JP2012031716A - Moving device for observation - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving device for observation which is used for observing a wire body performing gate opening and closing operation and can accurately and reliably check up the wire body.SOLUTION: The moving device for observation comprises a moving component 25 to which an observation camera to observe a wire body 16 is attached and a control means 26 moving the moving component 25 along the wire body 16. The moving component 25 comprises a moving body 30 and a moving auxiliary body 33 that are detachably fixed to the wire body 16. The control means 26 comprises a chuck control part 53 and a moving control part 54. The chuck control part 53 releases the fixing of the moving auxiliary body 33 in a condition that a moving body 30 is fixed and also releases the fixing of the moving body 30 in a condition that the moving auxiliary body 33 is fixed. The moving control part 54 moves the moving auxiliary body 33 along the longitudinal direction of the wire body in a condition that the moving body 30 is fixed and also moves the moving body 30 along the longitudinal direction of the wire body in a condition that the moving auxiliary body 33 is fixed.

Description

  The present invention relates to an observation moving device that moves along a linear body to observe a linear body (wire rope) that opens and closes a gate.

  In a dam such as a hydroelectric power plant, a spillway gate is provided for the purpose of adjusting the amount of water stored in the dam (Patent Document 1 and Patent Document 2). As shown in FIG. 8, the radial gate of the spillway gate has a door body 4 curved in a convex shape toward the upstream side of the dam, and this door body 4 has a neck in the vertical direction around the rotating shaft 1. It is installed so that it can swing. Further, the wire rope 3 is connected to the door body 4, and the wire rope 3 is wound up by the winding device 2.

  A fixing member 5 for connecting a wire rope is provided at the lower part of the outer surface of the door body 4, and a connecting tool 6 at the tip of the wire rope 3 is connected to the fixing member 5. For this reason, when the wire rope 3 is wound up through the winding device 2 from the state shown in FIG. 8, the door body 4 is rotated in the direction of the arrow A around the rotation shaft 1 and opened as shown by the phantom line. It becomes a state. Further, when the wire rope 3 is drawn from the hoisting device 2 from the state indicated by the phantom line, the door body 4 is rotated in the direction of the arrow B around the rotation shaft 1 to be in the closed state. In this closed state, the lower edge of the door body 4 is in contact with the gate bottom 7.

JP 2001-107341 A JP 2002-46615 A

  By the way, if the wire rope 3 is used over a long period of time, there is a possibility that the deterioration becomes large and the opening / closing operation cannot be performed. Moreover, even if it is not used for a long time, a driftwood etc. may contact a wire rope and a wire rope may be damaged. For this reason, it is necessary to check whether the wire rope is not deteriorated or damaged, that is, to check the disconnection state or the corrosion state.

  Confirmation of the disconnection state and the corrosion state is generally a visual inspection of the diver when the diver dives. However, visual observation by a diver is expensive and dangerous. In addition, it was difficult for divers to respond to emergencies such as floods.

  In addition, it can be proposed to check with a self-propelled underwater camera. However, when checking with a self-propelled underwater camera, a three-dimensional operation is required for the camera. When performing a three-dimensional operation, a specialized operator is required and skill is required. For this reason, at the dam manager level, the operability is inferior, and even if a self-propelled underwater camera is used, high-precision inspection cannot be performed.

  Therefore, in view of such a situation, the present invention provides an observation moving apparatus capable of stably inspecting a linear body that performs an opening / closing operation of a gate with high accuracy.

  The observation moving device of the present invention includes a moving member provided with an observation camera for observing a striatum that opens and closes a gate, and a control unit that moves the moving member along the striatum. A moving body having a main body side chuck mechanism for detachably fixing to the linear body, and the reciprocating motion along the longitudinal direction of the main body. And a moving sub-body having a sub-body side chuck mechanism for detachably fixing to the linear body, and the control means fixes the moving main body to the linear body by the main body-side chuck mechanism. In this state, the fixing by the sub body side chuck mechanism is released, and in the state where the moving sub body is fixed to the linear body by the sub body side chuck mechanism, the fixing by the main body side chuck mechanism is released. The moving sub-body is moved along the longitudinal direction of the linear body via the drive mechanism in a state where the movable main body is fixed to the linear body by the control unit and the main body-side chuck mechanism, and the moving sub-body is moved by the sub-body side chuck mechanism. A movement control unit that moves the moving main body along the linear body longitudinal direction via a drive mechanism in a state where the body is fixed to the linear body, and the moving member is provided along the linear body of the moving member. And a guide member that allows the moving member to be tilted by a predetermined angle or more.

