JP2018069880A - Working apparatus and working method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve stable work of a vehicle performing work for a structure and extension of a workable range of the vehicle.SOLUTION: The working apparatus, performing work for a structure 2, includes: a first vehicle 10 (10-1); a second vehicle 20 which is connected to the first vehicle 10 by a first connection member 50, has working means (a measurement device) 210 for performing the work and attraction means with attraction power to a surface of the structure 2 and which can run on the surface of the structure 2 by the attraction means; and anchoring means (a locking mechanism 11) for anchoring a vehicle body 101 of the vehicle 10 on the structure 2.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a working device and a working method.

  In facilities such as nuclear power plants, thermal power plants, chemical plants, steel manufacturing plants, various tanks, bridges and ships, it is required to inspect the maintenance status of the structures of the facilities or to perform repair work as necessary. The However, the site where inspection or repair work is performed is high or narrow, and the plant is in operation and it is dangerous for the worker to approach it. From the viewpoint of safety, the worker may approach the work site. Sometimes it can't be done. In addition, there are some work sites where it is difficult to perform efficient work because the unevenness is severe, there is a steep slope, and the operator is difficult to approach the work site.

  For example, in a disaster site, after a disaster occurs, it is required to quickly perform operations such as searching for a rescuer or confirming damage status. However, for example, immediately after the occurrence of a fire or an earthquake, it is highly likely that it is difficult for an operator to enter the disaster site.

  Therefore, in recent years, a technology related to a moving vehicle that is equipped with various devices, sensors, and drive mechanisms for performing work related to inspection and repair of a structure and operates by remote operation or automatic control has been developed. For example, the following Patent Document 1 discloses a technique related to a magnetic body moving vehicle provided with a plurality of body nodes and wheels incorporating magnets in the traveling direction of the vehicle. According to the technique, it is possible to stably travel on the surface of a magnetic body where a steep inclination or a physical obstacle exists.

JP 2008-12947 A

  Equipment that is the subject of inspection or repair work is mainly equipment that has deteriorated over time, such as several decades after construction. On the surface of such a facility structure, there may be many deposits such as rust or irregularities such as wrinkles. Therefore, when a moving vehicle as shown in Patent Document 1 is used for work related to inspection or repair of a structure, the surface of the structure peels off due to the adsorption force to the surface of the structure, and the movement There is a possibility that the vehicle will fall with the peeled surface. In addition, the adsorbing power of the moving vehicle to the surface of the structure is reduced due to rust or powder derived from the paint painted on the surface of the structure, etc. on the wheels of the moving vehicle, or irregularities such as wrinkles If there are many, sufficient frictional force with respect to the surface of the wheel cannot be obtained, and the moving vehicle easily slides down from the surface of the structure. Further, in this case, there is a possibility that the structure around the structure or the moving vehicle itself may be damaged by the fall. Therefore, for example, on a surface facing the ground of a pipe extending in the horizontal direction, that is, in a region where there is a high possibility of falling, such as a side surface or a back side, it is possible to stably work using a moving vehicle as described above. It was difficult. In addition, there are cases where it is possible to respond by attaching a master rope to prevent falling, but there are problems that it is often difficult to attach the master rope because many are places where it is difficult to approach for safety .

  Accordingly, the present invention has been made in view of the above problems, and an object of the present invention is to enable a vehicle that performs a work related to a structure to work stably, and to be a workable range of the vehicle. It is an object of the present invention to provide a new and improved working device and working method capable of enlarging the operating range.

  In order to solve the above-described problem, according to an aspect of the present invention, there is provided a work device that performs work related to a structure, and is connected by a first vehicle, the first vehicle, and a first connecting member. A second vehicle capable of traveling on the surface of the structure by the suction means, and a vehicle body of the first vehicle. There is provided a working device comprising mooring means for mooring to a structure.

  The mooring means may include a locking mechanism provided on the vehicle body of the first vehicle and mechanically locking the vehicle body of the first vehicle to a part of the structure.

  The mooring means may include a locking mechanism that is provided on the vehicle body of the first vehicle separately from the suction means, and that causes the vehicle body of the first vehicle to be attracted to the structure and locked to the structure.

  Based on the running state of the first vehicle, the suction state with respect to the structure may be controlled by the locking mechanism that causes the vehicle body of the first vehicle to be attracted to the structure and locked to the structure.

  The mooring means has one end connected to a part of the vehicle body of the first vehicle and configured to be able to extend and retract, and a structure engaging unit that is provided at the other end of the arm and can be locked to the structure. And a stop member.

  A traction member may be stretched between the structure locking member and a part of the vehicle body of the first vehicle.

  The height of the first coupling member at the connection position between the vehicle body of the first vehicle and the first coupling member may be equal to or less than the tension height of the traction member in the vehicle body of the first vehicle.

  The first vehicle may further include a first winding mechanism that winds the first connecting member.

  The first winding mechanism may further include an impact absorbing unit that absorbs an impact force applied to the first connecting member.

  The first vehicle may further include a guide mechanism that regulates an extending direction of the first connecting member in a vehicle body of the first vehicle.

  The mooring means has a suction means having a suction force with respect to the surface of the structure, a third vehicle capable of traveling on the surface of the structure by the suction means, a vehicle body of the first vehicle, and the third A second connecting member for connecting the vehicle, a first connection mechanism provided on the vehicle body of the first vehicle, and a second connection mechanism provided on the vehicle body of the third vehicle and engageable with the first connection mechanism. And the second connecting member extends along the circumferential direction of the structure together with the first vehicle and the third vehicle when the first connection mechanism and the three locking mechanism are engaged. Thus, it may be provided so as to form an annular structure.

  The first vehicle may further include a second winding mechanism that winds the second connecting member.

  The structure may be a magnetic body, and the adsorption unit may be a magnetic unit.

  The adsorption means may be an adsorption means based on atmospheric negative pressure adsorption force.

  The work related to the structure may be work related to inspection of the structure and / or repair of the structure.

  In order to solve the above problem, according to another aspect of the present invention, there is provided a work method for performing work related to a structure, including a first vehicle, work means for performing the work, and the structure. A second vehicle having a suction means having a suction force for the surface is connected by a first connecting member, the first vehicle is moored to the structure using a mooring means, and the second vehicle is attached to the structure. There is provided a working method including running on a surface and performing the work by the working means.

  The mooring means includes a third vehicle having an adsorbing means having an adsorbing force to the surface of the structure, a second connecting member for connecting the vehicle body of the first vehicle and the third vehicle, and the first vehicle. A first connection mechanism provided on the vehicle body; and a second connection mechanism provided on the vehicle body of the third vehicle and engageable with the first connection mechanism, wherein the first vehicle is moored to the structure. In this case, the third vehicle travels on the surface of the structure toward the first vehicle so that the second connecting member is annularly stretched along the circumferential direction of the structure, When the third vehicle reaches the first vehicle, the first connection mechanism may be engaged with the second connection mechanism.

  According to the work device or work method described above, in a state where the first vehicle is moored mechanically or adsorbingly to the structure and the second vehicle is connected to the first vehicle by the first connecting member. The second vehicle having an adsorption force with respect to the surface of the structure can be driven on the surface of the structure. With such a configuration, even if the second vehicle falls from the surface of the structure, the first connecting member can prevent the second vehicle from falling.

  Thus, the second vehicle on which the working means is mounted can fall from the structure, and the risk of collision with other structures and interruption of work can be reduced. Therefore, it is possible to stably work on the structure in a wider range.

  As described above, according to the present invention, a vehicle that performs work related to a structure can work stably, and the workable range of the vehicle can be expanded.

