JP2009057763A - Movable work device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a movable work device which dispenses with setting of scaffolding etc. , need not secure an excessive space, can arbitrarily change the location with respect to a structure on the periphery of the same while maintaining a close state to the structure, and allows the operator to quickly carry out various types of work such as survey and diagnosis of the structure. <P>SOLUTION: The movable work device forms an almost annular body enclosing the structure 80, and by bringing a number of rollers 12 into contact with the structure 80, the device makes the structure fastened by means of the rollers 12, based on adjustment by actuators 21. Further the rollers 12 can be driven for rotation, and therefore the entire body of the almost annular device is movable in a desired direction with respect to the structure while being set at a predetermined height of the structure. As a result, work at a working section for the structure can be carried out while the location of the working section is changed, which leads to positive automation of the work. Further, scaffolding, frames, etc. are eliminated, and therefore labor of setting and disassembly of the same are dispensed with, which achieves reduction of labor, costs, etc. of the entire work. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to a mobile work device for carrying out construction work such as investigation / diagnosis and repair for structures such as pillars, chimneys, and bridge piers from the surroundings. The present invention relates to a mobile work device capable of performing various operations while appropriately moving with respect to a structure in a self-supporting state without requiring support from.

  In recent years, countermeasures against aging degradation of existing large concrete structures have become a problem, but in addition to concerns about the impact of large-scale construction rebuilding work on the surrounding environment against degradation discovered by investigation and diagnosis. However, due to the advancement of construction technology, sufficient strength can be secured even with some repairs. Except for cases where deterioration cannot be dealt with only by rebuilding, there are more examples of repairs without rebuilding. ing.

  In particular, for pillar structures such as bridge piers that occupy some of the important structures as infrastructure such as roads and railways, surveys and diagnoses are frequently conducted so that they can be discovered before serious deterioration occurs. If any deterioration is found, repair work has been carried out promptly as a countermeasure against this deterioration. In addition, in the case of the columnar structure, the safety standards have been changed. Reinforcement work is also being carried out to further increase the strength and increase safety.

  When such repairs and reinforcement work, as well as investigation and diagnosis work prior to these work, are carried out on a vertically-raised columnar structure, an operator can get on the bucket of an aerial work vehicle, In general, a scaffold or a frame is constructed around the operator, and an operator works on the structure from the vicinity of the structure using an appropriate work device.

  In the conventional work such as investigation and diagnosis of columnar structures, it was necessary to install a scaffold to perform work on high parts of the structure unless an aerial work vehicle was used. In addition to the labor, there was a problem of cost and time related to the installation and dismantling of the scaffold.

  Of these, it is conceivable to introduce a work device that automates such work for investigations, diagnosis, etc. performed by workers, and to save labor, but this work device can be moved. Due to structural restrictions such as scaffolding and frames supported from the ground side in the state, it is limited to the horizontal or vertical direction, and it is impossible to work on the whole structure at one time, and it is the maximum that work can be done in series But only on one side of the structure. For this reason, when the work on the predetermined part of the structure located within the movable range of the work device is completed, and then the work on the remaining work target part outside the movement range is to be performed, the work device remains in the work device. It was also necessary to relocate, that is, dismantle and restructure the scaffolds and frames. In this way, repeated installation and dismantling of the scaffolding and the like occur during the work, which is very troublesome.

  Furthermore, columnar structures such as bridge piers have shapes such as a columnar shape, an elliptical columnar shape, and a prismatic shape, and in order to move the work device appropriately, scaffolds and frames having different forms according to the shape of the structure. It is necessary to construct a work apparatus, and it may be necessary to use a different work apparatus, which increases the cost of work. As a result, it is difficult to say that using a working device that automatically works by constructing a scaffold etc. from the ground side on the structure does not reduce labor and cost, and is not a realistic method. .

  On the other hand, when using an aerial work vehicle, various operations on the structure can be performed continuously, but it is necessary to keep the aerial work vehicle in an operating state in order to maintain the boom and bucket positions during the work. The operation cost is extremely high, and it is necessary to secure a space for an aerial work vehicle on the ground side, and to secure a space in which the boom and bucket of the aerial work vehicle can be moved without difficulty in the surrounding space. There was a problem that it cannot be used everywhere.

  The present invention has been made in order to solve the above-mentioned problems, and does not require a scaffold or the like surrounding the structure, and does not require an excessive space in the ground portion around the structure. It is an object of the present invention to provide a mobile work device that can freely change the positional relationship with respect to the structure while maintaining the state of approach to the structure, and can quickly perform various operations such as investigation and diagnosis on the structure.

