JP2009150056A - Gondola moving apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gondola moving apparatus which enables a gondola to be easily moved to an optional three-dimensional position, and which can suppress the longitudinal and horizontal swinging of the gondola. <P>SOLUTION: This gondola moving apparatus comprises: the gondola 10 on which an operator can get; a plurality of upside ropes 20a, 20b, 20c and 20d for suspending the gondola 10; upside rope driving means 30a, 30b, 30c and 30d which can be arranged at four corners of a boiler 1 forming a space for moving the gondola 10, respectively, and which wind/unwind the upside ropes; an input means for inputting a movement command including the direction of the movement of the gondola 10; and a movement control means 25 for controlling each of the upside rope driving means so that the gondola 10 can move in the direction based on the movement command. Since the gondola is suspended from four sides, the longitudinal and horizontal swinging can be suppressed for an improvement in safety during high lift work. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a gondola moving apparatus for performing work at a high place, and more particularly to a gondola moving apparatus capable of easily moving a gondola to an arbitrary three-dimensional position.

  At the thermal power plant, the inside of the boiler is regularly inspected, and in this periodic inspection, the presence or absence of an abnormality in the evaporation pipe is visually checked. The boiler of the thermal power plant is very large enough to contain multiple tennis courts, and a huge scaffold is required for inspection of the evaporation pipe, and the assembly of the scaffold requires a lot of time and huge expenses. It was.

For example, Patent Literature 1 and Patent Literature 2 are known as devices for efficiently performing work at high places. In the devices of Patent Literature 1 and Patent Literature 2, the gondola is suspended from the roof of the building via a wire rope, and the gondola is moved along the outer wall of the building by adjusting the feeding length of the wire rope. I have to.
JP-A-10-54134 Japanese Patent Laid-Open No. 11-350718

  However, since the gondola of the devices of Patent Document 1 and Patent Document 2 can only move in a plane, it is difficult to check the boiler of a thermal power plant using this device. In other words, the boiler evaporating pipes of the thermal power plant are arranged on the four sides of the boiler inner wall, and therefore it is necessary to move the gondola in a three-dimensional manner in checking the evaporating pipes. Moreover, in the apparatus of patent document 1 and patent document 2, since the gondola is hung only from the left-right direction, there exists a problem that a gondola tends to shake in the front-back direction.

  Accordingly, an object of the present invention is to provide a gondola moving device that can easily move the gondola to an arbitrary three-dimensional position and can suppress the back-and-forth and left-right shaking of the gondola. .

In order to achieve the above object, the invention according to claim 1 is a gondola on which an operator can board, a plurality of upper ropes that are connected to upper four corners of the gondola and suspend the gondola, and a space in which the gondola moves. An upper rope driving means for winding and unwinding the upper rope, input means for inputting a movement command including a moving direction of the gondola, and the gondola A gondola moving device comprising: movement control means for controlling each upper rope drive means so as to move in the direction of the movement command.
(Function)
Since the gondola is suspended from four directions by the ropes connected to the upper four corners of the gondola, the gondola is restrained from swinging in the front-rear direction and the left-right direction. Since the movement control means controls the upper rope drive means to move in the direction of the movement command based on the movement command input from the input means, the suspension length of each rope connected to the upper four corners of the gondola is adjusted. The gondola moves to the input predetermined position.

  The invention according to claim 2 is the gondola movement device according to claim 1, wherein a plurality of lower ropes connected to the lower four corners of the gondola, and the lower four corners of the structure, Lower rope driving means for winding and unwinding the lower rope, and the movement control means controls the lower rope driving means so as to suppress shaking of the gondola. .

  According to a third aspect of the present invention, in the gondola movement device according to the first or second aspect, each rope is provided with a tension sensor that detects a tension acting on the rope, and the tension sensor Tension control means for keeping constant the tension acting on each rope based on the signal is provided.

  According to a fourth aspect of the present invention, in the gondola movement device according to any one of the first to third aspects, the gondola is provided with a posture detection means for detecting the posture of the gondola, and the gondola detected by the posture detection means. The movement control means controls each of the upper rope drive means so that the gondola is in a predetermined attitude based on the attitude.

