JP2015124496A - Remote control type repair system and repair method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a repair system and a repair method which enable an operator to move the repair system inside a civil engineering structure through remote control and allow repair work to be executed by avoiding interference with an obstacle even when a repair object place is located close to the obstacle.SOLUTION: A repair system 1 comprises: an injection gun 8 which discharges a repairing material to a repair object place of a structure; a multijoint manipulator 6 which can be operated in an arbitrary direction with a plurality of joint sections as pivot points and moved to a desired position while holding the injection gun 8; a self-propelled travel body 3 which is mounted with a lifting mechanism 5 capable of moving in a vertical direction while supporting the multijoint manipulator 6 from below; and a control device 14 which is connected to the self-propelled travel body 3 through a communication line 12 and remotely controls travel of the self-propelled travel body 3 and performance of the lifting mechanism 5 and the multijoint manipulator 6. A measuring device which measures a distance to an object positioned in a direction of forward movement of the injection gun 8 or a shape of the object and is installed on the injection gun 8 or the multijoint manipulator 6. The multijoint manipulator 6 can be operated on the basis of the distance or the shape measured by the measuring device.

Description

  The present invention relates to a remotely operated repair system and a repair method for repairing an object by remote operation in an area where human access is difficult, such as high places, high temperatures, and radiation environments.

Many civil engineering structures such as tunnels, dams, and bridges have been built since the high economic growth period. In recent years, these civil engineering structures have become obsolete, and the need for repairs is increasing. Also, in various plants such as chemical and power generation, these buildings, tanks in the building, piping, etc. have been used for a long time, so they are aging and maintenance such as repair is indispensable.
However, in structures such as tunnels, there are places where it is difficult for people to enter due to dangers such as high places and high temperatures. In such places, effective construction methods are required to repair the target. So far, on behalf of the workers, work such as repair using a work device (robot) by remote control. Is under consideration.

  An apparatus described in Patent Literature 1 is known as a device that performs repair work by remote control. In Patent Document 1, an elevating shaft that can be moved up and down in a vertical direction installed in an unmanned moving body that runs in a tunnel, an expandable shaft that can be expanded and contracted in the axial direction (horizontal direction) of the tunnel, and a distal end of the expanded shaft And a telescopic rotating boom that is freely extendable in the vertical direction and that can rotate along the circumferential direction of the inner wall surface of the tunnel after its tip contacts the inner wall surface of the tunnel. The coating agent is applied from the spray gun while monitoring with a monitor camera attached to the telescopic rotating boom together with the spray gun.

JP 2000-145391 A

However, in Patent Document 1, the camera-mounted spray gun is moved by a shaft that expands and contracts in the vertical direction and the horizontal direction. For example, the repair target position is located near the obstacle or on the back side of the obstacle. In this case, it becomes difficult to move the spray gun to the repair target without interfering with the obstacle.
The present invention allows the operator to move in the civil engineering structure by remote control, and even if the repair target location is in the vicinity of the obstacle, repair work can be performed while avoiding interference with the obstacle. An object of the present invention is to provide a repair system and a repair method that can be performed.

  In order to solve the above problems, a repair system of the present invention includes an injection gun that discharges a repair material to a repair target portion of a structure, and a displacement that can be displaced in an arbitrary direction with a plurality of joints as fulcrums. A self-propelled moving body provided with a multi-joint manipulator capable of gripping and moving to a desired position, a lifting mechanism which supports the multi-joint manipulator from below and can be vertically moved, and the self-propelled movement Connected to the body via a communication line, comprising a control device for remotely controlling the movement of the self-propelled mobile body, the lifting mechanism and the operation of the articulated manipulator, installed in the injection gun or the articulated manipulator, A measuring device for measuring a distance or shape with respect to an object positioned in front of a moving direction of the injection gun moved by the articulated manipulator, and a measuring distance by the measuring device; It is characterized in that to enable operating the articulated manipulator based on the shape.

  According to the present invention, it is possible to move in a civil engineering structure by remote operation of a worker, and even if the repair target location exists in the vicinity of the obstacle, the repair is performed while avoiding interference with the obstacle. A repair system and a repair method that enable work can be provided.

  Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

1 is an overall configuration diagram of a repair system according to an embodiment of the present invention. It is a figure which shows the work state by the repair system shown in FIG. It is a figure which shows the state which attached the laser range finder to the injection | pouring gun shown in FIG. It is a figure which shows the state of the repair work of the repair object location of an obstacle vicinity by the repair system shown in FIG. It is an enlarged view of the obstacle vicinity shown in FIG. It is a flowchart which performs the repair method according to the defect shape by the repair system shown in FIG. It is a figure which shows the construction state in case a space | gap part is large. It is a figure which shows the construction state in case a space | gap part is small. It is a figure which shows the construction state in case a space | gap part is a crack. It is a block diagram when the 1st moving body and 2nd moving body which are shown in FIG. 1 are integrated. It is a front view of the gun holder which accommodates several injection guns concerning other examples of the present invention. FIG. 10 is a perspective view of the gun holder shown in FIG. 9. FIG. 11 is a diagram showing a state in which the first injection gun is selected and usable with the gun holder shown in FIG. 10. It is a figure which shows the state which can select and use the 2nd injection | pouring gun with the gun holder shown in FIG. It is a figure which shows the state filled with the volume water stop material which concerns on the other Example of this invention. It is a figure which shows the state which inject | poured the adhesive material from the state shown to Fig.13 (a). It is a figure which shows the state which apply | coated the coating material from the state shown in FIG.13 (b). It is sectional drawing of the repair material supply hose which concerns on the other Example of this invention. It is an external view of the injection gun concerning other examples of the present invention. It is a figure which shows the state with which the volume filler which concerns on the other Example of this invention was filled. It is a figure which shows the state which inject | poured the adhesive material from the state shown to Fig.16 (a). It is a figure which shows the state which apply | coated the coating material from the state shown in FIG.16 (b). It is a figure which shows the state filled with the volume water stop material. It is a figure which shows the state which inject | poured the adhesive material from the state shown to Fig.17 (a). It is a figure which shows the state which cut out the protrusion part from the state shown in FIG.17 (b). It is a figure which shows the state which apply | coated the coating material from the state shown in FIG.17 (c).

  Embodiments of the present invention will be described below with reference to the drawings. In this specification, a tunnel is exemplified as a repair target by a remote control type repair system, but is not limited thereto, such as civil engineering structures such as dams and bridges, buildings in various plant facilities, tanks and pipes installed in buildings, etc. The same applies to repair work.

  FIG. 1 is an overall configuration diagram of a repair system according to an embodiment of the present invention. As shown in FIG. 1, the repair system 1 is a self-propelled first moving body 3 that moves in an environment in a civil engineering structure and mainly performs filling, injection, and application of a repair material 7 to a repair target. In order to supply the repairing material 7 to the first moving body, it is composed of a tank 9 that houses the repairing material 7 and a self-propelled second moving body 4 that is equipped with a pump 10.

  The first moving body 3 traveling at the top includes a work base 47 disposed above the movement mechanism 2, an elevating mechanism 5 that allows the work base 47 to vertically move up and down, and an articulated manipulator mounted on the work base 47. 6. An injection gun 8 is provided that is grasped by the multi-joint manipulator 6 and discharges the repair material 7 to a repair target location. The multi-joint manipulator 6 preferably has 6 degrees of freedom or 7 degrees of freedom. That is, by setting the number of joints to 6 or 7, the injection gun 8 can be moved to a desired position in the three-dimensional space in the vicinity of the repair target portion in the tunnel. FIG. 1 shows a small number of joints.

  The work base 47 of the first moving body 3 is provided with a tool box 48 that houses a plurality of injection guns 8 corresponding to the type of the repair material 7. By selecting and holding an injection gun 8 for a desired repair material by the multi-joint manipulator 6, a desired repair material 7 can be injected according to the situation of the repair target portion. As the moving mechanism 2, for example, a mechanism having excellent traversability such as a crawler that goes around an endless track is used. However, the moving mechanism 2 is not limited thereto, and a normal wheel may be used.

  The second moving body 4 that follows the first moving body 3 and travels behind the first moving body 3 includes a tank 9 and a tank 9 that store a plurality of types of repair materials 7 arranged above the moving mechanism 2 for each type. A pump 10 for supplying the repair material 7 to the first moving body 3 is provided. The 1st moving body 3 and the 2nd moving body 4 are connected with the hose 11 so that the repair material 7 corresponding to the some injection | pouring gun 8 provided in the 1st moving body 3 can be supplied. The first moving body 3 and the second moving body 4 are connected via a communication line 14, and the second moving body 4 is connected via a communication line 12 to a control device 14 which will be described later. Has been. The first moving body 3 and the second moving body 4 can be remotely operated from the control device 14 via these communication lines 12. Instead of the priority communication cable, the communication line 14 may include a wireless communication terminal mounted on the control device 14, the first moving body 3, and the second moving body 4 so that control signals can be transmitted and received by wireless communication.

  Although not shown in FIG. 1, the repair system 1 is equipped with a plurality of cameras, and the positions, operations, and directions of the moving mechanism 2, the articulated manipulator 6, the injection gun 8, and the like are determined by the control device 14. The display unit can be confirmed by the worker.

  In the present embodiment, the first moving body 3 and the second moving body 4 constitute the repair system 1, thereby reducing the size of the first moving body 3 that performs the operation of injecting the repair material 7 into the repair target portion. it can. Thereby, even if the repair target location is a narrow portion of an arbitrary shape formed on the inner wall surface of the tunnel, the first moving body 3 proceeds with the second moving body 4 to the vicinity of the narrow portion, After that, the articulated manipulator 6 mounted on the first moving body 3 can be moved to the narrow part to move the injection gun 8 to the narrow part.