  According to the observation moving device of the present invention, it is possible to move only the moving sub-body in one direction in the longitudinal direction of the linear body in a state where the movable main body is fixed to the linear body by the main body side chuck mechanism. Thereafter, the moving main body can be moved in one direction in the longitudinal direction of the linear body in a state where the movable secondary body is fixed to the linear body by the secondary body side chuck mechanism. For this reason, it can be set as the state which the movement main body moved only the predetermined amount to one direction of the linear body longitudinal direction. Therefore, if the above operations are sequentially performed, the moving member performs a scale-insulating intermittent operation, and the moving main body and the moving sub body can sequentially move on the striatum along the longitudinal direction of the striatum. it can. And since the camera for observation is provided, a linear body can be observed along a linear body longitudinal direction with this movement.

  By the way, the moving member moves along the striate body. At this time, the moving member travels on the skin plate (on the surface) constituting the door body of the gate. However, since the surface of the skin plate is a convex curved surface, the skin plate may be tilted during traveling to be in a so-called falling state. For this reason, in the present invention, the moving member is provided with a guide member that restricts the tilting of a predetermined angle or more, and thereby, the chuck by the chuck mechanism of the linear member can be stably performed to prevent the moving member from being overturned. I am doing so.

  The guide member may be composed of a pair of arms fixed with their tips approaching each other, and a wheel capable of running on a skin plate that constitutes the door body of the gate. There is a stepped portion such as a joint on the surface of the skin plate, and this stepped portion may become an obstacle and hinder travel of the moving member. Therefore, by attaching a wheel capable of running on the skin plate, even if there is an obstacle, it is possible to get over this obstacle.

  The guide member may be provided with a pair of rotating bodies that crawl up the linear body toward the moving member and rotate around the axis by the movement of the moving member. In this case, it is desirable that the rotating body has a tapered surface that becomes thinner toward the outer diameter side, and the linear body is scooped up between the tapered surfaces. The filament may be broken, and the broken line may bite into the guide member. Therefore, if the guide member is composed of a pair of rotating bodies that rotate around the axis, even if the line break occurs and the broken line comes into contact with the rotating body, the broken line is caused by the rotation of the rotating body. Can be prevented from being pushed back and biting into the guide member.

  The moving body includes a pair of block pieces arranged at predetermined intervals along the linear body longitudinal direction, and a connecting guide rod for connecting the block pieces, and the mechanism is attached to each block piece, The moving sub-body can be constituted by a block body disposed between a pair of block bodies and reciprocating along the connecting guide rod.

  By configuring the moving main body and the moving sub body in this way, the configuration of the moving member can be simplified, and the movement of the moving main body relative to the moving main body and the movement of the moving main body relative to the moving sub body can be performed. Stabilize.

  The chuck mechanism may include a pair of claw members that move in directions toward and away from each other, and sandwich the linear body in a state of being close to each other. By comprising in this way, a linear body can be clamped if a pair of nail | claw member is mutually approached. Therefore, by this clamping, if the chuck mechanism is the main body side chuck mechanism, the moving main body can be fixed to the linear body, and if the chuck mechanism is the secondary side chuck mechanism, the moving sub body is fixed to the linear body. Can be fixed. Further, when the pair of claw members are separated from each other, the fixed state is released.

  The movement of the claw member of the chuck mechanism can be performed by the air cylinder mechanism, and the reciprocating motion of the moving main body and the moving sub body can be performed by the air cylinder mechanism. In this way, by using the air cylinder mechanism, the output calculation is easy, the stroke calculation is easy, the holding force is constant, the power consumption is very small, and the motor is not used. There are advantages such as being optimal for use in water.

  It is preferable that the observation camera has a pair arranged in directions opposite to each other by 180 ° with respect to the striatum, and that each observation camera can observe 180 ° in the circumferential direction of the outer diameter surface of the striatum. By configuring in this way, it is possible to observe the entire circumference of the striatum in the circumferential direction.

  The gate is a dam spillway gate, and a striate immersed in water can be observed.

  According to the observation apparatus of the present invention, the moving member can perform a chopping-like intermittent operation, and the moving main body and the moving sub-body can sequentially move on the striatum along the striatum longitudinal direction. In addition, with this movement, the striatum can be observed with the observation camera along the longitudinal direction of the striatum. For this reason, it is not necessary for the operator to operate the self-propelled television camera or the like in a three-dimensional manner, and the striatum can be inspected with high accuracy and stability even if it is not an expert. In addition, the scale-worming movement of the moving member can be performed by control by the control means, the operation part of this control means can be arranged at a remote part from the moving member, and can be operated at a position remote from the moving member, It is possible to ensure the safety of the operator (operator). The gate is a dam spillway gate, and even if the striate is immersed in water, there is no need for divers to inspect and check the striatum even in an emergency such as a flood. Is possible.

  When the guide member is provided, the movable body can be prevented from overturning, and the striate body can be stably observed.

  If the guide member is composed of a pair of arms and wheels, even if there is an obstacle such as a stepped portion, it is possible to run on the skin plate of the moving body, and to improve the observation efficiency of the striatum. it can. Further, when the guide member is constituted by a pair of rotating bodies, it is possible to prevent biting of the broken line, and thus it is possible to prevent damage to the device and stop movement due to damage. In this case, if the filament is sandwiched between the tapered surfaces, it can be used for a filament having various diameters.