  According to the first aspect of the present invention, since the gondola is suspended from four directions, the gondola can be prevented from swinging in the front-rear direction and the left-right direction, and the safety of work at a high place by the gondola can be improved. Further, since the gondola can be easily moved to an arbitrary position in the space of the structure by a command from the input means, the efficiency of work at a high place can be remarkably improved. Further, since it is not necessary to assemble a huge scaffold each time a structure is inspected, a great amount of time and huge costs for assembling the scaffold become unnecessary.

  According to the invention described in claim 2, since the lower rope driving means for winding and unwinding the lower rope connected to the lower four corners of the gondola is provided, the gondola can be pulled downward, The gondola can be further prevented from shaking in the front-rear direction and the left-right direction.

  According to the third aspect of the present invention, the tension acting on each rope is detected by the tension sensor, and the tension acting on each rope is kept constant by the tension control means. It can be pulled with a proper tension. Therefore, excessive tension does not act on the rope, and the reliability of the apparatus can be improved.

  According to the invention described in claim 4, since the movement control means controls each upper rope drive means based on the attitude of the gondola detected by the attitude detection means, the gondola can be kept in a stable attitude at all times. Can improve the safety of work.

  Next, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
1 to 8 show Embodiment 1 of the present invention. FIG. 8 shows the boiler 1 in a thermal power plant as a structure. The boiler 1 has a combustion chamber 2 below, and a plurality of burners 3 are provided on the outer periphery of the combustion chamber 2. A large number of evaporation pipes 4 are attached to the inner wall of the combustion chamber 2. A superheater 5 is disposed above the combustion chamber 2. A gondola moving device 8 having a gondola 10 for checking the inside of the combustion chamber 2 is disposed in the boiler 1.

  As shown in FIG. 1, the gondola moving device 8 has a gondola 10 on which an operator can board. The gondola 10 has a box-like structure with an open top to allow inspection work by an operator. Here, the gondola 10 means a box-shaped scaffold that can be boarded by a plurality of workers and is suitable for inspection work. The gondola 10 may be composed of a net-like member like a balloon gondola, or may be a plate-like metal. What comprised from the member etc. may be sufficient. Upper ropes 20 a, 20 b, 20 c, and 20 d for suspending the gondola 10 are connected to the upper four corners of the gondola 10. In the first embodiment, the upper ropes 20a, 20b, 20c, and 20d are connected to the gondola 10 via tension sensors 22a, 22b, 22c, and 22d as shown in FIG. The tension sensors 22a, 22b, 22c, and 22d have a function of detecting tension acting on the upper ropes 20a, 20b, 20c, and 20d, and include, for example, a load cell that converts tension into an electrical signal.

  As shown in FIG. 1, the upper rope 20 a extends obliquely upward from the upper corner in the southwest direction of the gondola 10, and the upper rope 20 b extends obliquely upward from the upper corner in the southeast direction of the gondola 10. The upper rope 20c extends obliquely upward from the northeastern upper corner of the gondola 10, and the upper rope 20d extends obliquely upward from the northwest upper corner of the gondola 10. Each of the upper ropes 20a, 20b, 20c, and 20d is made of, for example, a wire rope having a high tensile strength, but may be a rope made of a material other than steel if the tensile strength is high.

  The upper rope 20a can be wound and unwound by upper rope driving means 30a disposed in the upper southwest direction of the boiler 1 as a structure. The upper rope 20b can be wound and unwound by upper rope driving means 30b disposed at the upper part of the boiler 1 in the southeast direction. The upper rope 20c can be wound and unwound by upper rope driving means 30c disposed in the upper part of the boiler 1 in the northeast direction. The upper rope 20d can be wound and unwound by upper rope driving means 30d disposed at the upper part of the boiler 1 in the northwest direction.