  FIG. 2 shows a working state by the repair system 1 of the present embodiment. A gap (nest) 16 or a crack 15 extending from the inner wall surface of the tunnel 13 to the inside is present, and the gap (nest) 16 is being repaired. The control device 14 constituting the repair system 1 is installed outside the tunnel 13, and the operator remotely connects the second mobile body 4 and the first mobile body 3 connected via the communication line 12 by the control device 14. Manipulate. The first moving body 3 and the second moving body 4 are moved to the vicinity of the gap portion 16 in the tunnel 13, and then the lifting mechanism 5 provided in the first moving body 3 is driven to move the upper portion of the lifting mechanism 5. The work base 47 disposed in the position is raised to the vicinity of the height where the gap 16 exists. With the articulated manipulator 6 mounted on the work base 47, the injection gun 8 is moved up and down and in the front-rear direction to reach the gap 16 that is a repair target location. At this time, as described above, according to the degree of freedom of the multi-joint manipulator 6, the injection gun 8 can be made to reach the gap 16 by a plurality of routes.

  As shown in FIG. 2, cracks 15 and voids (nests) 16 exist in some places on the inner wall surface of the tunnel 13, and exist at such a height that workers cannot reach. Although water leaks from such cracks 15 and voids (nests) 16, the parts to be repaired have various shapes and sizes, and a construction method corresponding to the problem is necessary. As described above, the repair material 7 can be injected by remotely operating the first moving body 3 and the second moving body 4 to bring the injection gun 8 close to the vicinity of the repair target portion. It becomes possible. As shown in FIG. 1, the elevating mechanism 5 is preferably a panter system that moves up and down by extending a plurality of X-shaped arms up and down, but is coaxial and has different outer diameters. A mast type that moves up and down by extending the circular pipe up and down may be used.

  Here, a mechanism used for causing the injection gun 8 to reach the vicinity of the repair target portion will be described. The injection gun 8 grasped by the articulated manipulator 6 mounted on the first moving body 3 is provided with a measuring device for measuring the shape of the repair target location or the distance between the repair target location and the injection gun 8. . For example, a laser range finder is used as the measuring device. FIG. 3 shows an example in which a laser range finder 30 (hereinafter referred to as LRF 30) is attached to the injection gun 8. As shown in FIG. 3, the LRF 30 includes an irradiation unit that emits a laser 31 and a light receiving unit that receives a laser 32 reflected from an object. The laser 31 emitted from the irradiation part of the LRF 30 installed at the upper end of the injection gun 8 is applied to the gap 16 generated on the inner wall surface of the tunnel 13, and the laser 32 reflected by the gap 16 is applied to the light receiving part. Is captured. As a result, the distance from the tip of the injection gun 8 to the gap 16 and the shape of the opening of the gap 16 can be measured. This shape measurement can measure dimensions (size). By being able to measure the dimensions, it is possible to identify whether the defect shape of the repair target portion described later is a crack or a gap.

  In addition to the LRF 30, an ITV camera is installed as an imaging device at the distal end of the injection gun 8, so that an image in front of the injection gun 8 being moved by the articulated manipulator 6 is displayed on the display unit of the control device 14. The operator can check the situation around the injection gun 8 in the middle of movement, and also check the distance to the inner wall surface in the front (traveling direction) of the injection gun 8 and the distance to obstacles existing on the inner wall surface. be able to. As a result, the worker can input the movement amount to the articulated manipulator 6 via the input unit of the control device 14.

  FIG. 4 shows a repairing state of the gap portion 16 located in the vicinity of the obstacle 60 installed on the inner wall surface of the tunnel 13, and FIG. 5 shows an enlarged view of a region where the obstacle 60 exists. As shown in FIG. 4, an air conditioner such as a fan is installed above the inner wall surface of the tunnel 13 for arousing the inside of the tunnel 13. As shown in FIG. 4, when the gap portion 16 that is a repair target location is located in the vicinity of the air conditioning equipment, the air conditioning equipment has an obstacle in moving the injection gun 8 near the gap portion 16 by the articulated manipulator 6. It becomes a thing 60. Therefore, as shown in FIG. 5, it is necessary to avoid the interference with the obstacle 60 and to move the injection gun 8 near the gap 16.

