-girder member 8, and FIG. 5 shows the case of passing through the vertical stiffening member 20, FIG. 6 shows the case of passing through the flange widening / thickening portion, and FIG. 7 shows the case of passing through the joint plate 21 and the joint bolt group 22 of the flange joint portion. Shown respectively.

As shown in FIGS. 4 to 7, in the elevated structure work trolley of the above-described embodiment, the base unit 3 on which the work device can be mounted has the substantially V-shaped inclined contact surfaces 1a. The two sets of support arms 2 for rotatably supporting the hourglass-shaped roller 1 having a rotation axis C about a predetermined rotation axis C are separated from each other in the traveling direction of the work carriage which is the flange extending direction between the sets of support arms 2. And the rollers 1 of the support arms 2 forming the same set are swingably supported so that they can approach and separate from each other in the direction of the flange width direction orthogonal to the traveling direction, and the two sets of support arms 2 are supported. Laura 1
Is arranged in a direction in which the rotation axis C extends in a direction that is a flange thickness direction that is perpendicular to the traveling direction and the approaching and separating directions of the rollers 1, and the gas spring 4 causes the rollers of the supporting arms 2 of each set to rotate. Rollers 1 close to each other
Urges the support arm 2 to rotate so that the slanted contact surface 1a is brought into contact with the edge of the lower flange 9 and the lower flange 9 is clamped.
Then, the four servo motors 5 rotate and drive the four rollers 1, respectively, and cause the work carriage to travel along the lower flange 9. It should be noted that in these figures, the arrow indicates the forward traveling direction of the work carriage, but traveling in the reverse direction opposite to this is also possible.

Therefore, according to the work truck for the elevated structure of this embodiment, around the rotation axis C extending in the flange thickness direction at the upper and lower edges of the lower flange 9 of the I-beam member 8 of the bridge. A drum-shaped roller 1 rotatably supported by a support arm 2
Approximate V of expanding the diameter from the central portion in the axial direction toward both ends
Since the character-shaped inclined contact surface 1a abuts by two-point contact and the roller 1 and the lower flange 9 are fitted to each other, stable running without slipping or vibration is realized.

Further, according to the work truck for elevated structure of this embodiment, as shown in FIG. 4, the hourglass-shaped rollers 1 of the support arms 2 of each set urged by the gas spring 4 come close to each other. Then, since the rollers 1 bring the substantially V-shaped inclined contact surface 1a into contact with the edge portion of the lower flange 9 of the I-beam member 8 of the bridge to sandwich both edge portions of the lower flange 9, I along the longitudinal direction of the lower flange 9 of the I-girder material 8 of the bridge
Stable running of the girder member 8 in a suspended state is realized.

Even if the I-girder member 8 and thus the lower flange 9 are inclined due to the structure of the bridge, the contact surface of the roller 1 contacting the edge portion of the lower flange 9 is substantially V-shaped. The inclined contact surface 1a is the inclined contact surface 1a having a substantially V-shape contacting the upper and lower edges of the edge portion of the lower flange 9 by two-point contact, and the roller 1 and the lower flange 9 are rotationally driven. Since the fitting state becomes possible, the working carriage can be driven without the roller 1 idling or the like with respect to the inclination of the lower flange 9, and stable traveling is realized.

Further, the support arms 2 of each set are urged by the gas spring 4 to bring the rollers 1 into contact with both edges of the lower flange 9, and all four of them are rotationally driven by the servo motor 5 to drive wheels. Since the lower flange 9 is clamped by the rollers 1 to be used, there is no need to specially adjust the pressure of the drive wheel to the flange by using a pressing wheel, a weight spring or the like. Therefore, the structure of the work carriage can be made simple and lightweight, and a work carriage having less restrictions on the size, weight, etc. of the work device mounted on the base unit 3 can be realized.

