JP2017141662A - Inspection device and inspection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inspection device which can rapidly move along a cable and which can efficiently perform a cable inspection operation.SOLUTION: An inspection device 10, which moves along a cable 14 of a bridge and inspects an appearance of the cable 14, includes: (a) a frame 12 which has an insertion space 16 subjected to internal insertion of the cable 14 and which surrounds the cable 14; (b) a rotary vane 18 which is mounted on the frame 12 and which generates thrust by rotation; (c) positioning means 37a in which guide members 19a mounted on the frame 12 and protruded inward are arranged in a plurality of circumferential locations, respectively; and (d) a plurality of imaging means 20 which are mounted on the frame 12.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an inspection device and an inspection method used for inspecting a cable of a bridge.

Bridges such as cable-stayed bridges and suspension bridges have a protective film formed on the outer peripheral surface of the cable that supports the bridge girder. If this film is damaged, the internal steel wires corrode from the damaged part. Due to problems, the appearance of the cable is regularly inspected.
However, when an operator on a crane or the like performs such inspection work with close visual observation, the work is performed at a high place, which is dangerous and the time required for the work and the inspection cost are problematic. In addition, when checking a cable at a high place exceeding 30 m, it is difficult for the operator to visually check the proximity.

  On the other hand, a device for inspecting the appearance of a cable at a high place has been proposed instead of visual inspection by an operator. For example, in Patent Document 1 below, the first and second movable parts that are brought into and out of contact with each other by the extension / contraction drive part, and a pair of sandwiching parts provided on these movable parts, respectively, the opening / closing operation of the sandwiching part A maintenance robot is disclosed that moves along the cable while holding the cable by the expansion and contraction operation of the movable part, and confirms the state of the cable with a CCD camera as an imaging means.

  Further, in Patent Document 2 below, a driving roller that is rotationally driven by a motor and a driven roller provided at a position facing the driving roller are each attached to a frame, and a cable is sandwiched between the driving roller and the driven roller. An inspection device is disclosed that moves along the cable based on the rotational force of the driving roller and photographs the outer surface of the cable with the photographing means attached to the frame.

  However, those described in these patent documents increase the frictional force between the cable and the holding part (or roller) of the pair of machines that hold the cable, and move on the cable using this frictional force. Therefore, it is necessary to maintain a predetermined frictional force so as not to accidentally drop during the upward movement or to cause the driving roller to idle. For this reason, there is a problem that it is difficult to move at high speed and the time required for inspection becomes long.

JP-A-10-118964 JP 2012-163402 A

  The present invention has been made for the purpose of providing an inspection device and an inspection method capable of moving quickly along a cable and efficiently performing a cable inspection operation against the background of the above situation. Is.

  Thus, claim 1 relates to an inspection device, which is an inspection device that moves along a cable of a bridge and inspects the appearance of the cable, and (a) has an insertion space through which the cable is inserted. A frame surrounding the cable; (b) a rotor blade attached to the frame and generating thrust by rotation; and (c) a guide member attached to the frame and projecting inwardly at a plurality of locations in the circumferential direction. And (d) a plurality of imaging means attached to the frame.

  A second aspect of the present invention is characterized in that, in the first aspect, a plurality of the rotor blades are arranged at intervals in the circumferential direction outside the cable.

  According to a third aspect of the present invention, in any one of the first and second aspects, a guide roller is provided at the tip of the guide member so as to be rotatable and swingable in the approaching and separating direction with respect to the cable. It is biased inward by the member.

  According to a fourth aspect of the present invention, in the third aspect of the present invention, there is provided braking means for applying a braking force to either forward or reverse rotation of the guide roller.

  According to a fifth aspect of the present invention, in the fourth aspect of the present invention, the braking means includes a shaft body that rotates integrally with the guide roller, and a rotor that is housed together with a viscous fluid in an inner housing space, and a braking force is applied to the rotation of the rotor. A rotary damper to be generated, wherein the shaft body and the rotor are connected via a one-way clutch.

  A sixth aspect of the present invention is characterized in that in any one of the first to fifth aspects, a plurality of the positioning means are provided apart from each other in the insertion direction of the cable.