  In the repair system 1 in the present embodiment, the control device 14 causes the first moving body 3 and the second moving body 4 to travel on the floor surface to the vicinity of the inner wall surface where the gap 16 in the tunnel exists. Thereafter, while confirming the captured image by the ITV camera displayed on the display unit of the control device 14 and the distance measured by the LRF 30, the lifting mechanism 5 is lifted according to the lift amount input by the operator. The work base 47, the articulated manipulator 6 and the injection gun 8 all rise to a position where they do not collide with the bottom surface of the obstacle 60 and stop. Thereafter, referring to the distance between the distal end portion of the injection gun 8 and the opposing surface of the obstacle 60 that are sequentially measured by the LRF 30, the distal end portion of the injection gun 8 is moved upward by the articulated manipulator 6 without contacting the opposing surface. And then moved to the gap 16. Thereby, even when the obstacle 60 exists in the vicinity of the repair target location, the injection gun 8 can be moved to the repair target location without interfering with the obstacle 60.

  4 and 5, the case where the repair target portion exists above the obstacle 60 has been described as an example. However, when the obstacle 60 is located at substantially the same height as the repair target portion, that is, the obstacle 60 Even when the repair target location is located behind, if there is a gap through which the injection gun 8 can pass between the inner wall surface and the obstacle 60, the multi-joint manipulator 6 can obstruct the obstacle 60 as described above. The injection gun 8 can be moved to the back side.

  Using the repair system 1, the construction method according to the defect target will be described. An example of a repair system that automatically selects a repair method will be described. FIG. 6 shows a flowchart for executing a repair method according to a defect shape to be repaired.

  The distance between the injection gun 8 and the object to be repaired is measured by the LRF 30 (step S100). The defect shape to be repaired is measured based on the distance measured by the LRF 30 and the image captured by the ITV camera described above (step S101). The defect shape measured in step S101 includes the defect size (dimension) as described above.

Based on the defect size measured in step S101, for example, it is determined whether or not the opening width of the defect is 10 mm or more (step S102). If it is determined in step S102 that the opening width is 10 mm or more, the process proceeds to step S104, and if the opening width is less than 10 mm, the process proceeds to step S103. In step S104, a foaming material (volume filler 17) such as urethane having high foamability and high filling property is selected as the repair material 7. Then, the injection gun 8 is changed to an injection gun for foam material (step S105), and the filling operation is started (step S106). In step S105, when the injection gun 8 currently held by the articulated manipulator 6 is an injection gun for foaming material, the pump 10 provided in the second moving body 4 is activated and the hose 11 is turned on. Then, the volume filling material 17 is filled into the repair target portion. If the injection gun 8 currently held is different from the injection gun for foam material, the volume filling material 17 is filled after replacing the injection gun for foam material accommodated in the tool box 48.
In step S103, it is determined whether the opening width of the defect is 2 mm or more and less than 10 mm. If it is determined that the opening width is 2 mm or more and less than 10 mm, the process proceeds to step S107, and if the determination result is less than 2 mm, the process proceeds to step S110. In step S <b> 107, an adhesive 18 having high fluidity is selected as the repair material 7. Similarly, the injection gun 8 is changed to an adhesive injection gun (step S108), and the injection operation is started (step S109).

  In step S110, since the opening width of the defect is less than 2 mm, it is determined as a crack, and the coating material 20 having high coverage is selected as the repair material 7. Similarly, the injection gun 8 is changed to an injection gun for an application material (step S111), and an application operation to a repair target portion is started (S112).

  Of the above steps, Steps S100 to S103, Step S104, and Step S107 are executed by a program stored in a storage device (not shown) in the control device 14, so as to correspond to the shape of the repair target portion. The repair material 7 can be automatically selected.

  Note that the LRF 30 as a measurement device may be used as a single tool without being installed in the injection gun 8. In this case, the measurement distance is injected into the LRF 30 by installing it in the holding portion of the articulated manipulator 6 that holds the LRF 30 via a support mechanism, and storing the distance between the LRF 30 and the tip of the injection gun 8 in the storage device in advance. The distance between the tip of the gun 8 and the repair target location can be converted. Similarly, an ITV camera as an imaging apparatus may be used as a single tool.

  Next, each repair method according to the defect opening width shown in the selection flow of FIG. 6 will be described with reference to FIGS. FIG. 7A shows an example of a repair method in the case where the opening of the defect to be repaired is 10 mm or more (the void portion (nest) 16 is large). Fig. 7 (b) shows an example of a repair method when the opening of the defect is as small as 2 mm or more and less than 10 mm (gap (gap) 16), This is a construction method for injecting the adhesive 18 into the gap (gap) 16 from the injection gun 8. Also, Fig. 7 (c) shows a repair method when the opening of the defect is smaller than 2 mm (crack 15). In this construction method, for example, the coating material 20 is sprayed onto the surface of the wall 19 of the structure such as a concrete outer wall by spraying from the injection gun 8. This construction is a repair material 7 in a narrow space. Apply over a wide range It is also possible.

  As described above, each type of repair material 7 includes a plurality of sets including the injection gun 8, the hose 11, the pump 10, and the tank 9 that houses the repair material 7. By properly using the corresponding injection gun 8 and changing the injection gun, the repair material can be filled in accordance with the size of the defect in the gap (nest) 16, and repair by remote operation becomes possible.