It is a figure which shows schematic structure of the working apparatus 1-1 which concerns on the 1st Embodiment of this invention. It is a figure which shows the structural example of the 1st vehicle 10-1 and the latching mechanism 11 which concern on the embodiment. It is a figure showing an example of composition of the 2nd vehicle 20 concerning the embodiment. It is a figure for demonstrating the procedure of an example of the working method using the working device 1-1 which concerns on the embodiment. FIG. 6 is a diagram for describing a state of the work device 1-1 when the second vehicle 20 according to the embodiment falls from the surface of the structure 2. It is a figure for demonstrating the setting method of the extension height of the 1st connection member 50 and the pulling member 113. FIG. It is a figure which shows an example of schematic structure of the working apparatus 1-1A and the working state which concern on the modification of the embodiment. It is a figure which shows schematic structure of the working apparatus 1-2 which concerns on the 2nd Embodiment of this invention. It is a figure showing an example of composition of the 1st vehicles 10-2 concerning the embodiment. It is a figure showing an example of composition of the 3rd vehicle 30 concerning the embodiment. It is a figure for demonstrating the 1st procedure of an example of the working method using the working device 1-2 which concerns on the embodiment. It is a figure for demonstrating the 2nd procedure of an example of the working method using the working device 1-2 which concerns on the embodiment.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

  In the following description, the first vehicle, the second vehicle, and the third vehicle according to an embodiment of the present invention (hereinafter, when these vehicles are collectively described, they may be simply referred to as “vehicles”). ) Is called the X-axis direction, the width direction of the vehicle body is called the Y-axis direction, and the direction perpendicular to the floor surface of the vehicle body is called the Z-axis direction. Also, the direction of travel of the vehicle is “front”, the left and right directions when the vehicle is facing “front”, “left” and “right”, and the direction in which the wheel is in contact with the ground in the direction perpendicular to the floor of the vehicle “Down” and the opposite direction are called “up”. That is, the “front” direction is the positive direction of the X axis, the direction from “right” to “left” of each vehicle is the positive direction of the Y axis, and the “up” direction of each vehicle is the positive direction of the Z axis. is there. Further, the left side and the right side of the vehicle body may be collectively referred to as a side part.

  Further, in the following description, “falling” of a vehicle means a situation in which the vehicle moves away from the surface of the structure or slides down on the surface and falls downward. It shall mean a situation in which the vehicle collided with the ground or another structure.

<< 1. First Embodiment >>
<1.1. Configuration of working device>
First, the configuration of the working device 1-1 according to the first embodiment of the present invention and the working method using the working device 1-1 will be described. FIG. 1 is a diagram showing a schematic configuration of a work apparatus 1-1 according to the first embodiment of the present invention. As shown in FIG. 1, the working device 1-1 according to the present embodiment includes a first vehicle 10-1, a second vehicle 20, and a locking mechanism 11. This locking mechanism 11 is an example of mechanical anchoring means in the present invention. In addition, the first vehicle 10-1 and the second vehicle 20 are connected by a first connecting member 50.

  The first vehicle 10-1 according to the present embodiment is a vehicle that can be mechanically moored to a structure via the locking mechanism 11. Further, the locking mechanism 11 according to the present embodiment is configured by members such as an arm and a hook as shown in FIG. 1, for example, and the first vehicle 10-1 is part of a structure (for example, a monkey lap, a suspension) It is a locking mechanism for locking to a mooring body provided on an outer peripheral surface or an inner peripheral surface of a structure such as a metal fitting, a branch pipe, or a sub pipe.

  Here, the structure in this specification refers to a nuclear power plant, a thermal power plant, a wind power plant, a chemical plant, an iron manufacturing plant, a steel tower, a port facility, a crane, various tanks, bridges, and a pipe constituting a ship. It means structures such as large containers, steel members, hulls, and floats. Especially the structure in this specification points out the steel structure comprised with steel materials. The shape of the structure is, for example, a cylindrical shape such as a pipe and a liquid tank, a spherical shape such as a gas tank, a box shape such as a building, a pillar such as a pillar, or a cone such as a roof. The working device 1 according to an embodiment of the present invention performs work in an area where an operator cannot easily approach, such as a high place of a steel structure or a restricted area such as a lower surface of a steel pipe extending in a horizontal direction. Can be used.

  The second vehicle 20 according to the present embodiment includes a suction unit having a suction force with respect to the surface of the structure, and a work unit for performing work related to the structure. The second vehicle 20 performs a predetermined work using the above working means while traveling on the surface of the structure by the suction means. The predetermined work is, for example, an inspection work on the state of the structure or a repair work on the surface of the structure. Working means used for performing these operations will be described later.

  The specific configurations of the first vehicle 10-1, the locking mechanism 11, and the second vehicle 20 will be described later.

  It is preferable that the 1st connection member 50 which concerns on this embodiment is formed with flexible linear members or strip | belt-shaped members, such as a wire, for example. It is possible to avoid disconnection of the connection between the first vehicle 10-1 and the second vehicle 20 due to a change in the shape of the structure or an obstacle such as a mooring body or shortening of the connection distance. That is, the travelable range of the second vehicle 20 can be expanded as much as possible.

  More specifically, the first connecting member 50 may be a wire, rope, string, chain, belt, link, or the like. In FIG. 1 and other drawings, an example in which the first connecting member 50 is formed of a wire is shown, but the first connecting member 50 is not limited to the illustrated example, but as described above. You may form with another member.

  In addition, the first connecting member 50 has strength and / or toughness capable of supporting an impact load applied to the first connecting member 50 due to the fall of the second vehicle 20 such as rubber, Kepler fiber, or steel wire, for example. It is preferable to form with the material which has. One end of the first connecting member 50 is connected to a first winding mechanism 103 (described later) of the first vehicle 10-1, and the other end is connected to a connecting member 203 (described later) of the second vehicle 20.

  The schematic configuration of the work apparatus 1-1 according to the present embodiment has been described above. Next, a specific configuration example for realizing the first vehicle 10-1 (and the locking mechanism 11) configuring the work device 1-1 according to the present embodiment and the second vehicle 20 will be described.

(Configuration of the body of the first vehicle)
FIG. 2 is a diagram illustrating a configuration example of the first vehicle 10-1 and the locking mechanism 11 according to the present embodiment. The locking mechanism 11 according to the present embodiment is provided on the vehicle body of the first vehicle 10-1. Hereinafter, the structural example which implement | achieves the 1st vehicle 10-1 and the latching mechanism 11 is demonstrated.

  Referring to FIG. 2, the first vehicle 10-1 according to this embodiment includes a plurality of wheels 102, a first winding mechanism 103, a guide mechanism 104, and a locking mechanism support member 105 in a vehicle body 101. Although not shown in FIG. 2, the vehicle body 101 includes, for example, a motor for driving the first vehicle 10-1 and the locking mechanism 11, a battery for supplying electric power to the motor, and an output of the motor. Are suitably provided with a gear box for transmitting the power to the wheels 102, a control device for controlling driving of the first vehicle 10-1 and the locking mechanism 11, and the like. In addition, said motor may be provided separately corresponding to the driveable component with which the 1st vehicle 10-1 and the latching mechanism 11 are equipped, and with respect to the said several component from one motor A driving force may be applied.

  Moreover, the installation position on the vehicle body 101 of a motor, a battery, a gear box, and a control apparatus is not specifically limited, According to the shape etc. of the vehicle body 101, the environment which uses the said working apparatus 1-1, etc., it sets suitably. Further, a casing or the like for covering and protecting the motor, battery, gear box, control device, and the like may be provided in the vehicle body 101.

  Moreover, the adsorption | suction means which has the adsorption | suction power with respect to a structure may be provided in a part of 1st vehicle 10-1. For example, when the structure is a magnetic body, the adsorption unit may be an adsorption unit using magnetic adsorption. More specifically, the suction means may be realized by a wheel having a magnetic force. In this case, since the wheel 102 is in close contact with the surface of the structure, the first vehicle 10-1 can be more firmly adsorbed to the structure as compared with a case where a magnet is provided in the lower part of the vehicle body 101 or the like. Is possible. The attracting means can be realized by a magnet such as a permanent magnet or an electromagnet.

  Further, the adsorption means may be an adsorption means using atmospheric negative pressure adsorption force. More specifically, a suction mechanism may be provided in a part of the first vehicle 10-1, and the first vehicle 10-1 may be attracted to the structure by an atmospheric negative pressure adsorption force by the suction mechanism. Thereby, even if a structure is a nonmagnetic material etc., the 1st vehicle 10-1 can be made to adsorb | suck to a structure.

  Note that the above-described adsorption means is not limited to the adsorption means by magnetic force adsorption and atmospheric negative pressure adsorption. For example, the adsorption means may be an adsorption means by chemical adsorption using a viscous material such as a gel, or an adsorption means by adhesion using a fine structure or material such as the sole of a gecko. May be. However, considering the decrease in the adsorption capacity of the adsorption means due to the rust on the surface of the structure or the abrasion powder or exfoliation of the paint on the wheel 102, etc., the influence of the change in the surface properties of the structure and the wheel 102 It is preferable to use an adsorbing means by magnetic attraction that is not received.

  Further, the structure, shape and material of the vehicle body 101 are not particularly limited. For example, the vehicle body 101 may be configured by a plurality of vehicle body nodes provided along the traveling direction of the vehicle as disclosed in Patent Document 1 above. With this configuration, it is possible to easily travel on the surface of a structure where a steep inclination or a physical obstacle exists.