  A mobile work device according to the present invention includes a plurality of main body frames that are connected to each other through two or more link frames that are connected to each other so as to be adjustable in distance, and are arranged so as to be tiltable with respect to the main body frames. Or a plurality of roller frames, a roller rotatably supported by each of the roller frames, and capable of rolling while contacting another object surface, and a roller attached to all or a part of the roller frame, A roller drive unit that is connected and rotates the connected roller with respect to the roller frame, and is attached to all or a part of the main body frame and connected to the roller frame, and the connected roller frame is connected to the main body frame. The relative position relationship between the link direction between the main body frames and the roller direction adjusting portion that tilts and changes the direction of the rotation axis of the roller. A plurality of actuators that adjust the interval between the main body frames, and a working unit that is arranged so as to be fixed or movable with respect to the main body frame and that performs a predetermined work on an object with which the roller contacts, The main body frame and the link frame are annularly connected and the roller is positioned on the inner circumferential side of the ring to form a substantially annular body surrounding a predetermined columnar structure. The rollers of each main body frame come into contact with the surface of the structure to fasten the structure inside the roller and obtain a self-supporting state where the substantially annular body stays at a predetermined height position of the structure without dropping. .

  As described above, according to the present invention, a plurality of main body frames each having a roller whose rotation direction can be adjusted and a link frame form a substantially annular body surrounding the structure, and a large number of rollers are in contact with the structure. In addition, a state in which a predetermined tension force is generated between the main body frames based on adjustment of the main body frame interval by the actuator and a pressing force against the structure is generated on each roller to obtain a state of tightening the structure with a plurality of rollers, Further, by enabling rotation of the roller, it is possible to keep the substantially annular device attached at a predetermined height position of the structure, and drive the roller while controlling the direction of the roller as it is. For example, the entire apparatus can be moved in a desired direction without dropping it against the structure, and work on the structure of the work part can be changed without changing the position of the work part. It can be executed at any position of the structure, and once the device is installed around the structure, the entire structure can be operated without repeated attachment and detachment. The work can be reliably automated, and no scaffolding or frame is required. Thus, it is possible to reduce labor and cost in the whole work without the need for installation and dismantling. Further, since the apparatus is installed only around the structure, it does not require a large space for work, and can be applied without any problem at any work site, and the efficiency of various work on the structure can be improved.

  In addition, the mobile work device according to the present invention is formed as a state in which a plurality of rail-like members are connected to each other so as to be tiltable between the ends as necessary, and is attached to the main body frame. Provided with a rail portion disposed as a state surrounding the structure, and the working portion is always in contact with a part of the rail portion and can move around the structure along the rail portion. It is.

  As described above, according to the present invention, the rail portion surrounding the structure is provided continuously in an annular shape, and the working portion can be moved along the rail portion. If you want to move it in the circumferential direction, you can move the working part along the rail part, so that depending on the moving direction of the working part, only the working part may be moved along the rail part. It is not necessary to move the entire apparatus when the working unit is moved, and it is possible to reduce the moving time of the working unit and the cost required for the movement during the work.

  In addition, the mobile work device according to the present invention includes a predetermined connecting member attached to the upper and lower ends of the main body frame, wherein the substantially annular body formed by connecting the plurality of main body frames and the link frame in an annular shape is provided as necessary. In this way, they are connected together in a state where they are stacked in a plurality of stages in the vertical direction and arranged around the structure.

  As described above, according to the present invention, a plurality of substantially annular bodies formed by connecting a plurality of main body frames and link frames are connected and integrated in a stacked state, arranged around the structure, and moved relative to the structure. As a result, the number of rollers brought into contact with the structure can be increased, and sufficient force can be secured to hold the entire apparatus around the structure with the tightening of the structure with a plurality of rollers, and the cross-sectional area of the columnar structure can be increased. Even when it is large, or when the working part becomes large and heavy, it is possible to reliably realize a state in which the entire apparatus can be moved in a desired direction without dropping the structure.