  FIG. 3 shows the detailed structure of the upper rope drive means 30a. Since the other upper rope drive means 30b, 30c, and 30d have the same structure as the upper rope drive means 30a, only the structure of the upper rope drive means 30a will be described here. In FIG. 3, a pair of support plates 32 extending in the vertical direction are attached to the frame 31 at a predetermined interval in the horizontal direction. A drum 33 is rotatably supported by the pair of support plates 32. An upper rope 20a is wound around the drum 33. The rotating shaft of the drum 33 is connected to the output shaft of the speed reducer 34 fixed to the frame 31. An input shaft of the speed reducer 34 is connected to an output shaft of an electromagnetic brake 35 fixed to the frame 31 through a coupling 38. An input shaft of the electromagnetic brake 35 is connected to an output shaft of a tension adjuster 36 as a tension control unit fixed to the frame 31 via a coupling 39. An input shaft of the tension adjuster 36 is connected to an output shaft of a motor 37 fixed to the frame 31 through a coupling 40. The motor 37 is composed of a variable speed motor capable of controlling the rotation speed. One support plate 32 is connected to a winding amount detector 41a that is connected to the drum 33 and detects the winding amount of the upper rope 20a.

  FIG. 4 shows an outline of the structure of the tension adjuster 36. The tension adjuster 36 includes a first rotor 36a, a second rotor 36b, and an electromagnet 36c. The first rotor 36 a is formed in a drum shape and is connected to the output shaft of the motor 37. Similarly, the second rotor 36b is formed in a drum shape, and is disposed inside the first rotor 36a. The second rotor 36 b is connected to the input shaft of the electromagnetic brake 35. The electromagnet 36c is located inside the second rotor 36b and is formed in a ring shape like the stator of the DC motor. The first rotor 36a and the second rotor 36b are mechanically coupled by the magnetic flux from the electromagnet 36c, and the rotational force of the first rotor 36a can be transmitted to the second rotor 36b. The tension adjuster 36 controls the rotational force transmitted from the motor 37 to the input shaft of the electromagnetic brake 35 by controlling the current (signal S2a) flowing through the electromagnet 36c, and the drum 33 winds the upper rope 20a. It has a function of adjusting the tension of the upper rope 20a at the time.

  In the electromagnetic brake 35, when the upper rope 20a is wound by the drum 33, braking is released by energizing an electromagnetic coil (not shown), and appropriate braking is applied when energization to the electromagnetic coil is turned off. Yes. The braking force of the electromagnetic brake 35 does not completely lock the movement of the drum 33 in the rotational direction. When a predetermined tension is applied to the upper rope 20a for the movement of the gondola 10, the unwinding direction of the drum 33 Is allowed to rotate. Thus, the electromagnetic brake 35 prevents the gondola 10 from being lowered by its own weight when the gondola 10 is stopped, and when the upper rope 20a is pulled in the unwinding direction for the movement of the gondola 10, the drum 33 The upper rope 20a can be unwound.

  FIG. 2 shows an electric control system of the gondola moving device 8. The gondola 10 is equipped with input means 11 for inputting a movement command including the moving direction of the gondola 10. The input means 11 is connected to the wireless communication device 14, and an input signal S 1 from the input means 11 is input from the wireless communication device 14 to the movement control means 25 provided outside the boiler 1. Yes. A gyroscope 12 is attached to the gondola 10 as posture detection means for detecting the posture of the gondola 10. The gyroscope 12 has a function of detecting whether the gondola 10 is maintained in a substantially horizontal posture so as not to hinder inspection work. An electrical signal from the gyroscope 12 is input to the movement control means 25 via the wireless communication device 14. The tension sensors 22 a, 22 b, 22 c, 22 d coupled to the gondola 10 are electrically connected to the wireless communication device 14 via the connection box 13. Electrical signals from the tension sensors 22a, 22b, 22c, and 22d are input to the movement control means 25 via the wireless communication device 14.