  The moving main body is provided with a pair of block pieces and a connecting guide rod, and the moving sub body is constituted by a block body that reciprocates along the connecting guide rod. The configuration can be simplified, and the weight and cost can be reduced. Moreover, the movement of the moving sub-body relative to the moving main body and the movement of the moving main body relative to the moving sub-body are stable, and the moving main body and the moving sub-body can be stably moved along the striatum.

  Simple configuration by using an air cylinder mechanism for the movement of the claw member of the chuck mechanism, a reciprocating motion of the moving sub body with respect to the moving main body, and an air cylinder mechanism for reciprocating movement of the moving main body with respect to the moving sub body. This enables stable operation and contributes to cost reduction. In particular, it is optimal for use in water, and this observation device is optimal for inspection of the striatum of the dam spillway gate.

  If the observation camera has a pair arranged in the opposite direction of 180 ° with respect to the striatum, it becomes possible to observe the entire circumference of the striatum in the circumferential direction, and inspection without omission can be performed. The inspection accuracy can be improved.

It is a schematic diagram which shows the operation | movement process of the moving member of the moving apparatus for observation of this invention. It is sectional drawing of the dam in which the said moving apparatus for observation is used. It is a top view of the said dam. It is a simplified block diagram which shows the control means of the moving apparatus for observation of this invention. It is principal part sectional drawing of a chuck mechanism. The claw member of a chuck mechanism is shown, (a) is a simplified figure of a closed state, and (b) is a simplified figure of an opened state. It is a front view of the guide member of the moving device for observation of a 1st embodiment of the present invention. It is a simplified diagram of a radial gate. It is a perspective view of the moving apparatus for observation of 2nd Embodiment of this invention. It is a principal part expansion perspective view of the moving apparatus for observation of 2nd Embodiment of this invention. The rotating body of the moving apparatus for observation of 2nd Embodiment of this invention is shown, (a) is a top view, (b) is a side view. It is a simplified side view of the observation moving device and the filament in the second embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to FIGS.

  2 and 3 show a dam in which the observation apparatus of the present invention is used, and this dam is provided with many radial gates 10 constituting a spillway gate. The radial gate 10 includes a door body 11 that is convexly curved toward the upstream side of the dam, and a pedestal 12 that supports the door 11, and a caulked portion of the pedestal 12 has a rotating shaft (not shown). It is pivotally supported by the rocker.

  At the top end 15, a hoisting device 17 that performs an operation of hoisting and lowering the linear body 16 that opens and closes the radial gate 10 is disposed. The hoisting device 17 includes a pair of drums 20a and 20b, and the linear member 16 is wound around each of the drums 20a and 20b. For this reason, the opening and closing operation of the radial gate 10 is performed by the pair of linear bodies 16. As shown in FIG. 2, a connecting tool 18 is attached to the tip of each linear body 16, and a pair of fixing brackets 19 are provided at the lower outer surface of the door body 11. And the respective fixing fittings 19 on the door body 11 side are pivotally connected. A wire rope is used as the filament 16.

  For this reason, as shown in FIG. 2, in a state in which the linear body 16 is extended, the lower end edge of the door body 11 is in contact with the gate bottom 21. That is, the gate 10 is closed. If the filament 16 is wound up by the hoisting device 17 from this closed state, the gate 10 swings in the direction of the arrow A around the rotation axis and becomes a state indicated by an imaginary line. That is, the gate 10 is opened. In addition, if the linear body 16 is unwound by the hoisting device 17 from this open state (if it is fed out), the gate 10 swings in the direction of arrow B about the rotation axis and is indicated by a solid line. Closed.

  The observation moving device according to the first embodiment of the present invention includes a moving member 25 (see FIG. 2) that travels (moves) along the linear body 16, and a control unit 26 that controls the traveling of the moving member 25 (see FIG. 2). 4). A control panel (operation unit) 27 of the control means 26 is disposed on the top end 15 or the boat 62. A fence 75 is provided at the top 15.

  As shown in FIG. 1, the moving member 25 includes a moving main body 30 having a pair of block pieces 31 and 32, and a moving sub-body 33 attached to the moving main body 30. The moving body 30 is connected by connecting guide rods 34 and 35 so as to be arranged at a predetermined interval along the linear body longitudinal direction. Further, the moving sub-body 33 is arranged between the block pieces 31 and 32, and is constituted by a block body capable of reciprocating along the linear body longitudinal direction while being guided by the connecting guide rods 34 and 35. .