  A seventh aspect of the present invention includes a plurality of block-shaped shock absorbers according to any one of the first to sixth aspects, and a belt that connects the shock absorbers in series, and the outer peripheral surface of the cable to be inspected. It is characterized by comprising collision buffer means configured to be fastened and fixed.

  Claim 8 relates to an inspection method. While moving the inspection device according to any one of claims 1 to 7 along the cable, the outer surface of the cable is imaged to obtain an appearance of the cable. It is characterized by checking.

  A ninth aspect of the present invention is the method according to the eighth aspect, wherein the inspection device is moved toward the upper portion of the cable at a speed higher than a predetermined inspection speed and then lowered toward the lower portion of the cable at the predetermined inspection speed. However, it is characterized in that the state of the outer surface of the cable is imaged.

As described above, according to the present invention, the rotating blade is attached to the frame including the imaging unit. According to the present invention, the frame including the imaging unit can be moved up and down by the thrust generated by the rotation of the rotating blade. For this reason, the frictional force between the cable and the member that holds the cable is increased, and it is possible to move at a higher speed than a conventional inspection device that moves while maintaining a predetermined frictional force.
For example, as in the inspection method according to claim 9, when the outer surface of the cable is inspected in the process of lowering the inspection device once up to the upper part of the cable, there is no speed restriction associated with the inspection. When rising, the inspection device can be quickly moved to the top of the cable to shorten the time required for the inspection work.

  In the present invention, positioning means is provided in which guide members protruded inward are arranged at a plurality of locations in the circumferential direction. This guide member allows movement of the inspection device in the cable axis direction, while restricting movement in the direction perpendicular to the cable axis. For this reason, according to this invention, an inspection apparatus can be moved to a cable axial direction along the inclination also with respect to the cable extended in the diagonal direction.

  Here, in the present invention, a plurality of rotor blades can be arranged at intervals in the circumferential direction outside the cable.

In the present invention, a guide roller is provided at the tip of the guide member so as to be rotatable and swingable in the approaching / separating direction with respect to the cable, and the guide roller can be biased inward by the biasing member. 3).
In this Claim 3, since the guide roller that can swing in the approaching and separating direction with respect to the cable is elastically brought into contact with the outer surface of the cable based on the biasing force, even when there is a step on the outer surface of the cable, By moving the position of the guide roller along the step in the approaching / separating direction with respect to the cable, the step can be overcome.

Here, in the inspection device of the present invention, it is possible to provide a braking means for applying a braking force to either the forward or reverse rotation of the guide roller.
The inspection device according to the present invention adjusts the thrust of the rotor blades according to disturbance factors such as cross winds, and controls the moving speed when moving up and down. In such a case, if the sensitivity of the moving speed with respect to the thrust of the rotor blade is high, the variation in the moving speed of the inspection device with respect to the fluctuation of the thrust becomes large, and it may be difficult to acquire a stable inspection image during imaging. On the other hand, by applying a braking force to the rotation of the guide roller according to claim 4 to provide resistance to the inspection device during movement, the sensitivity of the moving speed to the thrust of the rotor blades can be reduced. That is, by applying a braking force to the rotation of the guide roller when imaging is performed, variation in the moving speed of the inspection device can be suppressed, and a stable inspection image can be acquired. Since the braking force acts only in one direction, the inspection device can be moved quickly in the direction where the braking force does not act.

  Also, if the braking force is set to act when the inspection device is lowered, the direction in which the braking force acts is the same as the direction of the thrust of the rotor, so the output of the rotor is suppressed and battery consumption is reduced. Can be suppressed. Moreover, even when the thrust of the rotor blade cannot be obtained due to power loss, the drop speed of the inspection device can be suppressed and the inspection device can be safely lowered.

  Here, the braking means includes a shaft body that rotates integrally with the guide roller, and a rotary damper that generates a braking force against the rotation of the rotor housed therein, and the shaft body and the rotor are interposed via a one-way clutch. (5).