  The tank 9 for storing the repair material 7 does not necessarily have to be mounted on the second moving body 4, and is disposed in a state of being fixed to the floor in the tunnel and connected to the extension hose for the first movement. It is good also as a structure supplied to the body 3. For example, in an environment where the tank 9 can be fixed and installed, increasing the capacity of the tank 9 reduces the frequency of liquid replacement and enables long-time work.

  Furthermore, the repair system 1 may be configured to integrate the first moving body 3 and the second moving body 4 as shown in FIG. In this case, the entire apparatus can be made compact by mounting the lifting mechanism 5, the work base 47, the articulated manipulator 6, the tool box 48, the tank 9, and the pump 10 on one moving body. In addition, since only one moving body needs to be operated, operability is facilitated and the number of parts is reduced, so that the cost can be reduced.

  According to the present embodiment, it is possible to move in a civil engineering structure such as a tunnel by remote operation of a worker, and repairing while avoiding interference with an obstacle between an arbitrarily shaped narrow road or a repair target part. A repair system capable of performing work can be realized.

  FIG. 9 shows a front view of a gun holder that accommodates a plurality of injection guns according to Embodiment 2 of the present invention, and FIG. 10 shows a perspective view thereof.

  The present embodiment is different from the first embodiment in that a plurality of injection guns are accommodated in one gun holder and are made compact. Other configurations are the same as those in the first embodiment, and the configuration and operation of the gun holder will be described below.

  As shown in FIG. 9, the gun holder 21 includes, for example, three injection guns, a first injection gun 22, a second injection gun 23, and a third injection gun in a lateral direction in a casing having a rectangular parallelepiped shape. The guns 24 are arranged and accommodated in the lateral direction with a space therebetween. A nozzle outlet 33 in which three openings are formed is provided on one side of the gun holder 21, that is, the surface facing the repair target portion. The tip nozzle 28-1 of the first injection gun 22, the tip nozzle 28-2 of the second injection gun 23, and the tip nozzle 28-3 of the third injection gun 24 are arranged at positions corresponding to the respective nozzle outlets 33. Has been. As shown in FIG. 10, a slide bar 25 is attached to the side surface of the first injection gun 22, a slide bar 26 is attached to the upper surface of the second injection gun 23, and a slide bar 27 is attached to the side surface of the third injection gun 24. Yes. In order to prevent these slide bars from interfering with each other, one end of each slide bar extends from the both side surfaces and the upper surface of the gun holder 21 to the outside of the gun holder 21, and the first injection gun 22 and the second injection gun 22 The injection gun 23 and the third injection gun 24 are configured to be movable in the front-rear direction. A guide is provided in the gun holder 21 so that each injection gun can be moved in the front-rear direction by the respective slide bar.

  In the gun holder 21, the first injection gun 22 to the third injection gun 24 are aligned in the lateral direction, so that when the intervals between the injection guns are narrow, the articulated manipulator is located between adjacent injection guns. The finger as the gripping part 6 does not enter, and it becomes difficult to grip the handle of the injection gun. Therefore, the slide bar attached to the injection gun as described above is arranged on both side surfaces and the upper surface other than the lower surface of the gun holder 21 where the handle of the injection gun extends to the outside so that one end of the slide bar extends to the outside. doing.

  By adopting such a configuration, if the discharge direction of the repair material discharged from each injection gun to the repair target portion is the same direction and the gun holder 21 is fixed, the articulated manipulator 6 can attach the repair material to the desired injection gun. By operating the slide bar, it is possible to slide only the desired injection gun forward and to a position where the handle of the injection gun is grasped by the articulated manipulator 6. Then, the handle of the injection gun can be held and the repair material can be sprayed. A hose 40 for supplying a repair material is connected to the back surface of the first injection gun 22. Similarly, a hose 41 is connected to the back surface of the second injection gun 23, and a hose 43 is connected to the back surface of the third injection gun 24. When these hoses are bundled, the hoses are entangled. The hose can be easily handled.

  Hereinafter, a method of changing the tool by operating the gun holder 21 so that a desired injection gun can be used will be described. In the state shown in FIG. 10, the tip nozzles of all injection guns are accommodated in the gun holder 21, that is, the tip nozzle 28-1 of the first injection gun 22, the tip nozzle 28-2 of the second injection gun 23, and The initial state (set position) in which the tip nozzle 28-3 of the third injection nozzle 24 is accommodated without reaching the nozzle outlet 33 is shown.

  A part on the nozzle outlet 33 side of the gun holder 21 is temporarily placed on a jig (equivalent to a tool box) or the like that is fixedly arranged on the work base 47 (not shown), etc. The slide bar can be operated by the manipulator 6 and the injection gun can be changed. For example, the jig only needs to have a structure that engages with the gun holder 21 so as to prevent at least the movement of the gun holder 21 forward and backward when the gun holder 21 is placed.