  The block pieces 31 and 32 are each provided with a chuck mechanism 36, and the moving sub-body 33 is also provided with a pair of chuck mechanisms 37 and 37. As shown in FIG. 6, each chuck mechanism 36, 37 includes a pair of claw members 38a, 38b, 39a, 39b, and each claw member 38a, 38b, 39a, 39b opens and closes via a drive mechanism such as an air cylinder mechanism. To do. V-shaped notches 66 and 66 into which the filaments 16 are fitted are provided on the opposing surfaces of the claw members 38a, 38b, 39a and 39b. Each claw member 38a, 38b, 39a, 39b slides on a rail 67 provided on the upper surface of the casing 42, which will be described later, as indicated by arrows E1, F1, E2, F2. Therefore, a slide body 68 that slides on the rail 67 is attached to the lower surface of each claw member 38a, 38b, 39a, 39b.

  As shown in FIG. 5, the air cylinder mechanism includes a casing 42 having a pair of piston chambers 40 and 41, and piston members 43 and 44 accommodated in the piston chambers 40 and 41 of the casing 42. The piston members 43 and 44 are interlocked and connected via a pinion and rack structure M. That is, the pinion 45 is disposed between the piston chambers 40 and 41, that is, in the pinion housing portion 71 provided in the partition wall 70 with the piston chambers 40 and 41, and meshes with the pinion 45 in the piston members 43 and 44. A rack 46 is provided. The piston members 43 and 44 are composed of piston main bodies 47 and 48 having the rack 46 formed on the outer peripheral surface thereof, and sub-portions 49, 50, 51 and 52 attached to end faces of the piston main bodies 47 and 48. Become.

  The casing 42 is provided with ports 55 and 56 that open to the piston chambers 40 and 41, and air hoses 57 and 58 are connected to the ports 55 and 56. An air compressor 60 (see FIGS. 2 and 3) is connected to the air hoses 57 and 58. The other claw member 38b (39b) of the chuck mechanism 36 (37) is connected to one piston member 43, and the one claw member 38a (39a) of the chuck mechanism 36 (37) is connected to the other piston member 44. Is done.

  Therefore, if air is supplied from the air hose 57 to the piston chamber 40 via the port 55, the piston member 43 moves in the C1 direction in the piston chamber 40 as shown in FIG. At this time, since the piston member 43 and the piston member 44 are interlocked and connected via the pinion and rack structure M, the piston member 44 moves in the direction of the arrow D1 (the direction opposite to the direction of the arrow C1). Move in. In this case, air closer to the port 56 than the piston member 44 in the piston chamber 41 is discharged to the outside (compressor side) via the air hose 58.

  By the way, the slide member 68 of the claw member 38b (39b) of the chuck mechanism 36 (37) is connected to the piston member 43, and the slide member 68 of the claw member 38a (39a) of the chuck mechanism 36 (37) is connected to the piston member 44. It is connected. For this reason, as shown in FIG. 6 (a), the claw member 38b (39b) moves in the E1 direction from the state in which the claw member 38a (39a) and the claw member 38b (39b) approach each other. Then, the claw member 38a (39a) moves in the F1 direction, and the claw member 38a (39a) and the claw member 38b (39b) are separated from each other as shown in FIG.

  If air is supplied from the air hose 58 to the piston chamber 41 through the port 56 from the state shown in FIG. 5, the piston member 44 moves in the piston chamber 41 in the direction of the arrow D2. At this time, since the piston member 43 and the piston member 44 are interlocked and connected via the pinion and rack structure M, this movement causes the piston member 43 to move in the piston chamber 40 in the direction of the arrow C2. In this case, air on the port 55 side of the piston member 40 in the piston chamber 40 is discharged to the outside (compressor side) via the air hose 57.

  By this operation, as shown in FIG. 6B, the claw member 38b (39b) moves in the E2 direction from the state where the claw member 38a (39a) and the claw member 38b (39b) are separated from each other, and The member 38a (39a) moves in the F2 direction, and the claw member 38a (39a) and the claw member 38b (39b) as shown in FIG. The block pieces 31 and 32 of the moving body 30 can be constituted by casings 42 and 42 of the cylinder mechanism, respectively. The block body of the moving sub-body 33 includes a block main body 28 and a casing 42 attached to the block main body 28.

  The sub body 33 is driven via a drive mechanism such as an air cylinder mechanism which is a rodless cylinder. That is, if the moving main body 30 side is fixed, the air is supplied from the air compressor 60 and is guided by the guide rods 34 and 35 to move along the guide rods 34 and 35. Further, if the sub body 33 is fixed and the moving main body 30 is in a free state, the moving main body 30 moves along the sub body 33.