(First embodiment of the present invention)
Hereinafter, a mobile work device according to a first embodiment of the present invention will be described with reference to FIGS. 1 is a schematic plan view of a mobile work device according to the present embodiment, FIG. 2 is a front view of a main part of the mobile work device according to the present embodiment, and FIG. 3 is a schematic side view of a main body frame in the mobile work device according to the present embodiment. FIG. 4, FIG. 4 is an explanatory diagram of the moving state of the working unit in the mobile working device according to the present embodiment, FIG. 5 is an explanatory diagram of the connection state of the main body frame and the link frame in the mobile working device according to the present embodiment, and FIG. FIG. 7 is an explanatory diagram of the state of movement around the structure of the mobile work device according to the present embodiment.

  As shown in the drawings, the mobile work device 1 according to the present embodiment includes a plurality of main body frames 10 that are connected to each other through two link frames 20 that are connected to each other, and the main body frames. A plurality of roller frames 11 disposed so as to be tiltable with respect to 10, a roller 12 rotatably supported by each of the roller frames 11, and capable of rolling while contacting another object surface; Attached to all of the frames 11 and connected to the rollers 12, a roller driving unit 13 for rotating the connected rollers 12 with respect to the roller frames 11, and attached to all of the main body frames 10 and connected to the roller frames 11. The roller direction adjustment that tilts the connected roller frame 11 with respect to the main body frame 10 and changes the rotation direction of the roller 12 is performed. 14 and a plurality of actuators 21 that adjust the distance between the main body frames 10 by changing the relative positional relationship between the link frames 20 between the main body frames 10, and a plurality of rail-like members 31 at the ends. A rail part 30 formed in a state of being connected in a tiltable manner and continuously in an annular shape, and a work part 40 arranged to be movable with respect to the main body frame 10 and performing a predetermined work on an object with which the roller 12 abuts. The main body frame 10 and the link frame 20 are connected in an annular shape and are arranged so as to position the roller 12 on the inner peripheral side of the ring, and are closed so as to surround a predetermined columnar structure 80. It forms a substantially annular body.

  The main body frame 10 is formed as an elongated rectangular substantially frame-like body, the longitudinal direction of which coincides with the vertical direction, and at a plurality of predetermined height positions in the vertical direction, two places separated from each other at the same height position. Each end of the link frame 20 is tiltably connected to each other, and the roller frame 11 is fixed to a drive shaft of a motor as a roller direction drive unit 14 attached to the inner peripheral side of the frame to drive each roller direction. The roller frame 11 is tiltably supported through the portion 14. The central axis of the tilt of the roller frame 11 with respect to the main body frame 10 is arranged to be orthogonal to the central axis of the tilt of each link frame 20 with respect to the main body frame 10 and the central axis of the mutual tilt between the link frames 20. Each rail-shaped member 31 forming the rail portion 30 is fixed to the upper end portion of the main body frame 10.

  The link frame 20 is formed of a substantially rod-like member, and one end portion is tiltably connected to the main body frame 10 and the other end portion is tiltably connected to an end portion of another link frame 20. Two are arranged between them.

  The actuator 21 is a fluid pressure cylinder, and is configured such that both ends are connected to each arm middle portion predetermined position in the two link frames 20 between the main body frames 10 so as to be tiltable. is there. The distance between the main body frames 10 sandwiching the link frames 20 can be adjusted by tilting the two link frames 20 to be connected to each other and changing the relative angle between the link frames 20 by the expansion / contraction operation of the actuator 21. ing.

  As the distance between the main body frames 10 is adjusted, the rollers 12 of each main body frame 10 come into contact with the surface of the structure 80 as the other object and tighten the structures 80 located inside the rollers 12. Thus, the entire ring-shaped device remains at the predetermined height position of the structure 80 without falling.

  The roller 12 has a configuration in which a tire 12b is disposed on the outer periphery of a wheel 12a. The roller 12 is rotatably attached to the roller frame 11, and is arranged on the main body frame 10 via the roller frame 11 so that the angle can be adjusted. Established. The rotation axis of the roller 12 is arranged to be orthogonal to the central axis of tilting of the roller frame 11 with respect to the main body frame 10. As described above, the roller 12 is supported by using the roller frame 11 and the position of the roller 12 protrudes from the main body frame 10 by the length of the roller frame 11, so that the structure 80 can be formed even when the structure 80 is a prismatic shape. The corner portions of the main body frame 10 and the link frame 20 do not come into contact with each other, and the periphery of the structure 80 can be moved without difficulty.