  FIG. 11 shows a state where the first injection gun 22 is selected and usable. For example, in the case where the volume filling material 17 is selected as the repair material to be used and the injection gun capable of discharging the volume filling material 17 is the first injection gun 22 in steps S102 and S104 described in FIG. Suppose. The articulated manipulator 6 places the gun holder 21 on the above-described jig, and moves only the slide bar 25 attached to the first injection gun 22 forward toward the nozzle outlet 33. The amount of movement at this time is such that the tip nozzle 28-1 of the first injection gun 22 protrudes from the nozzle outlet 33 to the outside of the gun holder 21, and the handle of the first injection gun 22 is gripped by the articulated manipulator 6. A sufficient amount of movement is set to move it to a position where possible. Thereafter, by holding the handle of the first injection gun 22 with the articulated manipulator 6 and removing the gun holder 21 from the jig, the volume filler 17 can be injected into the repair target portion.

  FIG. 12 shows a state where the second injection gun 23 is selected and usable. Here, for example, the operation of the volume filling material 17 by the first injection gun 22 is completed, and then the adhesive 18 is selected as a repair material in step S103 and step S107 shown in FIG. Is the second injection gun 23. The gun holder 21 with the tip nozzle 28-1 of the first injection gun 22 protruding from the nozzle outlet 33 is gripped by the articulated manipulator 6 and placed on a jig. Then, the front end nozzle 28-1 of the first injection gun 22 is placed in the gun holder 21 by holding the slide bar 25 and moving it backward.

  Next, only the slide bar 26 is moved forward toward the nozzle outlet 33 by the articulated manipulator 6, and the tip nozzle 28-2 is protruded from the nozzle outlet 33. Thereafter, by holding the handle of the second injection gun 23 with an articulated manipulator and removing it from the jig, the adhesive material can be injected into the repair target portion.

  In the present embodiment, in order to enable a desired injection gun to be moved by the articulated manipulator 6 in the gun holder 21, the slide bar is provided. However, the present invention is not limited thereto. An electric actuator or the like may be arranged so as not to interfere, and may be configured to be movable back and forth within each injection gun gun holder. In this case, the operation of moving the injection gun by the articulated manipulator 6 can be made unnecessary.

  As described above, according to the present embodiment, a plurality of injection guns can be accommodated in the gun holder 21 so that the size can be reduced, access to the tool box 48 in the first embodiment is not required, and the hose is entangled. The handling is improved.

  In the present embodiment, the repair system 1 of the first embodiment or the second embodiment is used, and a combination of a plurality of types of repair materials is applied to the repair target portion, so that the water stop effect can be improved against a malfunction such as water leakage. An example of the method will be described.

  FIG. 13A to FIG. 13C show a repair process for performing repair work using a plurality of types of repair materials. For example, in the first stage, as shown in FIG. 13 (a), a lightweight water-filling material 49 having a high filling property is filled into the gap (nest) 16 of the repair target portion with the injection gun 8. Further, in the second stage, as shown in FIG. 13B, the injection gun 8 is changed, and an adhesive waterproofing material 50 that can enter the gap between the volume waterproofing material 49 and the inner wall of the gap (nest) 16. Is injected to solidify the entire void (nest) 16 with a water-stopping material. Further, in the third stage, as shown in FIG. 13C, the injection gun 8 is changed, and the application water-stopping material 51 is applied to the surface of the gap (nest) 16 to repair the repair target portion. The operation for changing the injection gun 8 is performed in the same manner as in the first or second embodiment.

  According to the present embodiment, by performing repair work using three types of repair materials at one repair target location, it is possible to repair by remotely forming a waterproof material on the target object in multiple layers. Moreover, the water stop effect can be improved. Note that the combination of repair materials may be two types depending on the size of the defect, without using all three types. For example, as shown in FIG. 7B, in the case of the gap 16 having a small opening width, only two types of the adhesive waterproof material 50 and the coated waterproof material 51 may be used.

  In the present embodiment, since a plurality of types of repair materials used in the first embodiment and the second embodiment described above are supplied to the injection gun, a configuration that can prevent tangling of individually provided hoses will be described. FIG. 14 shows a cross section of a repair material supply hose according to the present embodiment. When two kinds of water-stopping materials (main agent and curing agent) are mixed as a repair material and injected into a repair target location, as shown in FIG. 14, a hose 35 for supplying the main agent and a hose 36 for supplying the curing agent A repair material supply hose is formed by the large hose 34 bundled and accommodated at intervals. The hose 35 and the hose 36 branch so that one end of the repair material supply hose can be individually connected to the corresponding injection gun, and the other end has the hose 35 and hose 36 connectable to each pump corresponding to the main agent and the curing agent. Branch.