  A pair of observation TV cameras (underwater cameras) 65 and 65 as observation cameras are attached to the block piece 31 of the moving body 30. The observation TV cameras 65 and 65 are arranged in the opposite direction of 180 ° with respect to the filament 16. Each of the observation TV cameras 65 and 65 can observe the outer diameter surface of the linear member 16 in the circumferential direction of 180 °. For this reason, it is possible to observe the entire circumference of the linear body 16 in the circumferential direction. The images observed on the observation TV cameras 65 and 65 are displayed on a monitor (not shown). The observation direction L of the observation TV cameras 65 and 65 is inclined at a predetermined angle with respect to the cable longitudinal direction. As the observation TV cameras (underwater cameras) 65, 65, commercially available ones can be used, and those capable of irradiating illumination light are preferable.

  Incidentally, as shown in FIG. 4, the control means 26 includes a chuck control unit 53 that controls the main body side chuck mechanism 36 and the sub body side chuck mechanism 37, and a movement control unit 54 that controls the air cylinder mechanism of the sub body 33. Prepare. That is, the chuck controller 53 controls the opening / closing operation of the claw members 38a, 38b of the main body side chuck mechanism 36 and the opening / closing operation of the claw members 39a, 39b of the sub body side chuck mechanism 37. Further, the movement control unit 54 moves the moving sub body 33 while the moving main body 30 is fixed to the striate body 16, and moves the moving main body 30 while the moving sub body 33 is fixed to the striate body 16. To control.

  The moving member 25 is provided with a pair of front and rear guide members 80. The guide member 80 is attached to each of the block pieces 31 and 32 on the moving main body 30, and allows the moving member 25 to move along the linear body 16 and tilts the moving member 25 over a predetermined angle. It is something to regulate. As shown in FIG. 7, the guide member 80 includes a pair of arms 81 and 81 that are fixed to the block pieces 31 and 32 with their tips approaching each other.

  In this case, the arms 81 and 81 include rising pieces 81a and 81a extending toward the door body 11 and engaging pieces 81b and 81b extending in directions approaching each other from the end portions of the rising pieces 81a and 81a. The engagement pieces 81b and 81b are formed as an inclined surface 82 in which the surface 82 on the side opposite to the door body is inclined toward the door body 11 sequentially from the rising piece 81a side toward the tip, and the surface 82 on the door body side is raised. The door body side surface 84 of the piece 81a constitutes a continuous flat surface 85, and this flat surface 85 is a surface parallel to the door body side surface 86 of the block piece 31 (32). For this reason, the engagement pieces 81b and 81b are formed in a wedge shape whose thickness decreases toward the tip.

  The arms 81, 81 are screwed to the block pieces 31, 32 via bolt members 87 with their tips, that is, the tips of the engagement pieces 81 b, 81 b approaching each other. As described above, when the arms 81 and 81 are fixed to the block pieces 31 and 32, the tips of the arms 81 and 81 enter the wedge-shaped gap between the surface 4 a of the door body 11 and the wire rope 16. Become.

  Further, wheels 88 are attached to the outer end surfaces of the arms 81, 81. That is, the shaft member 89 of the wheel 88 is pivotally supported by the rising pieces 81a and 81a. For this reason, four wheels 88 are disposed on the moving member 25 in the front-rear and left-right directions.

  Next, a method for observing (inspecting) the striatum 16 using the observation apparatus configured as described above will be described. First, the moving member 25 is attached to the linear member 16. In this case, as shown in FIGS. 2 and 3, the worker S on the boat (ship) 62 attaches the moving member 25 to the linear member 16. 2 and 3, reference numeral 63 denotes a control hose in which the air hoses 57 and 58 are accommodated, and is connected from the moving member 25 to the control panel 27. Further, the control panel 27 and the air compressor 60 are connected by a connecting hose 64.

  The state where the moving member 25 is attached to the linear member 16 is the state shown in FIG. That is, the filament 16 is chucked by the main body side chuck mechanisms 36 and 36. In this case, as shown in FIG. 6A, the linear member 16 is held between the claw members 38a and 38b with the claw members 38a and 38b of the main body side chuck mechanisms 36 and 36 approaching each other. Further, as shown in FIG. 6B, the claw members 39a and 39b of the sub body side chuck mechanism 37 are separated from each other, and the chuck state by the sub body side chuck mechanism 37 is released.

  Further, as shown in FIG. 7, a pair of linear members 16 is inserted into a wire insertion space 90 formed by the pair of arms 81, 81 and the block piece 31 (32) so as to be loosely inserted. Are fixed to the block piece 31 (32).

  Next, in this state, the moving sub body 33 is moved in the arrow G direction along the linear body longitudinal direction with respect to the moving main body 30, and as shown in FIG. Is a closed state, that is, the claw members 39a and 39b are close to each other as shown in FIG. 6A, and the linear member 16 is chucked by the claw members 39a and 39b. Further, the main body side chuck mechanisms 36, 36 are opened, that is, the claw members 38a, 38b are separated from each other as shown in FIG.

  Then, the moving main body 30 is moved in the arrow H direction along the longitudinal direction of the filament from the state shown in FIG. As a result, as shown in FIG. 1 (c), the movable body 30 has advanced by a predetermined amount in the direction of the arrow H along the longitudinal direction of the filament as compared with the state shown in FIGS. 1 (a) and (b). It becomes.