  The roller 12 is driven by a motor as a roller driving unit 13 attached to the roller frame 11. In addition to rotating the roller 12 forward and backward while adjusting the rotation speed, the roller driving unit 13 also has a brake function for holding the roller 12 in a stationary state. Note that the direction of the roller 12 with respect to the main body frame 10 (the direction of rolling with respect to the structure 80) is a mechanism that is adjusted by tilting the roller frame 11 with respect to the main body frame 10 by the roller direction adjusting unit 14.

  The driving and direction adjustment of the roller 12 and the expansion / contraction operation of the actuator 21 are controlled by a control device (not shown) so that the entire device can maintain an appropriate posture and can be moved safely. The control device is a mechanism that grasps the posture and movement position of the entire device from a gyro sensor, an acceleration sensor, an angle sensor, and the like that are installed in each part of the device, and executes posture control and movement control based on this.

  The rail portion 30 is formed in a state in which a plurality of rail-shaped members 31 are connected to each other so as to be tiltable with each other so as to be annularly continuous, and a predetermined portion is attached to the main body frame 10 to surround the structure 80. It is the structure arrange | positioned as the surrounding state.

  The rail portion 30 maintains a continuous state while being appropriately bent in accordance with the movement of the main body frame 10 and the link frame 20 during horizontal movement of the apparatus. Since the connecting portion of the rail-like member 31 that becomes a bending node is positioned directly above the connecting portion of the main body frame 10 and the link frame 20 and the connecting portion of the link frames 20, the entire rail portion 30 is formed. The state parallel to the main body frame 10 and the link frame 20 is maintained, and the movement of the main body frame 10 and the link frame 20 can be easily followed.

  The working unit 40 engages with the rail unit 30 and is movable on the rail unit 30. The working unit 40 is detachably mounted on the cart unit 41 and performs predetermined operations such as measurement and diagnosis. The working mechanism portion 42 is provided, and is movable along the rail portion 30 with respect to other portions such as the main body frame 10. The work mechanism unit 42 is appropriately selected and attached in accordance with various conventional work such as measurement and diagnosis on the structure, or by automatic control based on a program setting inputted in advance or by an operator. This is a well-known mechanism part that performs work by remote control of the above, and detailed description thereof is omitted.

  The carriage unit 41 moves around the structure 80 along the annular rail unit 30 together with the upper work mechanism unit 42 with the generated driving force, while the work mechanism unit 42 has an appropriate positional relationship with the structure 80. The direction of the working mechanism unit 42 is adjusted so that Specifically, the distance to the surface of the structure 80 is measured using a non-contact type distance meter 41b provided at two end portions of the turntable 41a incorporated in the carriage unit 41, and each distance meter 41b The turntable 41a on which the work mechanism unit 42 is mounted is rotated so that the measured value of the value matches a preset condition, for example, a value corresponding to a state in which the work mechanism unit 42 faces the structure 80. This is a mechanism for adjusting the direction of the working mechanism unit 42. A camera or the like may be attached to the carriage unit 41 in addition to the work mechanism unit 42, and may be used for monitoring from a remote place of the work situation, recording as a video, or the like.

  Next, the operation state of the mobile work device according to the present embodiment will be described. First, in a state in which a predetermined connection portion in the device having a substantially annular shape, which is a combination of the main body frame 10 and the link frame 20 adjusted to the number corresponding to the size of the cross-sectional shape of the structure portion 80, is once disconnected, After the roller 12 is arranged around the structure 80 so as to face the structure 80, the separated parts are connected again to make the device substantially annular. At this time, the space between the main body frames 10 is sufficiently ensured, and it is not necessary to apply a strong force to connect the separated portions, and the connection work can be performed smoothly without any trouble.

  Immediately after the apparatus is arranged around the structure, all the rollers 12 are not in contact with the structure 80, and the apparatus cannot be held at a predetermined height position of the structure 80. 21 is operated to reduce the angle between the linked link frames 20, reduce the interval between the main body frames 10, and abut the rollers 12 arranged in the main body frames 10 on the surface of the structure 80. The structure 80 is tightened by all the rollers 12. In this way, the apparatus is in a state where the structure 80 is grasped from the periphery via the roller 12, and a state in which the entire annular apparatus remains at the predetermined height position of the structure 80 without falling is obtained.