  As shown in FIG. 2, each upper rope drive means 30a, 30b, 30c, 30d is electrically connected to the movement control means 25, and each upper rope drive means 30a, 30b, 30c, and 30d operate. For example, in the upper rope drive means 30a, the motor 37, the tension adjuster 36, and the electromagnetic brake 35 are controlled based on the output signal S2 from the movement control means 25, respectively. The winding amounts of the upper ropes 20a, 20b, 20c, and 20d in the upper rope driving means 30a, 30b, 30c, and 30d are detected by the winding amount detectors 41a, 41b, 41c, and 41d, and the respective winding amount detectors 41a. , 41b, 41c, 41d are inputted to the movement control means 25. For example, an electric signal S3 corresponding to the winding amount of the upper rope 20a is input to the movement control means 25 from the winding amount detector 41a.

  In order to move the gondola 10 in each direction, it is necessary to operate each upper rope drive means 30a, 30b, 30c, 30d as follows, and these operation programs are input to the movement control means 25 in advance. Yes. In FIG. 1, the movement of the gondola 10 in the upward (U) direction drives the motor 37 in the forward rotation direction in all the upper rope drive means 30a, 30b, 30c, 30d, and the upper ropes 20a, 20b, 20c, 20d. It is done by winding up. The gondola 10 is moved downward (D) by driving the motor 37 in the reverse rotation direction in all the upper rope drive means 30a, 30b, 30c, 30d, and unwinding the upper ropes 20a, 20b, 20c, 20d. Done.

  The gondola 10 moves in the south (S) direction by winding the upper ropes 20a and 20b by rotating the motors 37 of the upper rope drive means 30a and 30b in the forward direction, and the upper rope drive means 30c and 30d. The upper ropes 20c and 20d are unwound by the pulling force of the gondola 10 in a state where the motors 37 are not driven. The gondola 10 moves in the east (E) direction by winding the upper ropes 20b and 20c by rotating the motors 37 of the upper rope drive means 30b and 30c in the forward direction, and the upper rope drive means 30a and 30d. The upper ropes 20a and 20d are unwound by the pulling force of the gondola 10 in a state where the motors 37 are not driven. Similarly, the gondola 10 moves in the north (N) direction by winding the upper ropes 20c and 20d by rotating the motors 37 of the upper rope drive means 30c and 30d in the forward direction, and the upper rope drive means. The upper ropes 20a and 20b are unwound by the pulling force of the gondola 10 in a state where the motors 30a and 30b are not driven. The gondola 10 is moved in the west (W) direction by winding the upper ropes 20a, 20d by rotating the motors 37 of the upper rope drive means 30a, 30d in the forward direction, and the upper rope drive means 30b, 30c. The upper ropes 20b and 20c are unwound by the pulling force of the gondola 10 in a state where the motors 37 are not driven.

  Next, the operation of the gondola moving device 8 will be described. 5 and 6 show a procedure for moving the gondola 10 to a predetermined position. In particular, the control procedure of the upper rope drive means 30a will be described as an example. In step 101 of FIG. 5, the input unit 11 is operated by an operator boarding the gondola 10, and movement command information for moving to a predetermined position is input to the movement control unit 25. The input unit 11 has the same function as, for example, a switch for operating an overhead crane, and movement command information is input to the movement control unit 25 by operating a switch in a direction desired by an operator. In step 102, based on the command information from the input means 11, the movement control means 25 determines whether the upper rope driving means 30a performs winding or unwinding of the upper rope 20a. That is, here, the movement control means 25 determines whether the upper rope driving means 30a winds or unwinds the upper rope 20a when the movement command direction of the gondola 10 is the west (W) direction. The same determination is made by the movement control means 25 for the other upper rope drive means 30b, 30c, 30d. As shown in FIG. 1, when the movement command direction of the gondola 10 is the west (W) direction, the upper rope drive means 30a and 30d require winding, and the upper rope drive means 30b and 30c require unwinding. Become.

  If it is determined in step 102 that the upper rope 20a needs to be wound, the routine proceeds to step 103, where the braking of the electromagnetic brake 35 of the upper rope drive means 30a is released. When the brake release of the electromagnetic brake 35 is confirmed, the routine proceeds to step 104 where the motor 104 is driven and the winding of the upper rope 20a by the rotation of the drum 33 is started. In step 102, in the upper rope drive means 30b, 30c determined to require unwinding, the electromagnetic brake 35 maintains an appropriate braking operation, and in step 109, the motor 37 remains stopped. In this state, the gondola 10 moves in the west (W) direction by winding the upper ropes 20a and 20d, so that the upper ropes 20b and 20c are pulled in the west (W). Thereby, in upper rope drive means 30b and 30c, drum 33 rotates in the direction opposite to the winding direction, and unwinding of upper ropes 20b and 20c is started.