  In the state shown in FIG. 1C, as in FIG. 1A, the main body side chuck mechanisms 36, 36 are closed, and the sub body side chuck mechanisms 37, 37 are opened. In this state, the sub body 33 is moved in the arrow G direction. As a result, as shown in FIG. 1 (d), the sub body 33 is positioned on the block piece 31 side of the main body 30. Thereafter, the main body side chuck mechanisms 36 and 36 are opened, and the sub body side chuck mechanisms 37 and 37 are closed.

  Next, from the state of FIG. 1D, the moving main body 30 is moved in the arrow H direction along the linear body longitudinal direction. As a result, as shown in FIG. 1 (e), the movable body 30 has advanced by a predetermined amount in the direction of the arrow H along the longitudinal direction of the striate body as compared to the state shown in FIGS. 1 (c) and 1 (d). It becomes. Thereafter, the main body side chuck mechanism 36 is closed and the sub body side chuck mechanism 37 is opened.

  Thereafter, by sequentially repeating this operation, the moving member 25 performs a scaled insect-like intermittent operation, so that the moving main body 30 and the moving sub-body 33 sequentially move on the filament 16 along the longitudinal direction of the filament. It is guided by the striate body 16 and can move in the directions of arrows H and G (that is, from the water surface toward the dam bottom). Further, by moving the moving main body 30 and the moving sub-body 33 sequentially along the longitudinal direction of the striate body 16 in the direction opposite to the arrows H and G, the movable member 25 performs the intermittent insect action. Go and move from the bottom of the dam toward the water surface. Thus, in this observation moving device, it can reciprocate in the longitudinal direction of the linear body along the linear body 16.

  The striatal body 16 can be observed by the observation TV camera 65 during the intermittent insecticidal operation. In addition, the entire circumference of the filament 16 can be observed (inspected) with the pair of observation TV cameras 65, and the moving member 25 travels along the filament 16, so that FIG. As shown in the drawing, in the inspection range α immersed in water, it is possible to perform a high-precision inspection with no inspection omission of the filament 16. In this case, the worker S on the top end 15 or the worker S on the boat 62 performs inspection by looking at the monitor on which the image from the observation TV camera 65 is projected.

  In the first embodiment of the present invention, the moving member 25 can perform the intermittent intermittent operation, and the moving main body 30 and the moving sub-body 33 are sequentially lined on the linear body 16 along the longitudinal direction of the linear body. The strip 16 can be guided and moved, and the striation 16 can be observed by the observation TV cameras 65 and 65 along the longitudinal direction of the strip along with the movement. For this reason, it is not necessary for the operator to three-dimensionally operate the self-propelled television camera or the like, and the filament 16 can be inspected with high accuracy and stability even if it is not an expert. In addition, the measuring action of the moving member 25 can be performed by control by the control means, and the operation part of the control means can be arranged at a remote part from the moving member 25, and at a position remote from the moving member 25. It can be operated and the safety of the operator (operator) can be ensured. Further, the gate 10 is a dam spillway gate, and even when the striate body 16 is immersed in water, there is no need for a diver to dive and check, and even in an emergency such as a flood, the striate body. 16 inspections are possible.

  The moving main body 30 includes a pair of block pieces 31 and 32 and connecting guide rods 34 and 35, and is configured by a block body that reciprocates along the connecting guide rods 34 and 35. In addition, the configuration of the moving member 25 can be simplified, and the weight and cost can be reduced. In addition, the movement of the moving sub body 33 relative to the moving main body 30 and the movement of the moving main body 30 relative to the moving sub body 33 are stable, and the moving main body 30 and the moving sub body 33 can be moved stably along the linear body 16. it can.

  By using an air cylinder mechanism to move the claw members 38a, 38b, 39a, 39b of the chuck mechanisms 36, 37, or using an air cylinder mechanism to reciprocate the block body constituting the moving sub body 33, This enables stable operation with a simple configuration and contributes to cost reduction. In particular, it is optimal for use in water, and this observation device is optimal for inspection of the striatum of the dam spillway gate.

  If the observation TV camera 65 has a pair arranged in the opposite direction of 180 ° with respect to the striate body, the entire circumference of the striate body 16 can be observed, and inspection without omission is performed. It is possible to improve the inspection accuracy.

  By the way, by providing the moving member 25 with the guide member 80 that restricts the tilting of a predetermined angle or more, the chucking mechanism of the linear member 16 can be stably performed to prevent the guide member 25 from overturning. I have to. Thereby, stable observation of the striate body 16 is possible. Further, even if there is a stepped portion such as a joint on the surface 11a (the surface of the skin plate) of the door body 11, it is possible to get over this obstacle and to improve the observation efficiency of the linear body 16. it can. During the intermittent intermittent operation of the moving member 25, the linear member 16 is inserted into the wire insertion space 90 in a loose-fitting manner, so that the guide member 80 does not hinder this intermittent operation.