  Next, each component provided in the vehicle body 101 will be described in detail. The wheel 102 is provided on the side or lower portion of the vehicle body 101 and is driven by a motor to have a function of moving the first vehicle 10-1. Referring to FIG. 2, three pairs (six) of wheels 102 are respectively arranged on the left and right sides of the vehicle body 101 along the front-rear direction of the vehicle body. Note that the number and arrangement positions of the wheels 102 provided in the vehicle body 101 are not limited to the example shown in FIG. For example, of the three wheels 102, one wheel 102 is provided in front of the vehicle body 101, and two wheels 102 are provided in the rear of the vehicle body 101. May be provided. That is, as long as the vehicle body 101 can travel stably on the surface of the structure, the number and arrangement positions of the wheels 102 are not limited.

  As described above, when the working device 1-1 is applied to a structure that is a magnetic body, the wheel 102 may be a wheel having a magnetic force. Thereby, since the wheel 102 is adsorbed by the structure, the first vehicle 10-1 can travel on the surface of the structure. Note that the surface of the structure is not limited to the upper surface of the structure. For example, when the structure is a pipe, the first vehicle 10-1 can travel on the side peripheral surface (wall surface) of the pipe regardless of the extending direction of the pipe. That is, the first vehicle 10-1 can travel endlessly on the surface of the structure.

  The outer peripheral surface of the wheel 102 is preferably covered with a material having a high frictional force such as rubber. Thereby, the friction coefficient with respect to the surface of a structure can be increased, and it can drive | work more stably on the surface of the said structure. Further, a wheel cover provided so as to cover the wheel 102 may be provided on each of the upper portions of the wheel 102. Thereby, it can prevent more reliably that the 1st connection member 50 is caught in the wheel 102. FIG.

  An axle is connected to the center of the wheel 102. The axle is appropriately provided according to the number and arrangement positions of the wheels 102. For example, in the example shown in FIG. 2, three axles may be provided for the three pairs of wheels 102, or one axle may be provided independently for each of the six wheels 102. Good. Further, at least one of these axles may be engaged with a final gear disposed at the final stage of the gear box that transmits the power from the motor described above. That is, any one of the wheels 102 may be provided as a drive wheel. For example, the power from the motor may be transmitted to the axle corresponding to the wheel located at the forefront or the rearmost among the wheels 102 shown in FIG. The vehicle body 101 is provided with a steering mechanism that adjusts the angle of the wheel 102 with respect to the longitudinal direction of the vehicle body 101 in order to control the traveling direction of the first vehicle 10-1.

  The first winding mechanism 103 is provided on the vehicle body 101 and has a function of winding the first connecting member 50. For example, the first winding mechanism 103 may be realized by a winch. Referring to FIG. 2, the first winding mechanism 103 may have a cylindrical drum, for example. The first connecting member 50 is wound around the side surface of the drum, and one end of the first connecting member 50 is fixed to a partial region of the side surface. The first connecting member 50 is taken up by rotating the drum in the winding direction, and the first connecting member 50 is sent out by rotating the drum in the feeding direction. The rotation of the drum can be controlled by a control device, for example. A driving force for rotating the drum is obtained from a motor provided in the vehicle body 101. In addition, when the 1st connection member 50 is sent out from the said drum with driving | running | working of the 2nd vehicle 20, the rotation of the said drum does not need to be braked.

  For example, even if the second vehicle 20 connected to the first vehicle 10-1 via the first connection member 50 falls from the structure, the first connection member 50 is wound up by the first winding mechanism 103. The second vehicle 20 can be lifted. That is, it is possible not only to prevent the second vehicle 20 from falling, but also to return the second vehicle 20 to the structure.

  In addition, the first winding mechanism 103 according to the present embodiment may further include an impact absorbing mechanism that absorbs an impact force applied to the first connecting member 50. The shock absorbing mechanism is an example of a shock absorbing unit. For example, when the second vehicle 20 shown in FIG. 1 falls from a structure, a high impact force is applied to the first vehicle 10-1 when the first connecting member 50 is fully extended. At this time, there is a possibility that the first vehicle 10-1 is pulled by the first connecting member 50 and falls down. Therefore, the impact absorbing mechanism provided in the first winding mechanism 103 absorbs the impact force that can be applied from the first connecting member 50, whereby the impact force applied to the first vehicle 10-1 can be reduced. Thereby, since the rotational moment based on the impact force given to the 1st vehicle 10-1 is suppressed, the fall of the 1st vehicle 10-1 can be prevented.

  The shock absorbing mechanism is realized by a known technique. For example, a brake mechanism may be provided in the first winding mechanism 103 as an impact absorbing mechanism. The brake mechanism may be a mechanical brake such as a disc brake, or may be an electric brake that regenerates electric power in the battery. Moreover, the said brake mechanism may be controlled based on the input with respect to the operating device for operating the working apparatus 1-1 remotely, the magnitude | size of the impact force given to the 1st vehicle 10-1, or The first connecting member 50 may be automatically controlled based on the speed at which the first connecting member 50 is sent out.

  The guide mechanism 104 is provided in the vehicle body 101 and has a function of regulating the extending direction of the first connecting member 50 in the vehicle body 101. For example, the guide mechanism 104 according to the present embodiment has a function of guiding the winding direction and the feeding direction of the first connecting member 50 that is wound around the first winding mechanism 103 or sent out from the first winding mechanism 103. Have. Referring to FIG. 2, the guide mechanism 104 includes, for example, a guide support member 104A, pulleys 104B and pulleys 104C for engaging the first connecting member 50 extending from the first winding mechanism 103, and the horizontal direction of the guide support member 104A. It is comprised by the adjustment member 104D which adjusts direction. The pulley 104 </ b> B and the adjustment member 104 </ b> D are disposed on a gantry provided on the upper part of the first winding mechanism 103. One end of the guide support member 104A is connected to the adjustment member 104D. A pulley 104C is provided at the other end of the guide support member 104A. The adjustment member 104D adjusts the direction of the guide support member 104A by rotating the guide support member 104A.

  For example, the guide mechanism 104 appropriately adjusts the direction of the guide support member 104A according to the position of the second vehicle 20 or the traveling state. For example, it is assumed that the work device 1 is disposed on the side peripheral surface of the steel pipe, and the second vehicle 20 exists at a position away from the first vehicle 10-1 along the circumferential direction of the steel pipe. In this case, the 1st connection member 50 is stretched between the 1st vehicle 10-1 and the 2nd vehicle 20 so that the vicinity of the side peripheral surface of a steel pipe may be covered. Then, the first connecting member 50 can easily be caught in the wheel 102. Therefore, the guide mechanism 104 regulates the direction of the guide support member 104A, so that the extending direction of the first connecting member 50 in the vehicle body 101 is restricted to the direction away from the wheel 102 or the like. Entrainment into the wheel 102 can be prevented. For example, the guide mechanism 104 may adjust the orientation of the guide support member 104A so that the first connecting member 50 extending from the pulley 104C in the direction of the second vehicle 20 is separated from the wheel 102.

(Configuration of mooring means)
As shown in FIG. 2, the first vehicle 10-1 according to this embodiment includes a hook 111, an arm 112, a traction member 113, an arm support portion 114, and a traction member winding mechanism 115 as the locking mechanism 11. .

  The arm support portion 114 is disposed on a gantry provided on the upper portion of the vehicle body 101 and is connected to one end of the arm 112. That is, one end of the arm 112 is connected to a part of the vehicle body 101. The hook 111 is an example of a structure locking member, and is a member for locking the vehicle body 101 to a mooring body provided on the surface of the structure, such as a monkey lap, provided at the other end of the arm 112.

  The hook 111 shown in FIG. 2 is merely an example of a structure locking member. That is, as long as it is a member capable of mechanically mooring the first vehicle 10-1 to the structure, a well-known member can be locked to a part of the structure (a mooring body). As appropriate. Here, “mechanically moored” means a state in which a connection target (corresponding to the first vehicle 10-1) is fixed by being hooked (or fitted) to a connection tool (corresponding to a mooring body). . In this case, some movement is unavoidable between the connection target and the connection tool (that is, a contact is generated when a force is applied in the direction of separating the connection target and the connection tool). Included in the meaning.

  As for the structure of the hook 111, for example, as shown in FIG. Thereby, it becomes easy to remove the hook 111 locked to one mooring body, and the movement of the hook 111 from the one mooring body to another mooring body is facilitated. Accordingly, since the mobility of the first vehicle 10-1 is improved, the mobility of the second vehicle 20 is also improved. Therefore, the work efficiency by the second vehicle 20 is improved.