  In a state where the present apparatus remains at the predetermined height position of the structure 80, it is determined whether or not the height position at the initial time is a work target position by the work unit 40. Start moving towards. For the movement, the roller 12 is strongly pressed against the surface of the structure 80 by adjusting the distance between the main body frames 10 by the actuator 21, and the roller direction adjusting portion 14 is first adjusted as the moving direction while maintaining the state in which the structure 80 is tightened. Then, the roller frame 11 is tilted with respect to the main body frame 10, and the direction of the roller 12 is adjusted to the desired direction. When only the height position is changed, the roller 12 is set in the vertical direction (see FIG. 6B), and when the entire apparatus is moved in the horizontal direction together with the height position, that is, when moved in a spiral shape, the roller 12 is moved. The direction is oblique (see FIG. 6A).

  Subsequently, all the rollers 12 are simultaneously driven to rotate in the rotational direction in which each roller 12 is to be advanced by each roller driving unit 13, and the apparatus is moved. In particular, when a horizontal component is applied in the traveling direction of the roller 12, the roller 12 is kept in contact with the surface of the structure with a constant contact pressure even after the rotation of the roller 12 and the horizontal position change of the entire apparatus. Thus, the interval between the main body frames 10 is adjusted by the actuator 21. As a result, the entire apparatus can be moved without difficulty in the horizontal direction around the structure 80. When the apparatus moves to a desired position, the roller driving unit 13 is stopped and the roller 12 is maintained in a non-rotating state.

  When the entire apparatus is positioned at the work target position of the structure 80, a predetermined work is performed by the work unit 40 while moving the work unit 40 along the annular rail unit 30. Examples of work include investigation / diagnosis work on a structure, work related to repair of the structure, finishing work in construction of the structure, and part removal work on the surface of the structure. In the investigation / diagnosis work on the structure, work is performed using various investigation / diagnosis devices as the work mechanism unit 42. For example, the structure surface imaging by the camera, crack analysis based on the structure, and the structure by the sounding investigation device are performed. By measuring the soundness of an object, measuring the soundness of a structure with a surface temperature measuring instrument, exploring the inside of a structure, including reinforcing bars, using an electromagnetic flaw detector, measuring the strength of the structure with an intensity measuring device, and collecting part of the surface of the structure Examples include neutralization measurement and acquisition of the internal state of structures using an X-ray survey device. In various other operations, various devices can be used as the work mechanism unit 42, such as surface treatment work by a blasting device, structure lifting work by a lifting device, various painting operations by a coating device, punching work by a punching device, etc. Is done.

  Then, when the work at the predetermined height position is completed, the apparatus is moved to another work target height position and the work by the working unit 40 is executed as described above. Then, these operations are repeated for the number of steps at the work target position. When working, the working unit 40 is moved in the circumferential direction of the structure 80 with respect to the structure 80, so that only the working unit 40 is moved along the rail unit 30 and the entire apparatus does not have to be moved. Time can be reduced compared to moving the entire device.

  When all the operations on the structure 80 are completed, the entire apparatus is returned to the initial height position, and the actuator 21 is operated while the apparatus is separately supported from the ground side around the structure 80 to connect the link frames. The angle formed by 20 is increased, the interval between the main body frames 10 is increased, the rollers 12 arranged in the main body frames 10 are separated from the surface of the structure 80, and the apparatus is shifted to a state where it is not held on the structure 80. . Thereafter, the predetermined connecting portion in the substantially annular device is once disconnected, and the device is removed from the periphery of the structure 80 and collected.

  In addition, in the movement of the working unit 40 related to the work, the working unit 40 is not moved along the rail unit 30 independently of the other parts of the apparatus, but the working unit 40 is moved by an integral movement of the entire apparatus. In this case, the entire apparatus is moved so as to correspond to the path on which the working unit 40 is to be moved from the state where the apparatus remains at the initial position arranged around the structure 80. Start. In the movement, the roller 12 is pressed firmly against the surface of the structure 80 by adjusting the distance between the body frames 10 by the actuator 21, and the state in which the structure 80 is tightened is maintained, while the roller direction adjusting unit 14 similarly uses the body frame 10. In contrast, the roller frame 11 is tilted so that the direction of the roller 12 is adjusted to the desired direction. Then, each roller drive unit 13 drives all the rollers 12 all at once in the rotation direction in which the rollers 12 are desired to move, and moves the apparatus. When the working unit 40 reaches the work target position due to the movement of the entire apparatus, a predetermined work by the working unit 40 is executed while continuing or temporarily stopping the movement of the apparatus as necessary. When movement in the same direction progresses and the apparatus moves until the work unit 40 reaches the outside of the work target range, the direction of the roller is changed by the roller direction adjustment unit 14, and the apparatus is moved to a position where the work unit 40 can work again. Move and repeat the work.