  When the guide member 80 includes the pair of arms 81, 81, the moving member 25 can be prevented from falling over with a simple configuration. Further, in the case where the wheels 88 are arranged at the four positions on the front, rear, left and right of the moving member 25, the moving member 25 can stably travel.

  Next, the observation moving device according to the second embodiment of the present invention will be described. In this case, the guide member 80 is different from the first embodiment. As shown in FIG. 9, the moving main body 30 is provided with a pair of front rotating bodies 90 a and 90 a as a guide member 80 and a pair of rear rotating bodies 90 b and 90 b as a guide member 80.

  That is, as shown in FIG. 10, support plates 91a and 91b are respectively attached to the front and rear of the moving main body 30, and elongated holes 100 are provided in the support plates 91a and 91b. A pair of L-shaped metal fittings 92a and 92b are attached to the support plates 91a and 91b, respectively. The L-shaped metal fittings 92a and 92b are composed of a first portion 97 extending along the support plates 91a and 91b and a second portion 98 extending vertically from the first portion 97. A hole 99 extending in a direction orthogonal to the hole 100 is provided. Bolt members 101 are inserted into the holes 99 and 100, and L-shaped metal fittings 92a and 92b are attached to the support plates 91a and 91b.

  As shown in FIG. 11, the rotating body 90 has a tapered surface 93 having a thick central portion and gradually becoming thinner from the central portion toward the outer diameter side. Thereby, as shown in FIG. 12, the linear body 16 can be scooped up between the taper surfaces of a pair of rotary body 90. FIG. The rotating body 90 is rotatably attached to the L-shaped metal fitting 92 by a bolt and nut mechanism. That is, a through hole 96 is provided at the center of the rotating body 90, and a hole (not shown) is provided in the second part 98 of the L-shaped metal fittings 92a and 92b. Bolt members 94 are inserted into the through holes 96 and the hole portions, and the rotating body 90 is fixed to the L-shaped metal fittings 92 a and 92 b by the nut members 95. The bolt member 101 can be fixed at an arbitrary position of the holes 99 and 100, and the position of the rotating body 90 can be adjusted by adjusting the position of the bolt member 101.

  A method of observing (inspecting) the striatum 16 using the observation apparatus of the second embodiment configured as described above will be described. First, the moving member 25 is attached to the linear member 16. At this time, the filament 16 is scooped up between the tapered surfaces of the pair of rotating bodies 90. That is, the filament 16 is in contact with the tapered surface 93. When the moving member 25 moves forward, the linear body 16 and the tapered surface 93 are in sliding contact. As a result, the rotating body 90 rotates around its axis (bolt member 94). At this time, the filament 16 may be broken, and in this case, the strand 97 (see FIG. 12) may bite. In the observation moving device according to the second embodiment, the linear body 14 is sandwiched and provided with a pair of rotating bodies 90 that rotate about the axis, and therefore, the filament 16 is broken. Even when the wire is in contact with the rotating body, the wire 97 is pushed backward by the rotation of the rotating body 90. As a result, the wire 97 can be prevented from biting.

  As described above, the embodiment of the present invention has been described. However, the present invention is not limited to the above-described embodiment, and various modifications are possible. For example, in the above-described embodiment, in order to stabilize the operation, the main body side chuck A pair of the mechanism 36 and the sub-body side chuck mechanism 37 are provided, but at least one each is sufficient. When the main body side chuck mechanism 36 and the sub body side chuck mechanism 37 are used as one machine, it is preferable to dispose a guide member for guiding the linear member 16.

  Each chuck mechanism 36, 37 is provided with a pair of claw members 38a, 38b, 39a, 39b. However, the chuck mechanisms 36, 37 may be gripped instead of such claw members. Good. In this case, if a plurality of segments are arranged in a cylindrical shape or a ring shape along the circumferential direction, the linear body 16 is inserted into the cylindrical portion or the ring portion, and each segment is displaced in the radial direction. Good.

  The movement of the claw members 38a, 38b, 39a, 39b of the chuck mechanisms 36, 37 and the reciprocation of the block body constituting the sub-body are performed by the air cylinder mechanism. A cylinder mechanism may be used. Further, a motor drive mechanism may be used instead of the cylinder mechanism.

  The number of observation TV cameras 65 is not limited to two, and at least one TV camera 65 is sufficient, and there may be three or more. Further, the observation TV camera 65 may be capable of angular displacement in the observation direction or may be rotated in the circumferential direction.