According to the work truck for the elevated structure of this embodiment, when the shape of the lower flange 9 of the I-girder material 8 of the bridge is changed, the lower flange 9 has its longitudinal length as shown in FIG. 6, for example. When the shape is changed so as to increase in thickness along the direction, the distance between the rollers 1 sandwiching both edges of the lower flange 9 of the pair of support arms 2 is increased, and the rollers 1 of the rollers 1 are formed. It suffices that the two contact points between the substantially V-shaped inclined contact surface 1a and the edge portion of the lower flange 9 having an increased plate thickness move in the directions of separating from each other along the inclination, and although not shown, the lower flange. Similarly, when the shape of the rollers 9 changes so that the thickness thereof decreases along the longitudinal direction, the distance between the rollers 1 that sandwich the both edges of the lower flange 9 of the pair of support arms 2 decreases. In addition, the roller 1 has a substantially V-shaped inclined contact. It suffices that the two contact points between the surface 1a and the edge of the lower flange 9 having the reduced plate thickness move in the directions approaching each other along the slope, and in either case, the traveling of the work carriage itself is hindered. There is no such thing.

Further, as shown in FIGS. 5 and 7, due to the obstacles such as the vertical stiffening member 20, the joint plate 21 and the joint bolt group 22 existing on the surface of the lower flange 9 of the I-girder member 8 of the bridge. Even when the position of the contact point between the edge of the lower flange 9 and the roller 1 temporarily changes, the contact point on the substantially V-shaped inclined contact surface 1a of the roller 1 simply moves along the inclination. Obstacles such as the vertical stiffening member 20, the joint plate 21 and the joint bolt group 22 can be smoothly avoided, and the traveling of the work carriage itself is not hindered.

As described above, according to the work truck for an elevated structure of this embodiment, the roller 1 that abuts on the edge of the lower flange 9 of the I-girder material 8 of the bridge has a substantially V-shaped inclined contact surface 1a. Since it has a drum shape, it is possible to follow the change in the plate thickness of the lower flange 9, and it is possible to avoid obstacles existing on the surface of the lower flange 9 smoothly, and to perform stable traveling.

In addition to the roller 1, there is no need to make special adjustments for running when the thickness of the flange plate changes, using means for adjusting the height of the driving wheels, means for stepping over steps, etc. Therefore, the structure of the work carriage can be made simple and lightweight, and a work carriage having less restrictions on the size, weight, etc. of the work device mounted on the base unit 3 can be realized.

Further, in this embodiment, the outline V of the roller 1 is
Since each of the inclined contact surfaces 1a has a linear shape due to the combination of the truncated conical surface of the character-shaped inclined contact surface 1a, the edge of the lower flange 9 and the outline of the roller 1 can be changed by increasing or decreasing the flange plate thickness. The amount of movement of the contact point with the V-shaped inclined contact surface 1a along the inclination corresponds to the increase / decrease width of the flange plate thickness. Therefore, the base unit 3 supporting the support arm 2 The vehicle always travels while maintaining a constant distance with respect to the lower flange 9.

Therefore, according to the work truck for the elevated structure of this embodiment, the work device mounted on the base unit 3 is
It is possible to perform stable measurement, inspection, and repair work while maintaining a constant distance with respect to the lower flange 9 and thus the I-beam member 8 of the bridge.

Further, according to the work truck for elevated structure of this embodiment, as shown in FIG. 6, for example, when the lower flange 9 is changed in shape so as to be wide along its longitudinal direction, The space between the rollers 1 of the support arm 2 forming the support flange 2 that clamps both edges of the lower flange 9 is sufficient to be expanded in accordance with the expansion change of the plate width of the lower flange 9, and the lower flange 9 is not shown. Similarly, in the case where the shape of the support arms 2 is narrowed along the longitudinal direction thereof, the distance between the rollers 1 for sandwiching both edges of the lower flange 9 of the pair of support arms 2 is also lower flange. It suffices to reduce the plate width by following the reduction change of the plate width of No. 9, and in any case, the traveling of the work carriage itself is not hindered.

Further, according to the work truck for elevated structure of this embodiment, the roller 1 has a brim-like shape which is adjacent to both axial end portions of the inclined contact surface 1a and protrudes in the radial direction from the inclined contact surface 1a. Since the fall prevention edge portion 1b is provided, even when the contact point between the edge portion of the lower flange 9 and the roller 1 deviates from the substantially V-shaped inclined contact surface 1a of the roller 1, Since the roller 1 is hooked on the edge of the lower flange 9 by the fall prevention edge 1b that projects in the radial direction from the inclined contact surface 1a of the roller 1, the work carriage is prevented from falling during traveling. be able to.