In the present invention, a plurality of positioning means can be provided separately in the cable insertion direction (Claim 6). According to the sixth aspect, when the inspection device is attached to the cable extending in the oblique direction, the entire inspection device is inclined along the inclination of the cable by the plurality of positioning means provided apart from each other in the cable insertion direction. The cable is held in the In this case, since the rotating shaft of the rotating blade is tilted along with the inclination of the cable together with the frame, the lifting and lowering operation can be smoothly performed on the inclined cable.
Further, even when the inspection device receives a cross wind, the contact between the plurality of positioning means and the cable can prevent the entire device from being largely inclined with respect to the axial direction of the cable. The distance from the outer surface of the cable can be kept substantially constant, and blurring of the inspection image can be suppressed.

  An inspection apparatus according to the present invention includes a plurality of block-shaped impact absorbers and a belt that connects the impact absorbers in series, and is configured to be capable of being fastened and fixed to the outer peripheral surface of a cable to be inspected. Means can be provided (claim 7). If such a collision buffer means is tightened and fixed to the outer peripheral surface of the cable below the inspection device, the inspection device loses power during the inspection operation and falls along the cable. However, it is possible to protect the cable by preventing the inspection device from directly colliding with the fixing portion of the cable.

  According to the present invention as described above, it is possible to provide an inspection device and an inspection method that can move quickly along the cable and can efficiently perform the cable inspection work.

It is a perspective view of the inspection device of one embodiment of the present invention. It is a top view of the inspection apparatus of FIG. It is a side view of the inspection apparatus of FIG. It is the figure which expanded and showed the guide member of the inspection apparatus of FIG. (A) It is the figure which showed typically the cable-stayed bridge of inspection object. (B) It is operation | movement explanatory drawing of the inspection apparatus of the embodiment. It is the figure which expanded and showed the guide member in other embodiment of this invention. (A) It is the perspective view which showed the braking means of the embodiment with the peripheral part. (B) It is the fragmentary sectional view which showed the braking means of the embodiment with the peripheral part. It is a schematic diagram of a clutch mechanism part, (A) is a locked state, (B) is the figure which showed the non-locking state. It is a figure which shows the principal part of other embodiment of this invention. It is a perspective view of the inspection apparatus of other embodiment of this invention. It is a top view of the inspection apparatus of FIG.

Next, embodiments of the present invention will be described in detail with reference to the drawings.
In FIGS. 1 and 2, 10 is an inspection device, 12 is a frame through which a cable 14 (FIG. 2) is inserted and surrounds the cable 14, 18 is a rotary blade attached to the frame 12, and 19a and 19b are inspections. A guide member for restricting the movement of the device 10 in the direction perpendicular to the axis of the cable 14 and a camera 20 as an imaging means for imaging the state of the outer surface of the cable.
In the inspection device 10 of this example, the frame 12 is moved integrally with the rotary blade 18 along the cable 14 inserted through the inside by the thrust generated by the rotation of the rotary blade 18, and the camera 20 attached to the frame 12 is used. The state of the outer surface of the cable 14 can be imaged.

The frame 12 is composed of a rectangular annular portion 22 formed by combining aluminum hollow rectangular tube members and a hollow rectangular tube member made of aluminum, the base end of which is integrally joined to the annular portion 22, and the distal end is directed outward. And a plurality of arm portions 24 extending radially. Reference numeral 25 denotes a leg portion extending downward from the arm portion 24.
The annular portion 22 has an insertion space 16 through which the cable 14 is inserted, and is configured so as to surround the periphery of the inserted cable 14.
As shown in FIG. 2, the annular portion 22 can be divided into two divided bodies 22 a and 22 b in the circumferential direction, and these can be opened and closed around a hinge 23 that connects one end side.

  As shown in FIG. 3, guide members 19a and 19b (referred to as “guide member 19” when collectively referred to) are attached and fixed to the upper surface 26 and the lower surface 27 of the annular portion 22, respectively.

  FIG. 4 is an enlarged view of the guide member 19 a attached to the upper surface of the annular portion 22. The guide member 19a includes a first support 28 attached to the upper surface 26 of the annular portion 22, and a second support 30 attached so as to be slidable in the vertical direction along the elongated hole 28a of the first support 28. , And a swing arm 32 that is swingably connected to the second support 30 via a connecting shaft 31. Reference numerals 29a and 29b denote bolts and nuts that fix the first support 28 and the second support 30 in a sandwiched state.