  When the gondola 10 starts moving in the west (W) direction, the process proceeds to step 105, and the tension acting on each upper rope 20a, 20b, 20c, 20d is detected by each tension sensor 22a, 22b, 22c, 22d. . Next, the routine proceeds to step 106, where the movement control means 25 determines whether or not the tension acting on each upper rope 20a, 20b, 20c, 20d is within a predetermined range. In step 106, for example, when it is determined that the tension of the upper rope 20a is out of the predetermined range, the process proceeds to step 107, and tension adjustment by the tension adjuster 36 is performed. That is, when the tension of the upper rope 20a is out of the predetermined range, the current (signal S2a) flowing through the electromagnet 36c of the tension adjuster 36 is controlled by the signal from the movement control means 25, and the rotation of the first rotor 36a. In contrast, the second rotor 36b slips. As a result, the rotational speed of the second rotor 36b becomes slower than the rotational speed of the first rotor 36a, the winding speed of the upper rope 20a by the drum 33 is lowered, and the tension of the upper rope 20a is within a predetermined value. Adjusted.

  As shown in step 111 of FIG. 6, during the movement of the gondola 10, the winding amounts of the upper ropes 20a, 20b, 20c, and 20d are detected by the winding amount detectors 41a, 41b, 41c, and 41d. Next, the routine proceeds to step 112, where the movement control means 25 determines whether or not the winding amount of the upper ropes 20a, 20b, 20c, 20d is the limit. If it is determined that the winding amount of the specific rope is the limit, the process proceeds to step 114, and the motor 37 of the upper rope driving means corresponding to the upper rope that has reached the winding limit is stopped. That is, when the winding amount of the upper rope 20a reaches the limit, the motor 37 of the upper rope driving means 30a is stopped based on the signal from the winding amount detector 41a, and the winding of the upper rope 20a is stopped. If it is determined in step 112 that the winding amount of any of the upper ropes 20a, 20b, 20c, 20d has not reached the limit, the process proceeds to step 113 and the movement control means 25 moves the west (W) direction of the gondola 10 It is determined whether or not the movement is completed. That is, in step 113, it is determined whether or not the gondola 10 has reached a predetermined position. If it is determined in step 113 that the movement of the gondola 10 has not been completed, the process returns to step 105, and winding of the upper ropes 20a, 20d by the upper rope drive means 30a, 30d continues while detecting the rope tension. The gondola 10 continues to move toward the west (W).

  If the movement control means 25 determines in step 113 that the movement of the gondola 10 has been completed, the routine proceeds to step 114 where the motors 37 of the upper rope drive means 30a, 30b are stopped. Next, the routine proceeds to step 115 where the drum 33 is braked by the electromagnetic brake 35 of the upper rope drive means 30a, 30b. Thereby, the gondola 10 is positioned at a predetermined position, and inspection of the evaporation pipe 4 in the boiler 1 by the operator is started.

  While the gondola 10 is moving, posture control of the gondola 10 is performed based on a signal from the gyroscope 12 as posture detection means. FIG. 7 shows a procedure for controlling the attitude of the gondola 10. In step 120 of FIG. 7, the attitude of the gondola 10 by the gyroscope 12 is detected. Next, the routine proceeds to step 121 where the movement control means 25 determines whether or not the attitude of the gondola 10 is normal. If it is determined in step 121 that the attitude of the gondola 10 is normal, the process proceeds to step 123, and attitude control is not performed. If it is determined in step 121 that the attitude of the gondola 10 is not normal, the movement control means 25 rotates the motors 37 of the upper rope drive means 30a, 30b, 30c, 30d so that the gondola 10 assumes a predetermined attitude. Control the speed. As a result, the suspension lengths of the upper ropes 20a, 20b, 20c, and 20d are adjusted, and the gondola 10 can move in the command direction while maintaining almost horizontal.