  The arm 112 is a member that is connected to the arm support portion 114 at one end and is configured to be rotatable and extendable. In addition, if the arm support part 114 can rotate about the Z-axis direction as a rotation axis, the arm 112 can turn and extend / contract in any direction. As shown in FIG. 2, the arm 112 includes, for example, at least one rod-shaped arm member and a joint mechanism that connects the arm member, the arm support portion 114, and the hook 111. The joint mechanism may include an actuator for turning the arm member. Thereby, the expansion and contraction of the arm 112 is realized. Note that the arm member and the joint mechanism described above may be formed of known materials and members. For example, the number of arm members and joint mechanisms provided in the arm 112 is not particularly limited.

  Since the hook 111 is provided at the tip of the arm 112, the first vehicle 10-1 can be moored to a mooring body that is located slightly away from the first vehicle 10-1. If it does so, since the 1st vehicle 10-1 can move the area | region defined by the length of the arm 112 centering on a mooring body, the movement range of the 2nd vehicle 20 further expands. Thereby, the efficiency of work by the second vehicle 20 is improved.

  Further, the traction member 113 may be stretched between the hook 111 and the arm support portion 114 (that is, a part of the vehicle body 101). In this case, one end of the traction member 113 is connected to the hook 111, and the other end of the traction member 113 is connected to a traction member winding mechanism 115 that winds the traction member. The pulling member 113 may be a flexible linear or belt-like member that can be wound by the pulling member winding mechanism 115, and its structure and type are not limited. For example, the traction member 113 may be a wire, a rope, a string, a chain, a belt, a link, or the like.

  The pulling member 113 is preferably formed of a material having a strength capable of supporting a tensile load due to the vehicle weight of the vehicle body 101. For example, the pulling member 113 may be formed of Kepler fiber, steel wire, or the like. Thereby, for example, when the second vehicle falls from the structure, the tension based on the impact force transmitted through the first connecting member 50 and the vehicle body 101 and the own weight of the second vehicle is not the arm 112 but the traction member. It is transmitted to the hook 111 via 113. By causing the pulling member 113 to bear this impact force and tension, the strength required for the arm 112 can be kept low. That is, the weight of the arm 112 can be suppressed. Therefore, the arm 112 can be formed more compactly, and the cost for the members and mechanisms constituting the arm 112 can be suppressed.

  The locking mechanism 11 includes the hook 111, the arm 112, the pulling member 113, the arm support portion 114, and the pulling member winding mechanism 115, but the locking mechanism 11 is not limited to such a configuration. That is, the structure is not particularly limited as long as the vehicle body 101 can be locked to a part of the structure (an anchoring body). For example, the locking mechanism 11 may be configured by only the hook 111. In this case, the hook 111 may be provided at an arbitrary position of the vehicle body 101 (for example, the outer peripheral portion of the vehicle body 101).

  The configuration example of the first vehicle 10-1 has been described above. Note that the control device provided in the vehicle body 101 can control driving of each component of the first vehicle 10-1 and the locking mechanism 11. For example, driving and steering of the wheels 102, winding and sending out of the first connecting member 50 by the first winding mechanism 103, and adjustment of the direction of the guide mechanism 104 can be appropriately controlled by the control device. The opening and closing of the hook 111, the expansion and contraction of the arm 112, the rotation of the arm support 114, and the winding of the traction member 113 by the traction member winding mechanism 115 can be appropriately controlled by a control device.

(Configuration of second vehicle)
FIG. 3 is a diagram illustrating a configuration example of the second vehicle 20 according to the present embodiment. Referring to FIG. 3, the second vehicle 20 according to the present embodiment includes a vehicle body 201 including a plurality of wheels 202, a connection member 203, and a measuring device 210. Further, a part of the second vehicle 20 is provided with a suction unit having a suction force for the structure. The suction means may be provided on the vehicle body 201 or on the wheel 202. For example, as described above, when the structure is a magnetic body, the adsorption unit may be an adsorption unit based on magnetic adsorption.

  Although not shown in FIG. 3, the vehicle body 201 includes, for example, a motor for driving the second vehicle 20, a battery that supplies power to the motor, and a gear that transmits the output of the motor to the wheels 202. A box and a control device for controlling the driving of the second vehicle 20 and the like are appropriately provided. Moreover, the installation position on the vehicle body 201 of a motor, a battery, a gear box, and a control apparatus is not specifically limited, According to the shape of the vehicle body 201, the environment which uses the said working apparatus 1-1, etc., it sets suitably. Further, a casing or the like for covering and protecting the motor, battery, gear box, control device, and the like may be provided on the vehicle body 201.

  In addition, since the main structures and functions related to the vehicle body 201 and the wheels 202 are the same as those of the vehicle body 101 and the wheels 102, description thereof is omitted here.

  The connection member 203 is a member that is provided on the vehicle body 201 and connects one end of the first connection member 50. Referring to FIG. 3, the first connecting member 50 can be connected to the second vehicle 20 at the distal end portion 203 a of the connecting member 203. The structure, shape, and material of the connecting member 203 are not limited to the example shown in FIG.

  A measuring device 210, which is an example of a working means, is a device that is provided on the vehicle body 201 and is used for inspecting a structure. The measuring device 210 may be, for example, at least one of a camera, an ultrasonic thickness meter, and a gas detector. The camera is used to visually check the state of the structure. The ultrasonic thickness gauge emits ultrasonic waves with the ultrasonic probe pressed against the surface of the structure, detects the reflected ultrasonic waves, and has a function of measuring the thickness of the structure based on the detection result. . Further, the gas detector has a function of detecting a gas (for example, a toxic gas such as carbon monoxide) leaking from the structure by the detection probe and specifying the type and concentration of the detected gas. In addition, the measuring device 210 is not limited to the above-described types of measuring devices and the like, and a measuring device is appropriately selected according to the inspection contents.

  In addition, the measuring device 210 may include known measuring devices such as a thermometer, a hygrometer, and a barometer.

  In addition, the arrangement position of the measuring device 210 in the vehicle body 201 is not limited to the example illustrated in FIG. 3, and is appropriately set according to the function and the like of the measuring device 210. For example, the ultrasonic thickness gauge and the gas detector may be provided on the vehicle body 201 such that the probe is positioned outside the vehicle body 201. As described above, the measurement device 210 is provided in the second vehicle 20 that can run while adsorbing the surface of the structure, so that the measurement device 210 can be positioned on or near the surface of the structure to perform the measurement. it can. This makes it easy to find small defects such as holes or wrinkles present on the surface of the structure.

  Note that the working means according to the present embodiment is not limited to the measurement apparatus 210 described above. For example, the working means may be a repair device. The repair device may be a device that repairs defects such as holes or wrinkles generated on the surface of the structure, for example. The working means may be a device having both an inspection function and a measurement function.

  The configuration example of the second vehicle 20 has been described above. Although not shown in FIG. 3, the vehicle body 201 of the second vehicle 20 may be further provided with a locking mechanism such as a hook. For example, when the second vehicle 20 moves on the surface of the structure, the locking mechanism can be used to appropriately anchor the vehicle body 201 to a mooring body such as a monkey trap provided in the structure. More specifically, both the first vehicle 10-1 and the second vehicle 20 are required to be close to the mooring body before the first vehicle 10-1 is moored to the target mooring body. In that case, when the 1st vehicle 10-1 moves, the state where the 1st vehicle 10-1 is not moored by the other mooring body may arise. If the second vehicle 20 is moored to another mooring body when the first vehicle 10-1 travels for movement, even if the first vehicle 10-1 is dropped from the structure during the travel of the first vehicle 10-1, The first vehicle 10-1 on which the vehicle 20 falls can be supported on the structure. That is, when both the first vehicle 10-1 and the second vehicle 20 are close to the target mooring body, one vehicle is securely moored by repeating the other mooring body and the other mooring body. It can be brought close to the target mooring body.

  Further, the control device provided in the vehicle body 201 can control driving of each component of the second vehicle 20. For example, the driving and steering of the wheel 202 and the measurement by the measuring device 210 can be appropriately controlled by the control device.

<1.2. Working method and state when dropped>
Next, a working method using the working device 1-1 according to the present embodiment will be described with reference to FIG. FIG. 4 is a diagram for explaining a procedure of an example of a working method using the working device 1-1 according to the present embodiment.

  First, as a preparation stage, the 1st vehicle 10-1 and the 2nd vehicle 20 are made to reach the surface of the structure 2 which is an object area | region of inspection or repair. At this time, the first vehicle 10-1 and the second vehicle 20 may travel from the ground to the target area. In particular, when the target area is an area that is not easily approached by an operator, such as a high place or a restricted area, it is preferable that the first vehicle 10-1 and the second vehicle 20 travel to the target area.