  In FIG. 14, an example using two types of repair materials is shown, but when using the three types of repair materials described in the first and second embodiments, similarly, a hose that supplies three types of repair materials is used. What is necessary is just to bundle and accommodate in the large hose 34. FIG.

  According to the present embodiment, tangling of the hose that supplies a plurality of types of repair materials to the injection gun is prevented, and the handling performance of the injection gun by the articulated manipulator 6 can be improved.

  This embodiment is different from the first and second embodiments in that a processing machine is provided at the top of the tip of the injection gun, and other configurations are the same as those of the first and second embodiments.

  FIG. 15 shows an external view of the injection gun of this embodiment. As shown in FIG. 15, a drilling machine 37 having an electric drill 38 is provided at the upper end of the injection gun 8. For example, in the case where a desired area 55 of the housing 56 is filled with a water-stopping material as a repair material such as a civil engineering structure, the injection gun 8 is mounted by the articulated manipulator 6 as described in the first or second embodiment. The surface of the desired region 55 is drilled and formed by moving to the desired region 55 of the body 56 and using the electric drill 38 of the drilling machine 37 provided at the top of the tip of the injection gun 8. By moving the injection gun 8 into the hole, it becomes possible to inject a water stop material as a repair material.

  The drilling machine 37 may be used as a single tool without being added around the injection gun 8.

  According to the present embodiment, in addition to the effects of the first embodiment or the second embodiment, it is possible to easily perform a drilling process or the like as a pretreatment for the region where the repair material is injected.

  In the present embodiment, a repair method suitable for repair work when the repair system 1 according to the first embodiment or the second embodiment is used and the gap area of the repair target portion is large will be described.

  When the area of the gap in the repair target area is large and a large amount of repair material is required, for example, the repair method in which only the waterstop material is filled in the gap portion may be affected by the seismic strength. Therefore, in this embodiment, a repair method that can suppress the influence of seismic strength as much as possible will be described. FIGS. 16A to 16C show a repair process according to this embodiment. In the repair system of the present embodiment, a compressor 52 that pressurizes the volume filler 46 and pumps it in a hose and a storage container 54 that stores the volume filler 46 are newly provided.

  As shown in FIG. 16 (a), from the injection gun 53 held by the articulated manipulator 6 and moved near the gap (nest) 16, a light and lump volume filling material such as pumice or expanded polystyrene. 46 is directed toward the gap (nest) 16 and sprayed to fill and inject the volume filler 46 throughout the gap (nest) 16. Since the volume filling material 46 is a lump like a pebble and a gap is formed even if the lump is densely packed, the water cannot be stopped in this state.

  Therefore, as shown in FIG. 16 (b), in order to fill such a lump gap, an adhesive waterproofing material 50 having high fluidity is injected into the gap from the injection gun 53 and cured, thereby preventing the water stoppage. Can be secured. Subsequently, as shown in FIG. 16C, an application waterproofing material 51 having high adhesion to the opening of the void (nest) 16 covered with the cured adhesive waterproofing material 50 by the injection gun 53. Apply. Thereby, it is possible to further enhance the water stop effect.

  Next, a repair method will be described in which a waterproof material as a repair material can be applied to the surface of the void portion (nest) 16 that is a repair target portion without any step, and the sealing performance can be improved. FIGS. 17A to 17D show the repair process of this example. For example, as shown in FIG. 17 (a), when a volume waterproof material 49 such as foaming urethane is injected into the gap (nest) 16 from the injection gun 8, as shown in FIG. A protruding portion 45 of urethane may occur. Even if the volume water blocking material 49 is filled, there is a possibility that a gap is generated in the gap (nest) 16, and therefore, as shown in FIG. It is injected into the gap between the water stop material 49 and the inner wall surface of the gap (nest) 16. Since the protruding portion 45 is fixed when the adhesive water-stopping material 50 is cured, the electric cutter or the like is operated by the articulated manipulator 6 and the protruding portion of the volume water-stopping material 49 is shown in FIG. 45 is excised. After the excision, the end surface becomes a flat surface 46, and as shown in FIG. 17 (d), the water-stopping material can be applied to the surface to be repaired without any step by spraying the water-stopping material 51 onto the surface. Can improve the water stop effect.

As described above, according to the present embodiment, after filling the water stop material by applying the light and massive volume filler 46 and the compressor 52 that pumps the volume filler 46 to the repair target portion. However, it is possible to give strength to the repair target portion after the repair, and because the material is lightweight, the water can be stopped while suppressing the influence on earthquake resistance such as an earthquake as much as possible.
The present invention is not limited to the above-described implementation, and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

  In addition, control lines and information lines such as cables and hoses are those that are considered necessary for the explanation, and not all control lines and information lines are necessarily shown on the product.