According to the work truck for elevated structure of this embodiment, since the base unit 3 pivotally supports the support arms 2 so that each support arm 2 can suspend the wheels of the vehicle. Since it functions similarly to the leading arm or trailing arm of the device, as shown in FIG.
Even when it comes into contact with the vertical stiffening member 20 existing on the surface of the lower flange 9 of the I-beam member 8 of the bridge or a piece of material such as a hanging metal fitting (not shown), the support arm 2 swings smoothly and the roller 1 It is possible to smoothly avoid the vertical stiffening member 20 and the pieces of the hanging metal fittings and the like, and thereby stable traveling can be performed.

Further, according to the work truck for elevated structure of this embodiment, the link member 6 connected to the support arm 2 pivotably supported by the base unit 3 and the base are used as the support arm biasing means. Since the gas spring 4 inserted between the unit 3 and the unit 3 is used, the support arm urging means can be configured simply and, as shown in FIG. 3, the pivot point of the support arm 2 and The pivoting force of the gas spring 4 on the support arm 2 disappears at the rocking position where the link member 6 and the connection points of the both ends of the gas spring 4 to the base unit 3 are geometrically aligned, so that the rocking motion is eliminated. By stopping the support arm 2 at the position, it is possible to maintain a large gap between the rollers 1 forming a set and facilitate the attachment / detachment of the work carriage to / from the lower flange 9. It can be.

FIG. 8A shows a multi-purpose inspection device as an example of a work device mounted on the surface 3b of the base unit 3 of the work truck for elevated structures according to the above-mentioned embodiment, which is opposite to the surface facing the roller 1. FIG. 8B is a perspective view of the joint camera device 14 seen from an oblique lower side with the arm 15 widened. FIG. 8B shows the joint articulated camera device 14 for inspection with the arm 15 contracted from the oblique lower side. It is the perspective view which it saw, the articulated camera device 14 for inspection here.
As shown by the arrow in the figure, the built-in motor has two arms.
The position and direction of the CCD camera 16 supported on the tip of the arm 15 are changed by moving the 15 with five degrees of freedom, and the image captured by the CCD camera 16 is output as an electric signal.

FIG. 9A shows the articulated camera device for inspection 14 mounted on the surface 3b opposite to the surface facing the roller 1 of the base unit 3 of the work truck for elevated structures of the above embodiment.
FIG. 9 is a perspective view showing the state in which the arms are spread out, as seen from an oblique lower side;
FIG. 2B is a perspective view of the inspection articulated camera device 14 in a state in which the arm is contracted, as viewed from obliquely below. The work carriage of the above-described embodiment is operated from the control device 11 based on the operation of the operator. While receiving a wireless command signal from the control panel 12 and suspending it along the lower flange 9 of the I-girder material 8 of the bridge according to the command signal, as shown by the arrow, an articulated camera device for inspection 14
While changing the position and orientation of the CCD camera 16 with the arm 15, the CCD camera 16 captures an image of the lower surface of the I-girder material 8 of the bridge and the floor slab (not shown) in the vicinity thereof, and the image signal is transmitted via the control panel 12. The data is wirelessly transferred to the control device 11. As a result, the captured image is displayed on the image display device of the control device 11 and visually inspected by the operator at the site, and the captured image is recorded on the magnetic tape or the hard disk of the control device 11 as a recording medium. It can be recorded in the device for later detailed inspection. Even when the width of the lower flange 9 is narrowed, the edge portion of the lower flange 9 can be imaged at a constant distance by retracting the arm 15 as shown in FIG. 9B. The traveling control of the work vehicle and the control of the operation of the inspection articulated camera device 14 of the above embodiment are automatically performed by a computer provided in the control device 11 or a micro computer installed in the base unit 3 itself. You may do it.