  When all the operations on the structure 80 by the working unit 40 while moving the entire apparatus are completed, the entire apparatus is returned to the initial height position, and the apparatus is separately supported from the ground side around the structure. The actuator 21 is operated to widen the interval between the main body frames 10, the rollers 12 of the main body frames 10 are separated from the surface of the structure 80, and the apparatus is shifted to a state where the apparatus is not held on the structure. Thereafter, the predetermined connecting portion of the device is disconnected, and the device is removed from the periphery of the structure 80 and collected.

  As described above, in the mobile work device according to the present embodiment, a plurality of main body frames 10 including the rollers 12 capable of adjusting the rotation direction and the link frame 20 form a substantially annular body surrounding the structure 80, While a large number of rollers 12 are brought into contact with the structure 80, a state in which the structure 12 is fastened by each roller 12 based on the adjustment of the distance between the main body frames 10 by the actuator 21 can be obtained, and the rollers 12 can be further driven to rotate. Therefore, if the apparatus that forms a substantially annular body can be maintained attached at a predetermined height position of the structure 80, and the roller 12 is driven while controlling the direction of the roller 12 in the state as it is, the entire apparatus 80 Therefore, the work on the structure 80 of the working unit 40 can be performed while changing the position of the working unit 40. It can be executed at any position of the object 80, and once the apparatus is installed around the structure 80, the entire structure 80 can be operated without repeated attachment and detachment. This eliminates the need for installation and dismantling, and can reduce labor and costs for the entire work.

(Second embodiment of the present invention)
In the mobile work device according to the first embodiment, a device having a substantially annular body is used alone. However, the present invention is not limited to this, and as shown in FIGS. Rollers that are arranged in layers around the structure 80 and that are integrated by connecting the ends of the main body frame 10 of the upper and lower devices with a connecting member 50. As the number of 12 is increased and the structure 80 is tightened by the plurality of rollers 12, sufficient force can be secured to hold the entire apparatus around the structure 80, and when the cross-sectional area of the columnar structure is large, or the working unit 40 Even when the size of the apparatus increases and the weight increases, it is possible to reliably realize a state in which the entire apparatus can be moved in a desired direction without being dropped with respect to the structure 80.

  In this case, it is necessary to perform control so that the driving of the roller 12 and the like are synchronized in all the devices. However, even if a slight shift occurs due to a timing shift or the like in the upper and lower devices, the connection member 50 is provided. Since the bendable joint portion 51 has a structure that allows the deviation, there is no difficulty in connecting the devices.

  In such a configuration in which the apparatus is arranged in a plurality of stages, it is possible to cope with a case where the cross-sectional shape of the structure has greatly changed in part, and in the work of the part where the cross-sectional shape has changed with respect to other parts, By connecting and using the apparatus having the number of combinations of the main body frame 10 and the link frame 20 corresponding to the cross-sectional shape, it is possible to work on structures of various shapes.

  In addition, after placing this device stacked in multiple stages around each of two adjacent piers and two pillar parts, a work platform is installed between these devices in a substantially horizontal manner, and each device can be moved up and down. While using the device as a support for the work platform, it is also possible to work on the bridge between the piers, the beam between the columns, or the ceiling in a work unit that is movably arranged on the work platform. .

  In the mobile work device according to each of the first and second embodiments, an example of application to a prismatic structure is shown, but not limited to this, as shown in FIG. 10 and FIG. Other columnar structures such as a columnar shape, an oval (rounded rectangle) columnar shape, and an elliptical columnar shape can also be held movably at a predetermined height position around the structure.

  Further, in the mobile work device according to each of the first and second embodiments, the roller driving unit 13 is disposed on each of the roller frames 11 to drive all the rollers 12. If the driving force necessary to move the entire apparatus is obtained, the roller driving unit 13 is disposed only on some of the roller frames 11 and only some of the rollers 12 are driven to rotate. The roller without the drive unit 13 is configured not to be driven from the beginning, or only some of the rollers 12 that can be driven by the roller drive unit 13 are rotationally driven, and the rest are not driven by the roller drive unit 13. It can also be set as the structure which maintains in a free rotation state, and can suppress the operating cost of an apparatus by suppressing drive force generation to the minimum necessary.