DESCRIPTION OF SYMBOLS 1 ... Repair system, 2 ... Moving mechanism, 3 ... 1st moving body, 4 ... 2nd moving body, 5 ... Lifting mechanism, 6 ... Articulated manipulator, 7 ... Repair material, 8 ... Injection gun, 9 ... Tank, 10 ... Pump, 11 ... Hose, 12 ... Communication line, 13 ... Tunnel, 14 ... Control device , 15 ... crack, 16 ... gap (nest), 17 ... volume filler, 20 ... coating material, 21 ... gun holder, 22 ... first injection gun, 23 ... Second injection gun, 24 ... Third injection gun, 25, 26, 27 ... Slide bar, 28-1, 28-2, 28-3 ... Tip nozzle, 33 ...・ Nozzle outlet, 47 ... Work base

Claims (13)

An injection gun that discharges the repair material to the repair target part of the structure, and a multi-joint that can be displaced in any direction with a plurality of joints as fulcrums and that can hold the injection gun and move to a desired position A self-propelled movable body provided with a manipulator and an elevating mechanism that supports the articulated manipulator from below and can be vertically moved;
Connected to the self-propelled mobile body via a communication line, comprising a control device for remotely controlling the operation of the self-propelled mobile body, the lifting mechanism and the operation of the articulated manipulator,
A measuring device that is installed in the injection gun or the articulated manipulator and that measures the distance or shape of the object located in the moving direction of the injection gun moved by the articulated manipulator;
A repair system characterized in that the articulated manipulator can be operated based on a distance or shape measured by the measuring device. The repair system according to claim 1,
The self-propelled mobile body includes a plurality of tanks respectively storing a plurality of types of repair materials, and a plurality of injection guns corresponding to the repair materials,
The said control apparatus selects the repair material which should be inject | poured into the said repair object location based on the shape measurement result of the said repair object location by the said measuring device, The repair system characterized by the above-mentioned. The repair system according to claim 2,
The self-propelled mobile body includes a first mobile body and a second mobile body,
The first moving body includes an articulated manipulator that holds the injection gun and moves it to a desired position, and the lifting mechanism.
The second moving body includes a plurality of tanks that store the plurality of types of repair materials, and a pump that supplies the repair materials corresponding to the injection gun,
The repair system characterized in that the first mobile body, the second mobile body, the second mobile body and the control device are connected to each other via a communication line. The repair system according to claim 2,
The lifting mechanism supports the articulated manipulator from below through a work base,
A storage section for storing a plurality of injection guns corresponding to the respective repair materials on the work base;
A repair system, wherein an injection gun corresponding to a repair material selected by the control device is gripped by the articulated manipulator, and the repair material is discharged to the repair target portion. The repair system according to claim 2,
A holder for arranging and storing the plurality of injection guns at predetermined intervals,
On one side of the holder, an opening is formed so that the tip nozzle of each injection gun can protrude out of the holder,
For each injection gun, one end is connected to the injection gun, and the other end has a slide lever that extends outward from a different surface of the holder.
A repair system in which the tip nozzle of one injection gun protrudes from the opening by moving the slide lever in the opening direction by the articulated manipulator. In the repair system according to any one of claims 3 to 5,
A repair system characterized in that a hose for supplying each repair material to a corresponding injection gun is bundled and accommodated in one hose. In the repair system according to claim 5,
The plurality of repair materials are a volume filler, a high fluidity adhesive, and a coating material,
A slide lever attached to an injection gun corresponding to any one of the volume filling material, the high fluidity adhesive material and the coating material selected by the control device is moved in the opening direction by the articulated manipulator. A repair system characterized by that. The repair system according to claim 2,
The measuring device includes an irradiation unit that irradiates a laser beam to the object, a laser range finder that has a light receiving unit that receives a laser beam reflected from the object, and an imaging device that images the object. Repair system to do. A method of repairing a structure using the repair system according to claim 2,
Measure the distance between the injection gun and the location to be repaired by the measuring device,
Measure the defect shape of the repair target location based on the measurement distance,
Select a repair material corresponding to the measured defect shape from the plurality of repair materials,
A repair method for a structure, wherein an injection gun corresponding to the selected repair material is gripped by the articulated manipulator, and the selected repair material is discharged to the repair target portion. In the repair method of the structure of Claim 9,
A structure repairing method, comprising discharging one of a volume filler, a flowable adhesive, and a coating material to the repair target portion according to the measured size of the defect shape. In the repair method of the structure according to claim 9, when the size of the measured defect shape is a predetermined value or more, a volume filler is discharged to the repair target location,
After the volume filler is cured, the fluid adhesive is further discharged to the repair target location,
A repair method for a structure, wherein the flowable adhesive material discharges a coating material to the repair target portion after curing. In the repair method of the structure of Claim 10,
The method for repairing a structure, wherein the volume filler is urethane. In the repair method of the structure of Claim 11,
The method for repairing a structure, wherein the volume filler is pumice or foamed polystyrene.

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