  After the first vehicle 10-1 and the second vehicle 20 reach the surface of the structure 2 that is the target region, first, the first vehicle 10-1 is attached to a part of the structure 2 (the mooring using the locking mechanism 11). Moored to the body). In the example shown in FIG. 4, the first vehicle 10-1 is moored to the monkey trap 3 by engaging the hook 111 and the monkey trap 3.

  A mooring method for the first vehicle 10-1 using the locking mechanism 11 will be described. First, after the first vehicle 10-1 is brought close to the monkey lap 3, the arm 112 is expanded and contracted and rotated, the hook 111 is brought close to the monkey lap 3, and the hook 111 is engaged with the monkey lap 3. After the engagement, it is preferable to apply tension to the traction member 113 that is stretched between the hook 111 and the vehicle body 101 by the traction member winding mechanism 115. This is because the tension caused by the tension between the hook 111 and the vehicle body 101 is not generated in the arm 112 or the tension is kept low.

  In the example shown in FIG. 4, the hook 111 is engaged with the monkey trap 3, but the hook 111 may also be engaged with the hanging bracket 4. If it is possible to engage the hook 111, the first vehicle 10-1 can be moored to an arbitrary mooring body provided on the surface of the structure 2.

  Next, after the mooring of the first vehicle 10-1 to the monkey trap 3 is completed, the second vehicle 20 is caused to travel on the surface of the structure 2 to perform work such as inspection or repair. The second vehicle 20 can travel within the range corresponding to the length of the first connecting member 50 delivered from the first vehicle 10-1 on the surface of the structure 2.

  The range in which the second vehicle 20 can travel can be further expanded by changing the mooring position of the first vehicle 10-1. Specifically, the engagement with the mooring body (for example, the monkey lap 3 shown in FIG. 4) engaged with the hook 111 is released, the hook 111 is brought closer to the other mooring body, and the hook 111 is moved to the other mooring body. Engage with body. Thereby, since the mooring position of the 1st vehicle 10-1 can be changed, the travel range of the 2nd vehicle 20 can be extended.

  Next, the state when the second vehicle 20 is dropped will be described with reference to FIG. FIG. 5 is a diagram for explaining a state of the working device 1-1 when the second vehicle 20 falls from the surface of the structure 2.

  As shown in FIG. 5, it is assumed that the second vehicle 20 slides down from the surface of the structure 2. At this time, the second vehicle 20 is connected to the first vehicle 10-1 by the first connecting member 50, and the first vehicle 10-1 is mechanically moored to the monkey trap 3 via the hook 111 or the like. ing. Therefore, even if the second vehicle 20 falls, the second vehicle 20 is pulled and supported by the first connecting member 50 connected to the first vehicle 10-1 mechanically moored to the structure 2. Thereby, it is possible to prevent the second vehicle 20 from falling from the structure 2 to the ground or the like.

  Further, when the second vehicle 20 slides down, the first connecting member 50 may be appropriately extended by an impact absorbing mechanism provided in the first winding mechanism 103. Thereby, since the falling speed of the 2nd vehicle 20 reduces gradually, the impact force given to the 1st connection member 50 by a fall reduces. Then, since the impact force applied to the first vehicle 10-1 via the first connecting member 50 is also reduced, it is possible to reduce the overturning moment (rotational moment) applied to the first vehicle 10-1 by the impact force. it can. That is, the first vehicle 10-1 can be prevented from falling.

  Further, the hook 111 is provided at the tip of the arm 112, but a traction member 113 is stretched between the hook 111 and the vehicle body 101. Therefore, an impact force generated between the hook 111 and the vehicle body 101 when the second vehicle 20 slides down and a tension based on the weight of the second vehicle 20 are generated in the stretched traction member 113. That is, by applying such impact force and tension to the pulling member 113, the strength or weight of the arm 112 can be suppressed as much as possible. Therefore, the arm 112 can be made compact, light, and low in cost.

  Furthermore, when the second vehicle 20 falls and is suspended on the first connecting member 50, the first winding mechanism 103 may wind up the first connecting member 50. Thereby, the dropped second vehicle 20 can be pulled up to the surface of the structure 2. Therefore, the second vehicle 20 can be again adsorbed to the surface of the structure and returned, and work related to inspection or repair can be resumed.

<1.3. Summary>
So far, the working apparatus 1-1 according to the first embodiment of the present invention has been described. According to the working device 1-1, the first vehicle 10-1 is connected to the first vehicle 10-1 via the first connecting member 50 while the first vehicle 10-1 is moored to a part of the structure (an anchoring body). The second vehicle 20 having a suction force for an object can be run on the surface of the structure, and work such as inspection or repair can be performed on the structure. Thereby, for example, even if the second vehicle 20 falls from the structure when the second vehicle 20 travels on the surface of the structure where a lot of rust or flaws exist on the surface, the second vehicle 20 will not fall. Can be prevented. Therefore, it becomes possible to reduce the risk that the second vehicle 20 is damaged due to the crash.

  More specifically, the surface of an aged steel structure is often covered with rust. Therefore, when the vehicle travels on the surface, the rust layer on the surface is peeled off by the adsorption force by the adsorption mechanism, and it is highly possible that both the vehicle and the rust layer fall. Moreover, the friction force with respect to the steel structure of the wheel of a vehicle reduces by the rust powder which exists on the surface of a steel structure, and possibility that a vehicle will slide down from a structure is high. Therefore, according to the working device 1-1 according to the present embodiment, even if the vehicle falls, it is possible to reduce a risk related to damage to the vehicle. Specifically, since the first vehicle 10-1 and the second vehicle 20 are engaged by the first connecting member 50 and the first winding mechanism 103, even if the second vehicle 20 falls once, the first vehicle 10-1 and the second vehicle 20 are engaged. The connecting member 50 can be wound up by the first winding mechanism 103. Thereby, work can be continued by returning the 2nd vehicle 20 to the position before the said structure 2 fall, and making the 2nd vehicle 20 adsorb | suck to the structure 2 again. Therefore, the area | region which can perform the operation | work with respect to the steel structure by a vehicle reliably can be expanded. For example, in a region where it is difficult for an operator or the like to approach easily, such as a surface on the side facing the ground of a pipe extending in the horizontal direction, and the work apparatus is likely to fall, Work on the structure can be performed more reliably. In addition, since it is not necessary for an operator to approach an area related to a high place of a structure or an area where entry is prohibited, safety related to work can be more reliably improved.

  As a result, for example, in a region related to a high place of a structure or an area where entry is prohibited, the surface of the structure cannot be easily found by an operator by running the vehicle while adsorbing to the surface of the structure. It is possible to find a small defect that exists or repair the defect.

  For example, it is possible to bring a flying object close to such a region, for example, by a remote operation such as a drone or automatic piloting, but it is difficult to completely contact the flying object with the surface of the structure. Therefore, it is not easy to find defects present on the surface of the structure. On the other hand, the working device 1-1 according to the present embodiment can cause the second vehicle 20 to travel to such an area with low risk. Therefore, it is possible to more easily find a defect in a structure that is difficult to find with the above flying object.

  In addition, work such as inspection and repair of the structure can be performed remotely using the work device 1-1 according to the present embodiment. Therefore, it is not necessary for the worker to enter or approach the work area of the structure, and it is possible to work on the structure in operation. Therefore, since it is not necessary to stop the operation for inspection or repair, it is possible to suppress a decrease in productivity due to the operation stop. Further, there is no need to provide a scaffold for the operator to perform work such as inspection and repair of the structure. Therefore, it is possible to reduce costs related to the workers and the scaffolds associated with the above work.

  Further, by using the working device 1-1 according to the present embodiment, data related to the structure in operation (for example, the temperature of the interior or surface of the structure, gas leakage, vibration of the structure, etc.) is also acquired. It is also possible to do. This makes it possible to determine the life of a structure that has deteriorated over time with higher accuracy.

<1.4. Supplement>
(Control device)
Each vehicle may further include various sensors for checking the situation, and the control device may control the driving thereof. Here, the various sensors may include a video acquisition device such as a camera, for example, and may include various known sensors such as an acceleration sensor, an angular velocity sensor, and a GPS sensor. Further, when the vehicle is an unmanned vehicle that operates by automatic control, the control device uses these various sensors to provide information on the position and shape of structures around the vehicle, and information on the current position of the vehicle. Etc. may be acquired. Furthermore, the control device can determine, for example, a movement route based on these pieces of information acquired by various sensors.