A resin guide roller 34 is rotatably connected to the distal end side of the swing arm 32. The guide roller 34 is provided with a bearing that is rotatable about the axis center of the shaft portion 34 a fixed to the swing arm 32, and the outer peripheral portion of the guide roller 34 is rotatable integrally with the outer ring of the bearing. ing. On the other hand, a coil spring 36 as an urging means is attached to the proximal end side of the swing arm 32. Based on the spring force of the coil spring 36, the swing arm 32 is subjected to a force that rotates clockwise around the connecting shaft 31 in the drawing, so that the guide roller 34 provided at the tip of the swing arm 32 faces inward. (To the cable 14 side). The guide roller 34 contacts the outer surface of the cable 14 disposed in the insertion space 16.
Note that the other end of the coil spring 36 is engaged with an adjustment screw member 44 fixed to the second support 30, and an inner portion that acts on the guide roller 34 by adjusting the protruding amount of the adjustment screw member 44. The biasing force of the direction can be adjusted.

  As shown in FIG. 2, a plurality of guide members 19 a configured as described above are arranged at equal intervals in the circumferential direction of the cable 14 (in this example, 90 ° intervals) on the upper surface 26 of the frame 12. Upper positioning means 37a is configured. As described above, in this example, the plurality of guide rollers 34 constituting the upper positioning means 37a are brought into contact with the outer surface of the cable 14 from a plurality of locations in the circumferential direction, thereby allowing the inspection device 10 to move in the cable axis direction. On the other hand, the movement in the direction perpendicular to the cable axis is restricted.

  In the guide member 19 a of this example, when the inspection device 10 moves along the cable 14, the guide roller 34 that contacts the outer surface of the cable 14 rotates to prevent the outer surface of the cable 14 from being damaged. . Further, as shown in FIG. 4B, the guide roller 34 is provided so as to be swingable in the approaching / separating direction with respect to the cable 14 around the connecting shaft 31, so that there is a step on the outer surface of the cable 14. However, the position of the guide roller 34 can be moved along the step in the approaching / separating direction with respect to the cable 14 to get over the step.

The guide member 19a attached to the upper surface 26 of the annular portion 22 has been described in detail above. In this example, as shown in FIG. 3, the guide member 19b having the same configuration as the guide member 19a is provided on the lower surface 27 of the annular portion 22. Is attached. The guide members 19b attached to the lower surface 27 are arranged at the same position in the circumferential direction as the guide members 19a, specifically, at equal intervals in the circumferential direction of the cable 14 in plan view (90 ° intervals in this example). The plurality of guide members 19b formed constitute the lower positioning means 37b. When the upper positioning means 37a and the lower positioning means 37b are collectively referred to, they are expressed as “positioning means 37”.
As shown in FIG. 3, in this example, the upper positioning means 37a and the lower positioning means 37b provided apart from each other in the insertion direction (vertical direction in the figure) of the cable 14 position the cable 14 in the direction perpendicular to the axis. Therefore, the entire inspection device 10 can be prevented from being largely inclined with respect to the axial direction of the cable 14.

  The rotary blade 18 is attached to the tip of the arm portion 24 via a motor 38 that rotates the rotary blade 18. In this example, four rotating blades 18 are attached at equal intervals of 90 ° in the circumferential direction.

In FIG. 2, reference numeral 40 denotes a control unit that controls the operation of the inspection apparatus 10, and 42 denotes a battery that supplies electric power for rotational driving to the motor 38.
Based on a deviation between a target speed indicated by a radio signal from a separate control device (not shown) and an actual moving speed obtained from a speed sensor attached to the inspection device 10, the control unit 40 The voltage or current supplied from 42 to the motor 38 is adjusted to control the rotation of the rotary blade 18 so that the actual moving speed of the inspection apparatus 10 becomes the target speed.