  As described above, in the gondola moving device 8, the gondola 10 is suspended from the four sides by the upper ropes 20a, 20b, 20c, and 20d. Therefore, the gondola 10 can be prevented from shaking in the front-rear direction and the left-right direction. Can improve the safety of high-altitude work. Moreover, since the gondola 10 can be easily moved to an arbitrary position in the space in the huge boiler 1 of the thermal power plant, the efficiency of the inspection work of the evaporator tube 4 can be significantly increased. Furthermore, since it is not necessary to assemble a huge scaffold for periodic inspection, a lot of time and huge cost for assembling the scaffold are also unnecessary.

  After the inspection of the boiler 1, the gondola 10 is disconnected from the upper ropes 20a, 20b, 20c, and 20d and carried out of the boiler 1. Each upper rope 20a, 20b, 20c, 20d and each upper rope drive means 30a, 30b, 30c, 30d are isolated from the boiler 1 by a heat-resistant wall (not shown) after the inspection of the boiler 1 is completed. It becomes. Therefore, the gondola moving device 8 is protected from the heat of the boiler 1 except at the time of inspection, and can be used repeatedly every periodic inspection of the boiler 1.

(Embodiment 2)
9 and 10 show a second embodiment of the present invention. The difference between the second embodiment and the first embodiment is only the structure in which the gondola 10 is pulled from below, and the other parts are the same as those in the first embodiment. Therefore, the same reference numerals are assigned to the corresponding parts. Therefore, the description of the corresponding part is omitted.

  In FIG. 9, lower ropes 20 e, 20 f, 20 g, and 20 h for supporting the gondola 10 are connected to the lower four corners of the gondola 10. As shown in FIG. 10, the lower ropes 20e, 20f, 20g, and 20h are connected to the gondola 10 via tension sensors 22e, 22f, 22g, and 22h. The tension sensors 22e, 22f, 22g, and 22h have a function of detecting tension acting on the lower ropes 20e, 20f, 20g, and 20h, and include, for example, a load cell that converts tension into an electrical signal. The tension sensors 22e, 22f, 22g, and 22h are electrically connected to the wireless communication device 14 via the connection boxes 13a and 13b. Electrical signals from the tension sensors 22e, 22f, 22g, and 22h are input to the movement control means 25 via the wireless communication device 14.

  As shown in FIG. 9, the lower rope 20 e extends obliquely downward from the southwestern lower corner of the gondola 10, and the lower rope 20 f extends obliquely downward from the southeastward lower corner of the gondola 10. . Further, the lower rope 20 g extends obliquely downward from the lower corner of the gondola 10 in the northeast direction, and the lower rope 20 h extends obliquely downward from the lower corner of the gondola 10 in the northwest direction. The lower ropes 20e, 20f, 20g, and 20h are composed of a wire rope having a high tensile strength as in the first embodiment, but even if the rope is composed of a material other than steel if the tensile strength is high. Good.

  The lower rope 20e can be wound and unwound by a lower rope driving means 30e disposed at the southwest direction lower part of the boiler 1 as a structure. The lower rope 20f can be wound and unwound by a lower rope driving means 30f disposed at the lower part of the boiler 1 in the southeast direction. The lower rope 20g can be wound and unwound by a lower rope driving means 30g disposed in the lower part of the boiler 1 in the northeast direction. The lower rope 20h can be wound and unwound by lower rope driving means 30h disposed in the lower part of the boiler 1 in the northwest direction. The lower rope drive means 30e, 30f, 30g, and 30h have the same structure as the upper rope drive means 30a in FIG.

  As shown in FIG. 10, each lower rope drive means 30e, 30f, 30g, 30h is electrically connected to the movement control means 25, and operates according to an output signal from the movement control means 25. Yes. The winding amount of the lower ropes 20e, 20f, 20g, and 20h in the lower rope driving means 30e, 30f, 30g, and 30h is detected by the winding amount detectors 41e, 41f, 41g, and 41h, and each winding amount is detected. Electric signals from the devices 41e, 41f, 41g, and 41h are input to the movement control means 25.