  When each vehicle is an unmanned vehicle that operates by remote operation, the control device may further include a communication unit that can communicate with a communication device provided outside. The operator can remotely control each vehicle via the communication device. Here, the control device, for example, obtains information related to the position and shape of structures around the own vehicle, information related to the current position of the own vehicle, etc. acquired by the above-described camera or various sensors. It may be transmitted to an external communication device via. By referring to these pieces of information, the operator can remotely control each vehicle while grasping the situation at the work site.

  Furthermore, the control device may include a storage unit for storing various data, for example. The storage unit may store, for example, information on the position and shape of structures around the host vehicle, information on the current position of the host vehicle, and the like acquired by the various sensors described above. Further, the storage unit may store, for example, a computer program for realizing the function of the control device as described above. The control device can perform various controls based on the computer program. Here, the computer program may be distributed via the communication unit without being stored in the storage unit.

(Tensioning height of the first connecting member and the traction member)
Moreover, the height of the 1st connection member 50 in the connection position of the vehicle body of the 1st vehicle 10-1 and the 1st connection member 50 is below the extension height of the traction member 113 in the vehicle body 101 of the 1st vehicle 10-1. It is preferable that Thereby, it is possible to prevent the first vehicle 10-1 from overturning and to prevent the first vehicle 10-1 from being in a state where the drive of the first vehicle 10-1 cannot be controlled due to the overturn of the first vehicle 10-1. Hereinafter, the setting of the extension height of the first connecting member 50 and the pulling member 113 will be described with reference to FIG.

FIG. 6 is a diagram for explaining a method for setting the tension height of the first connecting member 50 and the pulling member 113. Referring to FIG. 6, first, the connection position between the vehicle body of the first vehicle 10-1 and the first connecting member 50 means a contact point Con1 with the first connecting member 50 in the pulley 104C. In addition, the connection position may be the contact Con2 or the contact Con3 with the first coupling member 50 in the first winding mechanism 103 or the pulley 104B. The height of the connection position is a distance H _a from the surface in contact with the wheel 102 to the connection position.

Further, the tensioning height of the pulling member 113 in the vehicle body 101 means the height at the contact point Ten1 with the pulling member 113 in the pulling member winding mechanism 115. That is, the Zhang設高is is the height _{H b} from the surface in contact with the wheel 102 to contact TEn1.

In the first vehicle 10-1, such that the height H _a of the connection position is less than the Zhang設高of H _b, the first connecting member 50 and the pulling member 113 is stretched according to this embodiment It is preferred that For example, as shown in FIG. 6, the height of the contact point Con <b> 1 with the first connecting member 50 in the pulley 104 </ b> C of the guide mechanism 104 is equal to or less than the height of the contact point Ten <b> 1 with the traction member 113 in the traction member winding mechanism 115. As described above, the guide mechanism 104 and the pulling member winding mechanism 115 are preferably provided. In addition to the guide mechanism 104, the height at the contact point Con <b> 2 with the first connecting member 50 in the first winding mechanism 103 is equal to or less than the height at the contact point Ten <b> 1 with the pulling member 113 in the pulling member winding mechanism 115. As described above, the first winding mechanism 103 is preferably provided in the vehicle body 101.

  For example, it is assumed that an impact force is applied to the first connecting member 50 in the Y-axis direction in FIG. 6 when falling from the structure of the second vehicle 20. In this case, the vehicle body 101 is given a moment to the left as viewed from the vehicle body centered on the wheel 102b. At this time, a force in the pulling direction is also applied to the pulling member 113, and a moment opposite to the above moment (a moment to the right when viewed from the vehicle body) is applied around the wheel 102b. However, when the height of the connection position with the first connecting member 50 is higher than the tensioning height of the traction member 113, the moment to the right when viewed from the vehicle body is larger than the moment to the left when viewed from the vehicle body. As a result, the vehicle body may fall to the right.

  Therefore, as described above, the configuration in which the height of the connection position with the first connecting member 50 is equal to or less than the extension height of the traction member 113 can reduce the rightward moment, Can be reduced to the right.

<1.5. Modification>
Next, the configuration of the working device 1-1A according to a modification of the present embodiment will be described. FIG. 7 is a diagram illustrating an example of a schematic configuration and a working state of a working device 1-1A according to a modification of the present embodiment. As illustrated in FIG. 7, the working device 1-1A according to this modification includes a first vehicle 10-1A, a second vehicle 20, and a locking mechanism 11A. This locking mechanism 11A is an example of the adsorptive mooring means in the present invention. In addition, the first vehicle 10-1 </ b> A and the second vehicle 20 are connected by a first connecting member 50.

  The first vehicle 10-1A includes an adsorption mechanism 116 instead of the hook 111 as the locking mechanism 11A. The suction mechanism 116 is an example of a structure locking member. In this modification, the suction mechanism 116 is provided at the tip of the arm 112 and sucks the surface of the structure 2 or the like, thereby causing the first vehicle 10-1A to be in the structure 2. It is a member for making it latch to. The configurations of the first vehicle 10-1A and the locking mechanism 11A other than the suction mechanism 116 are the same as those of the first vehicle 10-1 and the locking mechanism 11 according to the present embodiment.

  The suction means for realizing the suction to the structure by the suction mechanism 116 is a load applied to the first vehicle 10-1A via the first connecting member 50 when the second vehicle 20 slides down from the structure 2. It is preferable to have at least an adsorption force that can withstand

  These adsorption means may be, for example, adsorption means by magnetic adsorption when the structure is a magnetic body. More specifically, the attracting means may be realized using a magnet such as a permanent magnet or an electromagnet. Alternatively, the adsorption unit may be an adsorption unit that uses an atmospheric negative pressure adsorption force. In addition, the adsorption means may be an adsorption means by chemical adsorption using a viscous material such as a gel, or an adsorption means by adhesion using a fine structure or material such as the sole of a gecko. Also good.

  In addition to the adsorption means for adsorbing to the structure 2 when the first vehicle 10-1A travels, by providing the adsorption means for mooring the first vehicle 10-1A to the structure 2, Even if the mooring body does not exist on the surface of the structure 2, the first vehicle 10-1 </ b> A can be reliably locked by the structure 2.

  In addition, it is preferable that the adsorption state with respect to the structure 2 by the adsorption | suction mechanism 116 mentioned above is controlled based on the driving | running | working state of the 1st vehicle 10-1A. For example, when the first vehicle 10-1A stops traveling, the adsorption mechanism 116 adsorbs to the structure 2, and when the first vehicle 10-1A travels, the adsorption mechanism 116 has a structure. The adsorption on the object 2 may be interrupted. Even when the first vehicle 10-1A is traveling, depending on the traveling speed, traveling direction of the first vehicle 10-1A, the state of the arm 112 or the pulling member 113 of the locking mechanism 11A, etc. The adsorption state may be switched as appropriate. In addition to simply switching on and off the suction state, the strength of the suction force by the suction mechanism 116 may be controlled based on the traveling state of the first vehicle 10-1A.

  By controlling the suction state of the suction mechanism 116 with respect to the structure 2 based on the traveling state of the first vehicle 10-1A, the locking state with respect to the structure 2 when the first vehicle 10-1A is traveling and when it is stopped can be prevented. It is easy to switch the locked state. Therefore, the mobility of the first vehicle 10-1A can be improved.

  The switching of the adsorption state can be controlled by the control device (not shown) described above. For example, control for switching the suction state of the suction mechanism 116 may be performed based on a signal acquired from a sensor that detects the traveling state of the first vehicle 10-1A. In this case, the suction mechanism 116 is preferably a mechanism that can easily switch the suction state in accordance with control by the control device. For example, the suction mechanism 116 is preferably a device that can switch the suction state by a control device, such as a device using an electromagnet or a suction device.

  The configuration of the working device 1-1A according to this modification has been described above. Note that the locking mechanism 11 according to the above embodiment and the locking mechanism 11A according to this modification may be used in combination. For example, the hook 111 and the suction mechanism 116 described above may be provided on each of the plurality of arms. By using such a locking mechanism in combination, it is possible to reliably withstand the load caused by the fall of the second vehicle 20.

<< 2. Second Embodiment >>
<2.1. Configuration of working device>
Next, the structure of the working device 1-2 according to the second embodiment of the present invention and the working method using the working device 1-2 will be described. FIG. 8 is a diagram showing a schematic configuration of a work apparatus 1-2 according to the second embodiment of the present invention. As illustrated in FIG. 8, the working device 1-2 according to the present embodiment includes a first vehicle 10-2, a second vehicle 20, and a third vehicle 30. The first vehicle 10-2 and the second vehicle 20 are connected by a first connecting member 50. In addition, the first vehicle 10-2 and the third vehicle 30 are connected by the second connecting member 60. Further, the first vehicle 10-2 according to the present embodiment has the first connection mechanism 12, and the third vehicle 30 has the second connection mechanism 31. The 3rd vehicle 30, the 1st connection mechanism 12, the 2nd connection mechanism 31, and the 2nd connection member 60 are examples of the mooring means in the present invention.