  As shown in FIG. 2, the camera 20 as an imaging unit is attached to the upper surface 26 of the frame 12 via holding bars 21 (FIG. 1) at intervals of 120 ° in the circumferential direction of the cable 14. Each camera 20 is capable of imaging the outer surface of the cable in the range of 120 ° in the circumferential direction of the cable 14. In this example, the outer surface of the cable 14 is inspected over the entire 360 ° by the three cameras 20. Can do. However, the arrangement of these cameras 20 is not limited to this, and four cameras can be arranged at intervals of 90 ° in the circumferential direction. It is also possible to attach the camera 20 to the lower surface 27 side of the frame 12.

The inspection device 10 of the present embodiment configured as described above can be suitably used particularly for inspection of cables of cable-stayed bridges.
FIG. 5A schematically shows the structure of the cable-stayed bridge. As shown in the figure, in the cable-stayed bridge 50, a large number of cables 14 that support the main girder 54 are extended obliquely from the main tower 52 with respect to the main girder 54. When inspecting the cable 14 of such a cable-stayed bridge 50, in FIG. 1, first, the divided body 22b is rotated around the hinge 23 with respect to the divided body 22a constituting the annular portion 22, respectively. An open portion is formed between the cable 22b and the cable 14 to be inspected in the insertion space 16 inside the frame 12 through the open portion. Thereafter, the open portion between the divided bodies 22a and 22b is closed, and the inspection device 10 is fitted into the outside of the cable 14.

At this time, in the upper positioning means 37a and the lower positioning means 37b, the guide roller 34 comes into contact with the outer surface of the cable 14 and positioning in the direction perpendicular to the axis with respect to the cable 14 is performed. As shown in FIG. The inspection device 10 is attached in the vicinity of the lower end of the cable 14 in a state where the entire inspection device 10 is inclined in the axial direction of the extending cable 14.
In addition, the rotating shaft of the rotary blade 18 attached to the frame 12 is also inclined in the axial direction of the cable 14, and in this state, the rotary blade 18 is rotated to generate thrust, whereby the inspection device 10 is moved along the cable 14. Move to the top at high speed.

  Thereafter, the camera 20 captures the state of the outer surface of the cable 14 while lowering the inspection device 10 from the top of the cable 14 at a constant inspection speed at which the cable can be inspected. The captured image data may be stored in a storage unit inside the camera 20 or may be transmitted to an external device by wireless communication.

As described above, in this embodiment, the rotating blade 18 is attached to the frame 12 to which the camera 20 is attached. According to this embodiment, the frame to which the camera 20 is attached by the thrust generated by the rotation of the rotating blade 18. 12 can be raised and lowered. For this reason, the frictional force between the cable 14 and the member sandwiching the cable 14 is increased, and the moving can be performed at a higher speed than a conventional inspection device that moves while maintaining a predetermined frictional force.
For example, when the inspection device 10 is once raised to the top of the cable 14 and then inspected in the process of being lowered, the inspection device 10 is promptly moved according to the present embodiment when there is no speed restriction associated with the inspection. It is possible to reduce the time required for the inspection work by moving the cable 14 to the top.

  Further, in the present embodiment, there is provided positioning means 37 in which guide members 19 having guide rollers 34 protruding inward are arranged at a plurality of locations in the circumferential direction. The positioning means 37 allows the inspection device 10 to move in the cable axis direction while restricting movement in the direction perpendicular to the cable axis. Therefore, according to the present embodiment, the inspection device 10 can be moved in the cable axial direction along the inclination of the cable 14 extending in the oblique direction.

  In this embodiment, the guide roller 34 is provided at the tip of the guide member 19 so as to be rotatable and swingable in the approaching / separating direction with respect to the cable 14, and the guide roller 34 is urged inward by a coil spring 36. According to this embodiment, even if there is a step on the outer surface of the cable 14, the position of the guide roller 34 can be moved along the step in the approaching / separating direction with respect to the cable 14, and the step can be overcome.

In the present embodiment, the upper positioning means 37a and the lower positioning means 37b are provided apart from each other in the insertion direction of the cable 14, and the entire inspection device 10 is held by the cable 14 while being inclined along the inclination of the cable 14. Is done. In this case, the rotating shaft of the rotor blade 18 is tilted along with the inclination of the cable 14 together with the frame 12, so that the ascending / descending operation can be smoothly performed on the inclined cable 14.
Further, even when the inspection device 10 receives a cross wind, it is possible to prevent the entire device from being largely inclined with respect to the axial direction of the cable 14 by the contact action of the plurality of positioning means 37a and 37b and the cable 14. The distance between the camera 20 and the outer surface of the cable 14 can be kept substantially constant, and blurring of the captured image can be suppressed.