  In order to move the gondola 10 in each direction, it is necessary to operate the upper rope drive means 30a, 30b, 30c, 30d and the lower rope drive means 30e, 30f, 30g, 30h as follows. These operation programs are input to the control means 25 in advance. In FIG. 9, for example, movement of the gondola 10 in the upward (U) direction causes the motor 37 to be driven in the normal rotation direction in all the upper rope drive means 30a, 30b, 30c, 30d, and the upper ropes 20a, 20b, 20c, This is done by winding 20d. In this state, the motors 37 of all the lower rope drive means 30e, 30f, 30g, and 30h remain stopped, and the lower ropes 20e, 20f, 20g, and 20h are unwound. Further, the gondola 10 is moved downward (D) by driving the motor 37 in the forward rotation direction in all the lower rope driving means 30e, 30f, 30g, 30h, and lower ropes 20e, 20f, 20g, 20h. It is done by winding up. In this state, the motors 37 of all the upper rope drive means 30a, 30b, 30c, 30d remain stopped, and the upper ropes 20a, 20b, 20c, 20d are unwound. Thus, when the gondola 10 is moved in the vertical direction and the east, west, south, and north directions, the upper rope drive means 30a, 30b, 30c, 30d, and the lower rope are based on the operation program input to the movement control means 25. Winding control or unwinding control of the drive means 30e, 30f, 30g, 30h is performed.

  In the second embodiment configured as described above, the upper side of the gondola 10 is suspended from four sides by upper ropes 20a, 20b, 20c, and 20d, and the lower side of the gondola 10 is lower ropes 20e, 20f, and 20g. , 20h is supported from all sides, so that the swing of the gondola 10 in the front-rear direction and the left-right direction can be further suppressed as compared with the case of the first embodiment, and the safety of work at high places by the gondola 10 is further enhanced. Can do. Further, in the case of four-hanging as in the first embodiment, in order to make the gondola 10 as close as possible to the inner wall surface of the combustion chamber 2 for inspection of the evaporation pipe 4, it is directed to the inner wall surface of the combustion chamber 2 of the gondola 10. Although it is necessary to increase the weight of the gondola 10 in order to increase the force, in the second embodiment, the gondola 10 can be pulled downward by the lower rope drive means 30e, 30f, 30g, and 30h. Therefore, the gondola 10 can be brought closer to the inner wall surface of the combustion chamber 2 without increasing the weight of the gondola 10.

(Embodiment 3)
11 and 12 show the third embodiment of the present invention, and show a modification of the tension control means in the first embodiment. In the first embodiment, the tension adjuster 36 as the tension control means is provided in the upper rope drive means 30a. However, in the third embodiment, the tension control means is provided in the movement control means 25. .

  FIG. 11 shows the detailed structure of the upper rope drive means 30a ′. In the upper rope drive means 30a ′, the tension adjuster 36 is removed from the configuration of the upper rope drive means 30a of Embodiment 1, and the output shaft of the motor 37 is directly connected to the input shaft of the electromagnetic brake 35. This is because rope tension control is performed by controlling the rotational speed of the motor 37, and a program for rope tension control is input to the movement control means 25.

  FIG. 12 shows a procedure for moving the gondola to a predetermined position, and step 107a shows a step for controlling the rope tension. This step 107a corresponds to step 107 of FIG. 5 in the first embodiment. The procedure for moving the gondola 10 to a predetermined position in the third embodiment is the same as that shown in FIGS. 5 and 6 except for the step 107a. Therefore, only the control related to step 107a will be described here. In Step 106 of FIG. 12, the movement control means 25 determines whether or not the tension acting on each upper rope 20a, 20b, 20c, 20d is within a predetermined range. In step 106, for example, when it is determined that the tension of the upper rope 20a is out of the predetermined range, the process proceeds to step 107a, and the tension control of the upper rope 20a is performed by the movement control means 25. When the movement control means 25 determines that the tension of the upper rope 20a is out of the predetermined range, the movement control means 25 decreases the rotational speed of the motor 37, which is a variable speed motor, and decreases the winding speed of the upper rope 20a by the drum 33. Let Thereby, the tension of the upper rope 20a is corrected within a predetermined range, and the tension of the upper rope 20a is maintained at an appropriate value.