  In the above-described embodiment, the moving member 25 moves (runs) in the dam's water (fresh water). However, the moving member 25 may travel in the sea or in the air without traveling in the dam's water. In addition, the striate body to be inspected is not limited to a wire rope, but may be a metal wire or a metal stranded wire made of various metals, and is not limited to a metal as a material. As the sizes of the moving main body 30 and the moving sub-body 33 of the moving member 25, various sizes can be adopted according to the outer diameter size of the striate body 16 (wire rope) to be observed, and a scale-like intermittent operation The amount of movement of one pitch of the moving main body 30 and the moving sub-body 33 at the time of performing can also be variously set based on the inspection range α of the filament 16.

  The allowable tilt angle of the moving member 25 can be variously changed within a range in which the linear member 16 can be observed with the observation camera 65 without the moving member 25 falling down. Further, in the guide member 80, the inclination angle θ of the engagement pieces 81b, 81b includes the dimension between the tips of the arms 81, 81 facing each other, the outer diameter dimension of the linear member 16, the allowable tilt angle of the moving member 25, and the like. Various changes can be made.

  The wheel 88 may be configured using an aluminum wheel, a urethane wheel, a rubber wheel, an iron wheel, or the like.

DESCRIPTION OF SYMBOLS 10 Radial gate 16 Linear body 25 Moving member 26 Control means 30 Moving main body 31,32 Block piece 33 Moving sub body 34,35 Connecting guide rod 36 Main body side chuck mechanism 37 Sub body side chuck mechanism 38a, 38b, 39a, 39b Claw Member 53 Chuck controller 54 Movement controller 65, 65 Observation camera 90 Rotating body 93 Tapered surface

Claims (12)

An observation moving apparatus comprising a moving member provided with an observation camera for observing a striatum for opening and closing the gate, and a control means for moving the moving member along the striatum. And
The moving member is
A moving main body having a main body side chuck mechanism for removably fixing to the striate body and a reciprocating motion along the longitudinal direction of the main body are attached to the moving main body and detachably fixed to the striatum body. A moving sub body having a sub body side chuck mechanism for
The control means includes
In the state where the main body side chuck mechanism releases the fixing by the sub body side chuck mechanism while the moving main body is fixed to the wire body, and the sub body side chuck mechanism fixes the moving sub body to the wire body. A chuck control unit for releasing the fixation by the main body side chuck mechanism;
While the movable body is fixed to the linear body by the main body side chuck mechanism, the movable secondary body is moved along the longitudinal direction of the linear body via the drive mechanism, and the movable secondary body is moved by the secondary body side chuck mechanism. A movement control unit that moves the moving main body along the linear body longitudinal direction via a drive mechanism in a state of being fixed to the body,
An observation moving apparatus comprising: a guide member that allows the moving member to move along the linear body of the moving member and restricts the tilt of the moving member by a predetermined angle or more.   2. The observation according to claim 1, wherein the guide member includes a pair of arms fixed with their tips approaching each other, and a wheel capable of traveling on a skin plate constituting a door body of the gate. Mobile device.   2. The observation moving device according to claim 1, wherein the guide member includes a pair of rotating bodies that crawl up the linear body toward the moving member and rotate around an axis by the movement of the moving member. .   4. The observation moving device according to claim 3, wherein the rotating body has a tapered surface that becomes thinner toward an outer diameter side, and the linear body is scooped up between the tapered surfaces.   The moving main body includes a pair of block pieces arranged at predetermined intervals along the linear body longitudinal direction, and a connecting guide rod for connecting the block pieces, and the main body side chuck mechanism is provided on each block piece. The moving sub-body is constituted by a block body which is disposed between a pair of block pieces and reciprocates along the connecting guide rod, and the sub-body side chuck mechanism is attached to the block body. The observation moving device according to any one of claims 1 to 4, wherein the observation moving device is characterized.   The said chuck | zipper mechanism is equipped with a pair of nail | claw member which moves to the direction which approaches / separates mutually, and clamps a linear body in the state which mutually approached, The any one of Claims 1-5 characterized by the above-mentioned. The observation moving device according to the item.   A pressing member that is pressed against the linear body in a state in which the linear body is clamped by the claw member and that is separated from the linear body in a state in which the linear body is released from being clamped is provided. Item 7. The observation moving device according to Item 6.   The observation moving device according to claim 7, wherein the pressing member includes a compression spring and a pin attached to the compression spring.   The observation moving device according to any one of claims 6 to 8, wherein the claw member of the chuck mechanism is moved by an air cylinder mechanism.   10. The drive mechanism for performing reciprocating movement of the moving sub body relative to the moving main body and reciprocating movement of the moving main body relative to the moving sub body includes an air cylinder mechanism. The observation moving device according to Item 1.   The observation camera has a pair arranged in directions opposite to each other by 180 ° with respect to the striatum, and each observation camera can observe 180 ° in the circumferential direction of the outer diameter surface of the striatum. The observation moving device according to any one of claims 1 to 10.   The observation moving device according to any one of claims 1 to 11, wherein the gate is a dam spillway gate and observes a striate immersed in water.

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