6 and 7 show another embodiment of the present invention. In the inspection device 10B of the present embodiment, a braking means 90 that applies a braking force is coupled to a guide roller 34B that abuts on the outer surface of the cable 14 based on the biasing force of the coil spring 36. In the following description, common parts with the first embodiment are denoted by common reference numerals, and redundant description is omitted.
The braking means 90 includes a shaft body 91 (see FIG. 7B) that rotates integrally with the guide roller 34B, a one-way clutch 93, and a rotary damper 95. In this example, the braking means 90 is connected to the guide rollers 34B of the guide members 19a and 19b. The guide roller 34B is made of sponge so that a large contact area can be obtained when it abuts on the cable 14.

  As shown in FIG. 7B, the shaft body 91 is rotatably held by the swing arm 32B via a sleeve 96. A small-diameter portion 91a is formed at one end side (tip side) of the shaft body 91. The small-diameter portion 91a is fitted into a through hole formed in the center portion of the guide roller 34B, and the guide roller 34B and the shaft body 91 are nuts. It is fastened and fixed at 97. On the other hand, the other end side of the shaft body 91 is fitted in the holding hole 107 of the one-way clutch 93.

  The one-way clutch 93 has a housing 100 in which a housing main body 100a and a bottom 100b, which are separate members, are fixed by screws. A clutch mechanism 102 is formed in the housing main body 100a, and a rotary damper 95 described later is formed on the bottom 100b. A fitting hole 101 for fitting with the rotor shaft 112a is formed.

As shown in the schematic diagram of FIG. 8, the clutch mechanism portion 102 includes a plurality of rollers 106 urged by a spring 105 arranged in the circumferential direction inside an outer ring 104 that is mounted so as not to rotate relative to the housing body 100a. A holding hole 107 that holds the shaft 91 is formed inside the roller 106.
In this example, when the shaft body 91 rotates in the rotation direction (R1 rotation direction in the figure) when the inspection device 10B descends, the roller 106 biased by the spring 105 is moved to the outer ring cam surface 104a, the shaft body 91, and the like. The shaft body 91 and the housing 100 of the one-way clutch 93 are rotated integrally with each other. On the other hand, when the shaft body 91 rotates in the rotation direction (the rotation direction of R2 in the drawing) when the inspection device 10B is raised, the roller 106 is in an unlocked state away from the outer ring cam surface 104a, and the rotation of the shaft body 91 is performed. Is not transmitted to the housing 100 of the one-way clutch 93.

  As shown in FIG. 7B, the rotary damper 95 includes a damper case 110 and a rotor 112 accommodated in the accommodation space 111 in the damper case 110. The damper case 110 includes a case main body 110a that accommodates the rotor 112 therein, and an attachment piece 110b that extends to the outside of the case main body 110a. The attachment piece 110b is attached to an attachment plate 33 that is fixed to the swing arm 32B. Screw fixed.

Most of the rotor 112 is rotatably accommodated in the accommodation space 111 in the case main body 110a, and a rotor shaft 112a extending outward from the case main body 110a is formed on the upper end side of the rotation shaft. . The rotor shaft 112 a is fitted into the fitting hole 101 of the one-way clutch 93, and the rotor 112 is configured to be rotatable integrally with the housing 100 of the one-way clutch 93.
The housing space 111 in the case main body 110a is filled with silicon oil as a viscous fluid together with the rotor 112, and when the rotor 112 rotates, a braking torque (braking force) is generated by the viscous resistance of the silicon oil.

  In the braking means 90 configured as described above, when the inspection device 10B moves up and down, the one-way clutch 93 is unlocked and no braking force acts on the rotation of the guide roller 34B. On the other hand, when the inspection device 10B is lowered, the one-way clutch 93 is locked and a braking force in a direction that prevents the rotation of the guide roller 34B is applied to the guide roller 34B.