  In addition, since the structure of the 2nd vehicle 20 and the 1st connection member 50 is the same as the structure of the 2nd vehicle 20 and the 1st connection member 50 which concern on the 1st Embodiment of this invention, description is abbreviate | omitted. Moreover, since the structure, shape, and characteristics of the second connecting member 60 are the same as those of the first connecting member 50, the description thereof is omitted. The function of the second connecting member 60 will be described later.

(Configuration of the first vehicle)
FIG. 9 is a diagram illustrating a configuration example of the first vehicle 10-2 according to the present embodiment. Referring to FIG. 9, a first vehicle 10-2 according to the present embodiment includes a vehicle body 101, a plurality of wheels 102, a first winding mechanism 103, a guide mechanism 104 (guide support member 104A, pulleys 104B and 104C, adjustments). Member 104D), the 1st connection mechanism 12, and the 2nd winding mechanism 13 are provided. The structures and functions of the vehicle body 101, the wheels 102, the first winding mechanism 103, and the guide mechanism 104 according to the present embodiment are the same as those of the components according to the first embodiment of the present invention, and therefore the description will be made. Omitted.

  The first connection mechanism 12 according to this embodiment includes a support member 121 provided on the vehicle body 101 and a locking body 122 provided at one end of the support member 121. The locking body 122 is a member that can be engaged with a hook 311 that constitutes a part of the second connection mechanism 31 of the third vehicle 30 to be described later. When the locking body 122 and the hook 311 are engaged, The first vehicle 10-2 and the third vehicle 30 are directly connected, and the first vehicle 10-2 is locked on the surface of the structure. In the example shown in FIG. 9, the locking body 122 is formed of a pin-like structure horizontal in the Z-axis direction, but the structure and shape of the locking body 122 are not limited to such an example. As long as the hook 311 can be engaged, the locking body 122 can be realized by any structure and shape. The support member 121 may support the guide mechanism 104 as shown in FIG.

  The second winding mechanism 13 is provided on the vehicle body 101 and has a function of winding the second connecting member 60. For example, the second winding mechanism 13 may be realized by a winch or the like. As shown in FIG. 9, the second winding mechanism 13 may be provided on the support member 121. A driving force for winding and sending out the second connecting member 60 by the second winding mechanism 13 is obtained from a motor provided in the vehicle body 101. Further, the winding and feeding of the second connecting member 60 by the second winding mechanism 13 can be controlled by the control device.

  In addition, it is preferable that the feeding direction of the second connecting member 60 from the second winding mechanism 13 is opposite to the direction of the installation position of the locking body 122 in the vehicle body 101 as viewed from the vehicle body 101. For example, in the example shown in FIG. 9, when the locking body 122 is installed on the right side when viewed from the vehicle body 101, the second winding is performed so that the feeding direction of the second connecting member 60 is left when viewed from the vehicle body 101. The take-off mechanism 13 is preferably provided on the vehicle body 101. Although this will be described in detail later, as shown in FIG. 8, in a state where the first connection mechanism 12 and the second connection mechanism 31 are engaged, the second connecting member 60 is along the circumferential direction of the structure 2. This is for connecting the first vehicle 10-2 and the third vehicle 30 in a ring shape.

  Note that the second winding mechanism 13 according to this embodiment is not necessarily provided in the vehicle body 101. However, by using the second winding mechanism 13, the length of the second connecting member 60 can be adjusted. This makes it possible to adjust the degree of tension of the second connecting member 60 and to prevent the second connecting member 60 from being entangled with the vehicle wheel or the like on the surface of the structure 2. .

(Configuration of third vehicle)
FIG. 10 is a diagram illustrating a configuration example of the third vehicle 30 according to the present embodiment. Referring to FIG. 10, the third vehicle 30 includes a vehicle body 301 including wheels 302, a connection member 303, and a second connection mechanism 31. In addition, since the structure and function of the vehicle body 301, the wheel 302, and the connection member 303 which concern on this embodiment are the same as that of the vehicle body 101, the wheel 102, and the connection member 203 which were mentioned above, description is abbreviate | omitted. In the example shown in FIG. 10, one end of the second connecting member 60 that connects the first vehicle 10-2 is connected to a part 303 a of the connecting member 303.

  The vehicle body 301 includes, for example, a motor for driving the third vehicle 30, a battery that supplies power to the motor, a gear box that transmits the output of the motor to the wheels 302, and driving of the third vehicle 30. A control device or the like for controlling the above is appropriately provided. Moreover, the installation position on the vehicle body 301 of a motor, a battery, a gear box, and a control apparatus is not specifically limited, According to the shape etc. of the vehicle body 301 or the environment where the said working apparatus 1-2 is used, it sets suitably. Further, a casing or the like for covering and protecting the motor, battery, gear box, control device, and the like may be provided in the vehicle body 301.

  The second connection mechanism 31 according to the present embodiment includes a hook 311, an arm 312, a pulling member 313, and an arm support portion 314. Although not shown in FIG. 10, a winding mechanism capable of winding the pulling member 313 may be further provided in the vehicle body 301.

  As shown in FIG. 10, the arm support portion 314 is provided on the vehicle body 301 and is connected to one end of the arm 312. A hook 311 is provided at the other end of the arm 312. The hook 311 is a member that can be engaged with the locking body 122 described above. The pulling member 313 is stretched between the hook 311 and a part of the vehicle body 301 (part 303b of the connection member 303 in FIG. 10).

  In addition, it is preferable that each component which comprises the 2nd connection mechanism 31 has a function similar to the function of each component which comprises the latching mechanism 11 which concerns on the 1st Embodiment of this invention. That is, the hook 311, the arm 312, the traction member 313, the arm support portion 314, and the traction member take-up mechanism are the hook 111, arm 112, traction member 113, arm support portion 114, and traction member according to the first embodiment. The winding mechanism 115 may have the same configuration and function. Thereby, the effect similar to the effect shown in description of said 1st Embodiment is acquired.

  The configuration example of the third vehicle 30 has been described above. Note that the control device provided in the vehicle body 301 can control driving of each component of the third vehicle 30 and the second connection mechanism 31. For example, the driving and steering of the wheels 302 can be appropriately controlled by the control device. The opening / closing of the hook 311, the expansion / contraction of the arm 312, the rotation of the arm support 314, and the winding of the traction member 313 by the traction member winding mechanism can be appropriately controlled by the control device.

  Note that the configurations of the first connection mechanism 12 and the second connection mechanism 31 shown in FIGS. 9 and 10 may be interchanged. That is, the first connection mechanism 12 may be constituted by a hook 311 and an arm 312 as shown in FIG. 10, and the second connection mechanism 31 is constituted by a support member 121 and a locking body 122 as shown in FIG. May be. In addition, as long as the first connection mechanism 12 and the second connection mechanism 31 have structures and shapes that can be engaged with each other, a known locking mechanism can be applied.

(Connection structure of the first vehicle and the third vehicle)
With this configuration, the work device 1-2 according to the present embodiment can realize the configuration illustrated in FIG. That is, referring to FIG. 8, the first vehicle 10-2 and the third vehicle 30 are connected on the surface of the structure 2 by mechanically engaging the first connection mechanism 12 and the second connection mechanism 31. Sometimes, the second connecting member 60 forms an annular structure along with the first vehicle 10-2 and the third vehicle 30 along the circumferential direction of the structure 2. Thereby, even if there is no mooring body for mooring the first vehicle 10-2 on the surface of the structure 2, the first vehicle 10-2 can be moored on the surface of the structure 2. Become. Therefore, the fall from the structure 2 of the 2nd vehicle 20 connected with the 1st vehicle 10-2 by the 1st connection member 50 can be prevented similarly to said 1st Embodiment.

  Moreover, not only the length of the 2nd connection member 60 which connects the 1st vehicle 10-2 and the 3rd vehicle 30 by the 2nd winding mechanism 13, but the tension | tensile_strength provided to the 2nd connection member 60 can be increased / decreased. it can. By increasing the tension applied to the second connecting member 60, the adhesion of the first vehicle 10-2 (and the third vehicle 30) to the structure 2 increases. Thereby, since the 1st vehicle 10-2 is moored more firmly to the structure 2, the fall from the structure 2 of the 2nd vehicle 20 can be prevented more reliably.