  Further, in the mobile work device according to each of the first and second embodiments, each of the mechanical parts such as the main body frame and the link frame is arranged in an exposed state without being covered with anything. 12, a cover 60 that is attached to the main body frame 10 and covers the entire apparatus from above and below and from the side is provided, and the inner peripheral edges of the upper and lower portions of the cover 60 are airtight on the surface of the structure 80. The entire apparatus can be covered with a cover so as to be isolated from the outside, and the entire apparatus including the cover 60 is strongly adsorbed around the structure 80 with the space in the cover 60 in a negative pressure state. In this state, it is possible to prevent the apparatus from falling, and it is possible to reliably prevent the apparatus from falling in an emergency or when the power source for driving is stopped, thereby avoiding danger on the ground side. In addition, during work such as fishing, surface treatment, and painting, the device is placed with the working part sandwiched up and down, and a cover that spans the upper and lower equipment is provided, and the area around the moving path of the working part is also covered. It can also be set as the structure covered with, and it can aim at prevention of scattering of the fragments etc. which arose by the operation | work.

1 is a schematic plan view of a mobile work device according to a first embodiment of the present invention. It is a principal part front view of the mobile work apparatus which concerns on the 1st Embodiment of this invention. It is a schematic side view of the main body frame in the mobile work device according to the first embodiment of the present invention. It is movement state explanatory drawing of the operation | work part in the mobile work apparatus which concerns on the 1st Embodiment of this invention. It is a connection state explanatory view of a main part frame and a link frame in a mobile work device concerning a 1st embodiment of the present invention. It is roller direction adjustment state description in the mobile work apparatus which concerns on the 1st Embodiment of this invention. It is structure surrounding movement state explanatory drawing of the mobile work apparatus which concerns on the 1st Embodiment of this invention. It is a principal part front view of the mobile work apparatus which concerns on the 2nd Embodiment of this invention. It is a schematic side view of the main body frame and the connection member in the mobile work device according to the second embodiment of the present invention. It is application state explanatory drawing with respect to the cylindrical structure of the mobile work apparatus of this invention. It is application state explanatory drawing with respect to the long cylindrical structure of the mobile work apparatus of this invention. It is a schematic side view of the main body frame in the mobile work device concerning other embodiments of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile work apparatus 10 Main body frame 11 Roller frame 12 Roller 12a Wheel 12b Tire 13 Roller drive part 14 Roller direction adjustment part 20 Link frame 21 Actuator 30 Rail part 31 Rail-like member 40 Working part 41 Carriage part 41a Turntable 41b Distance meter 42 Work mechanism part 50 Connecting member 51 Joint part 60 Cover 80 Structure

Claims (3)

A plurality of body frames connected to each other through two or more mutually linked link frames so that the distance can be adjusted;
One or a plurality of roller frames arranged to be tiltable with respect to each main body frame;
A roller that is rotatably supported by each of the roller frames, and is capable of rolling in contact with another object surface;
A roller driving unit that is attached to all or a part of the roller frame and connected to the roller, and rotates the connected roller with respect to the roller frame;
A roller direction adjusting unit that is attached to all or a part of the main body frame and connected to the roller frame, tilts the connected roller frame with respect to the main body frame, and changes the direction of the rotation axis of the roller;
A plurality of actuators that adjust the spacing between the main body frames by changing the relative positional relationship between the link frames between the main body frames;
A working unit arranged to be fixed or movable with respect to the main body frame, and performing a predetermined work on an object with which the roller contacts,
The main body frame and the link frame are connected in an annular shape and are arranged so as to position the roller on the inner peripheral side of the ring to form a substantially annular body surrounding a predetermined columnar structure,
As the body frame interval is adjusted by the actuator, the rollers of each body frame come into contact with the surface of the structure to tighten the structure inside the roller, and the substantially annular body falls to a predetermined height position of the structure. A mobile work device characterized by obtaining a self-supporting state that stays without being lost. The mobile work device according to claim 1,
A plurality of rail-like members that are tiltably connected to each other and formed in a ring-like continuous state, and a rail that is attached to the main body frame and surrounds the structure. Part
The mobile working device, wherein the working unit is always in contact with a part of the rail part and can move around the structure along the rail part. In the mobile work device according to claim 1 or 2,
The substantially annular body formed by annularly connecting the plurality of main body frames and link frames is integrally connected in a state where they are overlapped in a plurality of vertical directions via a predetermined connecting member attached to the upper and lower ends of the main body frame. A mobile work device characterized by being arranged around a structure.

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