  In the present embodiment, when the inspection device 10B is lowered, the sensitivity of the moving speed with respect to the thrust of the rotor blade 18 is reduced by applying a braking force to the guide roller 34B. For this reason, if the imaging operation is performed when the inspection device 10B is lowered, it is possible to suppress a variation in the moving speed of the inspection device and obtain a stable inspection image. On the other hand, when the inspection device 10B is raised, no braking force is applied, and the inspection device 10B can be moved quickly.

  Further, in the present embodiment set so that the braking force is applied when the inspection device 10B is lowered, the direction in which the braking force is applied is the same as the direction of the thrust of the rotary blade 18, so that the output of the rotary blade 18 is suppressed. Consumption of the battery 42 can be suppressed. Even when the thrust of the rotor blade 18 cannot be obtained due to power loss, the drop speed of the inspection device 10B can be suppressed and the inspection device 10B can be safely lowered.

  FIG. 9 is a view showing a main part of still another embodiment of the present invention. In the present embodiment, the collision buffer 120 is provided separately from the frame 12. The collision buffering means 120 includes a plurality of (here, eight) block-shaped shock absorbers 122 and a belt 124 that connects them in series.

The shock absorber 122 has a substantially rectangular parallelepiped block shape, and is formed of a material that can absorb shocks well, such as a foamed member such as sponge, foamed polystyrene or urethane foam. The shock absorber 122 is formed with a through groove 123 that passes through one end surface and the other end surface facing the end surface, and a belt 124 is inserted through the through groove 123.
The belt 124 has a belt body 126 having flexibility and a predetermined length, and a metal fitting 128 attached to one end thereof. The metal fitting 128 connects one end and the other end of the belt body 126 while adjusting the circumferential length of the belt body 126. As such a belt 124, a commercially available tie-down belt can be used.

  As shown in FIG. 9B, the collision buffering means 120 is used by being wound around the outer peripheral surface of the cable 14 at the base end side of the cable 14 to be inspected. The one end surface is fixed to the cable 14 by pressing it against the outer peripheral surface of the cable 14. If such collision buffering means 120 is provided, even if the main body portion of the inspection device loses power during the inspection operation and falls along the cable 14, the main body portion of the inspection device is shocked. It can be received by the absorber 122 to prevent the main body of the inspection device from directly colliding with the cable 14 and to protect the fixing portion of the cable 14. In this example, the collision buffering means 120 is fixed around the cable 14 in a single stage. However, in some cases, it is possible to fix the collision buffering means 120 around the cable 14 in a plurality of stages.

10 and 11 show still another embodiment of the present invention. In the following description, portions common to the first embodiment described in FIGS. 1 to 5 are denoted by common reference numerals, and redundant description is omitted.
In the inspection device 60 of this example, the annular portion 64 of the frame 62 surrounding the periphery of the cable 14 (FIG. 11) inserted therein has a hexagonal shape. The annular part 64 can be divided into two symmetrical parts 64a and 64b, which can be opened and closed around a hinge 66 in which one end sides are connected to each other.
An arm portion 68 is attached to the outside of the pair of square tube members constituting the annular portion 64.
The arm portion 68 of this example has a distal end branched in the left-right direction, and the rotary blade 18 is attached to each distal end of the branch arm 68a. In some cases, the base end of the arm portion 68 may be rotatably attached to the annular portion 64, and the rotating surface of the rotary blade 18 may be inclined with respect to the annular portion 64.

A plurality of guide members 70a and 70b are attached to the upper surface side and the lower surface side of the annular portion 64 at equal intervals in the circumferential direction of the cable 14 (90 ° intervals), and these constitute upper positioning means 72a and lower positioning means 72b. ing.
The guide members 70a and 70b of the present example include a first support 74 attached to the annular portion 64, a second support 76 that extends from the first support 74 toward the inside (the insertion space side), and the first support 74. 2 is provided with a swing arm 80 that is swingably connected to the support 76 via a connecting shaft 78.
A guide roller 82 is rotatably supported on the tip side of the swing arm 80.