FIG. 10 is a bridge type for inspection as another example of the working device mounted on the surface 3b of the base unit 3 of the work truck for elevated structures of the above-mentioned embodiment, which is opposite to the surface facing the roller 1. FIG. 3 is a perspective view of the articulated camera device 17 as seen from obliquely below, in which the inspection bridge-type articulated camera device 17 has two end parts mounted on the surface 3b of the base unit 3 of the two work carriages. The guide rail 18 of the book and a built-in motor linearly move between the two work carriages along the guide rail 18 as indicated by the arrow in the figure, and the arm 15 is moved up and down as indicated by the arrow in the figure. Further, a head 19 for changing the direction of the CCD camera 16 supported on the tip of the arm 15 as shown by an arrow in the figure is provided, and the head 19 and the arm 15 are moved in four degrees of freedom to move the tip of the arm 15. CCD camera 16
The position and the direction of is changed and the image picked up by the CCD camera 16 is output as an electric signal.

FIG. 11 shows the two base units 3 of the work trucks for elevated structures according to the above-mentioned embodiment, which are mounted on the surface 3b of the base unit 3 opposite to the surface facing the roller 1 so as to connect the work trucks. FIG. 6 is a perspective view of the inspection bridge type articulated camera device 17 as seen from obliquely below, in which the two work trolleys of the above-described embodiment are based on an operator's operation and are not shown in the figure.
While receiving a command signal by radio from 11 by the control panel 12 and according to the command signal, the two I-girder members 8 of the bridge 8 are suspended in synchronism as shown by the arrows along the lower flange 9 of the bridge,
The inspection bridge type articulated camera device 17 is a CCD camera.
While appropriately changing the position and orientation of 16 with the head 19 and the arm 15, the CCD camera 16 images the lower surface of the I-girder material 8 of the bridge and the floor slab (not shown) between the two I-girder materials 8 to generate an image signal. Wirelessly transferred to the control device 11 via the control panel 12. As a result, the captured image is displayed on the image display device of the control device 11 and visually inspected by the operator at the site, and the captured image is recorded on the magnetic tape or the hard disk of the control device 11 as a recording medium. It can be recorded in the device for later detailed inspection. The bridge type articulated camera device 17 for traveling control and inspection of the work vehicle of the above embodiment
The operation of the computer is also controlled by a computer provided in the control device 11 or a micro computer installed in the base unit 3 itself.
You may make it automatic.

Although the present invention has been described above based on the illustrated example, the present invention is not limited to the above-mentioned example. For example, the inclined contact surface of the roller may be a concave curve such as a hyperbola. The fall-prevention edge may be separated from the roller and fixed to the support arm, and the base unit may support the support arm so as to be linearly movable back and forth. Further, three or more sets of support arms may be provided, and the base unit may be divided into two parts on the left and right in the traveling direction and connected by a connecting member so that the base unit can be widened according to the width of the flange.

Further, the work device mounted on the base unit of the work truck for elevated structures according to the present invention may be a welding device or a coating device, and power may be supplied to these work devices by wire. good. The structural material of the elevated structure using the work truck for elevated structures according to the present invention may be a truss bridge, an arch bridge or the like, or a pillar member of a building structure. In such a case, the work truck is a truss. The vehicle may travel along the upper and lower flanges of the arch or the side flanges of the pillar member in the crossed state (suspended state), the suspended state, or the sideways state.

[Brief description of drawings]

1A is a side view showing an embodiment of a work truck for elevated structures according to the present invention, FIG. 1B is a plan view showing the work truck of the embodiment, and FIG. The front view which shows the working trolley of an example, (d) shows the working trolley of the Example,
It is sectional drawing which follows the AA line of (c).

2A and 2B are a plan view and a plan view showing a normal swing position of a support arm of the work carriage of the above-described embodiment.
It is sectional drawing in the same position as (d).

3 (a) and 3 (b) are a plan view and a plan view showing a stop position of a support arm of the work carriage of the above embodiment.
It is sectional drawing in the same position as (d).

FIG. 4 (a) is a work for an elevated structure of the above-mentioned embodiment when traveling along an ordinary lower flange of a constant width of an I-girder material of a bridge as an example of the structural material of the elevated structure. FIG. 3B is a bottom view showing the traveling method of the dolly, and FIG. 3B is a front view showing the work dolly in that case together with a cross section of the lower portion of the I-girder material.