<2.2. Working method>
Next, a working method using the working device 1-2 according to the present embodiment will be described with reference to FIGS. FIG. 11 is a diagram for explaining a first procedure of an example of a working method using the working device 1-2 according to the present embodiment. Moreover, FIG. 12 is a figure for demonstrating the 2nd procedure of an example of the working method using the working device 1-2 which concerns on this embodiment.

  Referring to FIG. 11, first, as a preparation stage, the first vehicle 10-2, the second vehicle 20, and the third vehicle 30 are made to reach the surface of the structure 2 that is a target region for inspection or repair. At this time, the first vehicle 10-2, the second vehicle 20, and the third vehicle 30 may travel from the ground to the target area. In particular, when the target area is an area that cannot be easily approached by an operator, such as a high place or a restricted area, the first vehicle 10-2, the second vehicle 20, and the third vehicle 30 travel to the target area. It is preferable.

  After the first vehicle 10-2, the second vehicle 20, and the third vehicle 30 reach the surface of the structure 2 that is the target area, first, the third vehicle 30 is moved in the direction of the arrow shown in FIG. It travels in the circumferential direction of the object 2. At this time, the third vehicle 30 travels toward the first vehicle 10-2 such that the second connecting member 60 is stretched annularly along the circumferential direction of the structure 2. The second connecting member 60 is appropriately extended as the third vehicle 30 travels.

  Next, referring to FIG. 12, when the third vehicle 30 reaches the first vehicle 10-2, the first connection mechanism 12 and the second connection mechanism 31 are engaged. Specifically, as shown in FIG. 12, after the third vehicle 30 is brought close to the first vehicle 10-2, the arm 312 is expanded and contracted and the hook 311 is provided on the support member 121. The hook 311 is engaged with the locking body 122 close to the body 122. Then, the first vehicle 10-2 and the third vehicle 30 are directly connected. As a result, an annular structure in which the first vehicle 10-2, the third vehicle 30, and the second connecting member 60 are closed along the circumferential direction of the structure 2 can be formed. Thereby, the first vehicle 10-2 is moored to the structure 2. In addition, it is preferable to apply tension to the pulling member 313 stretched between the hook 311 and the vehicle body 301 by the pulling member winding mechanism after the hook 311 and the locking body 122 are engaged. By applying the tension, it is possible to prevent the arm 312 from being tensioned by the tension between the hook 311 and the vehicle body 301 or to keep the tension low.

  In addition, it is preferable to apply tension to the second connecting member 60 by the second winding mechanism 13 after the hook 311 and the locking body 122 are engaged. By applying the tension, the adhesion of the first vehicle 10-2 to the structure 2 can be increased.

  Next, after the engagement between the first vehicle 10-2 and the third vehicle 30 is completed, the second vehicle 20 is caused to travel on the surface of the structure 2 to perform work such as inspection or repair. The second vehicle 20 can travel within the range corresponding to the length of the first connecting member 50 delivered from the first vehicle 10-2 on the surface of the structure 2.

  The range in which the second vehicle 20 can travel can be further expanded by changing the mooring positions of the first vehicle 10-2 and the third vehicle 30. Specifically, after the engagement state of the first connection mechanism 12 and the second connection mechanism 31 is once released and the first vehicle 10-2 and the third vehicle 30 are appropriately moved, the first connection mechanism 12 and The second connection mechanism 31 is engaged. Thereby, since the mooring position of the 1st vehicle 10-2 can be changed, the travel range of the 2nd vehicle 20 can be extended.

<2.3. Summary>
So far, the working apparatus 1-2 according to the second embodiment of the present invention has been described. According to the working device 1-2, the first vehicle 10-2 and the third vehicle 30 are connected to each other by the second connecting member 60 while the first connection mechanism 12 and the second connection mechanism 31 are engaged. It can be connected annularly in the circumferential direction. Thus, even when a mooring body (part of the structure) such as a monkey lap or a hanging bracket as shown in the first embodiment does not exist on the surface of the structure, the first vehicle 10-2 is Can be moored to a structure. Therefore, work such as inspection or repair can be performed using the working device 1-2 even on the surface of the structure where there is no mooring body.

<< 3. Conclusion >>
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

1 (1-1, 1-2) Work device 10 (10-1, 10-2) 1st vehicle 11, 11A Locking mechanism 12 1st connection mechanism 13 2nd winding mechanism 20 2nd vehicle 30 3rd vehicle 31 Second connection mechanism 50 First connection member 60 Second connection member 101 Car body 102 Wheel 103 First winding mechanism 104 Guide mechanism 104A Guide support member 104B Pulley 104C Pulley 104D Adjustment member 105 Locking mechanism support member 111 Hook 112 Arm 113 Traction member 114 Arm support portion 115 Traction member winding mechanism 116 Adsorption mechanism 121 Support member 122 Locking body 201 Car body 202 Wheel 203 Connection member 210 Measuring device 301 Car body 302 Wheel 303 Connection member 311 Hook 312 Arm 313 Traction member 314 Arm support portion

Claims (17)

A working device for performing work on a structure,
A first vehicle;
The first vehicle is connected to the first vehicle by a first connecting member, and has working means for performing the work, and suction means having a suction force for the surface of the structure. A second vehicle capable of traveling;
Mooring means for mooring the vehicle body of the first vehicle to the structure;
A working device comprising:   The working device according to claim 1, wherein the mooring means includes a locking mechanism that is provided on a vehicle body of the first vehicle and locks the vehicle body of the first vehicle to a part of the structure.   The mooring means includes a locking mechanism that is provided separately from the suction means on the vehicle body of the first vehicle, and that locks the vehicle body of the first vehicle to the structure and locks the structure. The working device according to 1 or 2.   The adsorption state of the structure by the locking mechanism that adsorbs the vehicle body of the first vehicle to the structure and engages the structure based on the traveling state of the first vehicle is controlled. 3. The working device according to 3. The mooring means is
An arm having one end connected to a part of the vehicle body of the first vehicle and configured to be turnable and extendable;
A structure locking member provided at the other end of the arm and lockable to the structure;
The working device according to any one of claims 2 to 4, comprising:   The working device according to claim 5, wherein a traction member is stretched between the structure locking member and a part of a vehicle body of the first vehicle.   The height of the first coupling member at a connection position between the vehicle body of the first vehicle and the first coupling member is equal to or less than a tension height of the traction member in the vehicle body of the first vehicle. The working device described.   The work apparatus according to claim 1, wherein the first vehicle further includes a first winding mechanism that winds up the first connecting member.   The working device according to claim 8, wherein the first winding mechanism further includes an impact absorbing unit that absorbs an impact force applied to the first connecting member.   The work device according to claim 1, wherein the first vehicle further includes a guide mechanism that regulates an extending direction of the first connecting member in a vehicle body of the first vehicle. The mooring means is
A third vehicle having an adsorbing means having an adsorbing force to the surface of the structure, and capable of traveling on the surface of the structure by the adsorbing means;
A second connecting member for connecting the vehicle body of the first vehicle and the third vehicle;
A first connection mechanism provided on a vehicle body of the first vehicle;
A second connection mechanism provided on a body of the third vehicle and engageable with the first connection mechanism;
Including
The second connecting member forms an annular structure along the circumferential direction of the structure together with the first vehicle and the third vehicle when the first connection mechanism and the second connection mechanism are engaged with each other. The working device according to claim 1, wherein the working device is provided.   The working device according to claim 11, wherein the first vehicle further includes a second winding mechanism that winds the second connecting member. The structure is a magnetic material,
The working device according to claim 1, wherein the suction unit is a magnetic unit.   The working device according to claim 1, wherein the suction unit is a suction unit using an atmospheric negative pressure suction force.   The work apparatus according to claim 1, wherein the work related to the structure is work related to inspection of the structure and / or repair of the structure. A work method for performing work on a structure,
The first vehicle is connected to the second vehicle having the working means for performing the work and the suction means having the suction force to the surface of the structure by the first connecting member,
Mooring means to moor the first vehicle to the structure;
A work method including running the second vehicle on a surface of the structure and performing the work by the work means. The mooring means includes a third vehicle having an adsorbing means having an adsorbing force on the surface of the structure, a second connecting member for connecting the vehicle body of the first vehicle and the third vehicle, and the first vehicle. A first connection mechanism provided on the vehicle body, and a second connection mechanism provided on the vehicle body of the third vehicle and engageable with the first connection mechanism,
When mooring the first vehicle to the structure,
Running the third vehicle on the surface of the structure toward the first vehicle so that the second connecting member is annularly stretched along the circumferential direction of the structure;
The work method according to claim 16, wherein the first connection mechanism is engaged with the second connection mechanism when the third vehicle reaches the first vehicle.

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