In the guide members 70 a and 70 b of this example, a torsion coil spring 84 is mounted between the swing arm 80 that supports the guide roller 82 and the second support body 76, and the guide force is generated by the spring force of the torsion coil spring 84. The roller 82 is biased inward (toward the cable 14). The guide roller 82 abuts on the outer surface of the cable 14 disposed in the insertion space 16.
The second support 76 is capable of adjusting the inward protrusion amount by the screw feeding action of the adjustment screw member 86, and the protrusion amount is adjusted according to the outer diameter of the cable 14 inserted through the inside of the frame 62. can do.

  In this example, the camera 20 as the image pickup means is fixedly attached via a bracket 88 to a position between the upper positioning means 72a and the lower positioning means 72b, more specifically, inside the square tube member constituting the annular portion 64. If the camera 20 is provided at a position between the upper positioning means 72a and the lower positioning means 72b as in this example, even if the inspection device 60 is inclined with respect to the axial direction of the cable 14, the outer surface of the camera 20 and the cable 14 is assumed. The variation in the distance between the two can be reduced, and blurring of the captured image can be suppressed.

  Although the embodiment of the present invention has been described in detail above, this is merely an example. For example, in the above-described embodiment, the positioning means is provided at two positions apart in the cable insertion direction, but may be provided at one or three or more positions depending on circumstances. Moreover, although the said embodiment imaged the outer surface of the cable when the inspection apparatus descend | falls, depending on the case, it is also possible to image the outer surface of a cable when the inspection apparatus raises, in the range which does not deviate from the meaning. It can be configured in various modified forms.

10, 10B, 60 Inspection device 12, 62 Frame 14 Cable 16 Insertion space 18 Rotor blade 19, 19a, 19b, 70, 70a, 70b Guide member 20 Camera (imaging means)
34, 34B, 82 Guide roller 36 Coil spring (biasing means)
37, 72 Positioning means 37a, 72a Upper positioning means 37b, 72b Lower positioning means 84 Torsion coil spring (biasing means)
DESCRIPTION OF SYMBOLS 90 Braking means 91 Shaft body 93 One-way clutch 95 Rotary damper 112 Rotor 120 Collision buffer means 122 Shock absorber 124 Belt

Claims (9)

An inspection device that moves along the cable of the bridge and inspects the appearance of the cable,
(A) an insertion space through which the cable is inserted; and a frame surrounding the cable; (b) a rotor blade attached to the frame and generating thrust by rotation; and (c) attached to the frame. An inspection apparatus comprising: positioning means in which guide members protruded inward are arranged at a plurality of locations in a circumferential direction; and (d) a plurality of imaging means attached to the frame.   The inspection apparatus according to claim 1, wherein a plurality of the rotor blades are arranged at intervals in the circumferential direction outside the cable.   3. A guide roller according to claim 1, wherein a guide roller is provided at the tip of the guide member so as to be rotatable and swingable in a direction toward and away from the cable. The guide roller is inwardly moved by a biasing member. Inspection device characterized by being energized.   The inspection apparatus according to claim 3, further comprising a braking unit that applies a braking force to either forward or reverse rotation of the guide roller. In Claim 4, the braking means comprises:
A shaft that rotates integrally with the guide roller;
A rotor is accommodated together with a viscous fluid in an internal accommodating space, and a rotary damper that generates a braking force against the rotation of the rotor is provided,
The inspection apparatus, wherein the shaft body and the rotor are connected via a one-way clutch.   6. The inspection apparatus according to claim 1, wherein a plurality of the positioning means are provided apart from each other in the insertion direction of the cable.   7. The method according to claim 1, comprising a plurality of block-shaped shock absorbers and a belt for connecting the shock absorbers in series, and can be fastened and fixed to the outer peripheral surface of the cable to be inspected. An inspection device comprising a configured collision buffer means.   An inspection method, wherein the inspection device according to any one of claims 1 to 7 is imaged on the outer surface of the cable while moving the inspection device along the cable, and the appearance of the cable is inspected.   9. The cable according to claim 8, wherein the inspection device is moved toward the upper portion of the cable at a speed higher than a predetermined inspection speed and then lowered toward the lower portion of the cable at the predetermined inspection speed. An inspection method characterized by imaging the state of the outer surface.

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