FIG. 5 (a) is a work truck for an elevated structure of the above-described embodiment when passing a vertical stiffener along a lower flange of an I-girder member of a bridge as an example of a structural material of an elevated structure. 3B is a bottom view showing the traveling method of FIG. 3B, and FIG. 3B is a front view showing the work carriage in that case together with the cross section of the lower portion of the I-girder material.

FIG. 6 (a) is for an elevated structure of the above-described example when passing through a flange widening / thickening portion along a lower flange of an I-girder material of a bridge as an example of a structural material of an elevated structure. The bottom view which shows the traveling method of a work trolley | bogie, (b) is a front view which shows the work trolley in that case with the cross section of the lower part of I girder material.

FIG. 7 (a) is a view of the above embodiment in the case of passing a joint plate and a joint bolt group of a flange joint along a lower flange of an I-girder material of a bridge as an example of a structural material of an elevated structure. The bottom view showing the traveling method of the work truck for elevated structures,
(B) is a front view which shows the work trolley in that case with the cross section of the lower part of I girder material.

FIG. 8A is a perspective view showing an articulated camera device for inspection, which is an example of a work device mounted on the base unit of the work truck for elevated structures of the above-described embodiment, in a state in which the arms are open; FIG. 1B is a perspective view of the inspected articulated camera device as viewed from obliquely below with the arm retracted.

FIG. 9 (a) is a perspective view of the articulated camera device for inspection mounted on the base unit 3 of the work truck for elevated structures of the above embodiment, seen from diagonally below, showing an arm in an open state;
FIG. 6B is a perspective view of the inspection articulated camera device with the arm retracted, as viewed from diagonally below.

FIG. 10 is a perspective view of an inspection bridge type articulated camera device as another example of a working device mounted on the base unit of the work truck for elevated structures according to the above embodiment, as seen from obliquely below.

FIG. 11 is a perspective view of the inspection bridge-type articulated camera device mounted on the base units of the two work trucks for elevated structures of the above-described embodiment so as to connect the work trucks, as seen from an oblique bottom view. Is.

[Explanation of symbols]

1 roller 1a Inclined contact surface 1b Fall prevention edge 2 Support arm 3 base units 4 gas spring 5 Servo motor 6 Link members 8 I girder material 9 Lower flange 10 driver 11 Control device 12 Control panel 13 battery 14 Articulated camera device for inspection 15 arms 16 CCD camera 17 Bridge type articulated camera device for inspection 18 Guide rail 19 heads 20 Vertical stiffener 21 Bonding plate 22 Group of bolts

Claims (4)

[Claims] 1. A work trolley for an elevated structure which moves along a flange (9) of a structural material (8) of an elevated structure such as a bridge, and has a drum shape having an inclined V-shaped contact surface (1a). A support arm (2) for rotatably supporting the roller (1) of the device (1) around a predetermined rotation axis, and at least two sets of the support arms (2) in the traveling direction of the work cart by the pair of support arms. The rollers (1) of the supporting arms that are spaced apart and form the same set
The rollers (1) of the at least two sets of support arms are supported so that they can approach and separate from each other in a direction orthogonal to the running direction, and the rotation axis of the rollers (1) approaches the running direction and the rollers. And a base unit (3) capable of mounting a working device, which is arranged in a direction extending at right angles to the separation direction, and the rollers (1) of the support arms (2) of each set approach each other, Biasing of the support arm such that those rollers urge the support arm so that the inclined contact surface (1a) is brought into contact with the edge of the flange (9) of the structural material (8) to clamp the flange. A work carriage for an elevated structure, comprising: means (4); and roller rotation driving means (5) for rotationally driving at least one roller (1). 2. The inclined contact surface (1) of the roller (1)
a) a fall prevention edge portion (1b) adjacent to at least the axial end portion on the side separated from the base unit (3) and protruding in the radial direction from the inclined contact surface. A work carriage for an elevated structure according to claim 1. 3. The work truck for elevated structures according to claim 1, wherein the base unit (3) pivotally supports the support arm (2). 4. The support arm biasing means (4) is an elastic means interposed between a link member (6) connected to the support arm (2) and the base unit (3). The work truck for an elevated structure according to claim 3, characterized in that.