  As described above, in the third embodiment, the tension control of the upper rope 20a is performed by the program inputted in advance to the movement control means 25, so that the tension adjuster 36 of FIG. 4 in the first embodiment is used. Therefore, the tension of the upper rope 20a can be controlled, and the configuration of the apparatus can be simplified.

  As described above, the embodiments of the present invention have been described in detail, but the specific configuration is not limited to these embodiments, and even if there is a design change or the like without departing from the gist of the present invention, It is included in this invention. For example, in each embodiment, the gondola 10 is used for the inspection work of the boiler 1 in the thermal power plant, but is not limited to this as long as the work requires three-dimensional movement. Moreover, although the input means 11 is mounted on the gondola 10, the input means 11 may be arranged on the ground side, and the gondola 10 may be operated by issuing a movement command from the ground side. Further, although the gyroscope 12 is used as the posture detection means, the gyroscope 12 is not limited to the gyroscope 12 as long as the posture of the gondola 10 can be detected.

It is a schematic diagram of the gondola movement apparatus concerning Embodiment 1 of this invention. It is a block diagram which shows the electric control system in the apparatus of FIG. It is a front view of the upper side rope drive means in the apparatus of FIG. It is a schematic diagram of the tension adjuster in the upper side rope drive means of FIG. It is a flowchart which shows the procedure of the movement control of the gondola in the apparatus of FIG. FIG. 6 is a flowchart showing a gondola movement control procedure in the apparatus of FIG. It is a flowchart which shows the procedure of the attitude | position control of the gondola in the apparatus of FIG. It is a schematic diagram of the boiler of the thermal power plant in which the gondola moving device of FIG. 1 is arranged. It is a schematic diagram of the gondola movement apparatus concerning Embodiment 2 of this invention. It is a block diagram which shows the electric control system in the apparatus of FIG. It is a front view of the upper side rope drive means in the gondola movement apparatus concerning Embodiment 3 of this invention. It is a flowchart which shows the procedure of the gondola movement control at the time of using the upper side rope drive means of FIG.

Explanation of symbols

1 Boiler (structure)
8 Gondola moving device 10 Gondola 11 Input means 12 Gyroscope (Attitude detection means)
20a upper rope 20b upper rope 20c upper rope 20d upper rope 22a tension sensor 22b tension sensor 22c tension sensor 22d tension sensor 25 movement control means 30a upper rope drive means 30b upper rope drive means 30c upper rope drive means 30d upper rope drive means 36 tension Adjuster (tension control means)
41a Winding amount detector 41b Winding amount detector 41c Winding amount detector 41d Winding amount detector

Claims (4)

A gondola that workers can board,
A plurality of upper ropes connected to the upper four corners of the gondola and hanging the gondola;
Upper rope drive means that can be disposed at the upper four corners of a structure that forms a space in which the gondola moves, and that winds and unwinds the upper rope;
Input means for inputting a movement command including a moving direction of the gondola;
A gondola movement device comprising: movement control means for controlling each upper rope drive means so that the gondola moves in the direction of the movement command. A plurality of lower ropes connected to the lower four corners of the gondola;
A lower rope driving means that can be disposed at the lower four corners of the structure and winds and unwinds the lower rope;
2. The gondola moving apparatus according to claim 1, wherein the lower rope driving means is controlled by the movement control means so as to suppress shaking of the gondola. Each rope is provided with a tension sensor that detects the tension acting on the rope,
The gondola movement device according to claim 1 or 2, further comprising tension control means for maintaining a constant tension acting on each rope based on a signal from the tension sensor. A posture detecting means for detecting the posture of the gondola;
2. The movement control means controls each upper rope drive means so that the gondola assumes a predetermined attitude based on the attitude of the gondola detected by the attitude detection means. The gondola movement apparatus in any one of Claim 3.

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