JP2019007277A - Mobile scaffold apparatus - Google Patents

Abstract

To provide a mobile scaffold apparatus which can control travelling so that a stress generated in a portal frame part becomes a predetermined value or less.SOLUTION: A self-propelling mobile scaffold apparatus 1 includes: a portal frame part 2 configured so that at least a part thereof is deformable; a pair of travel parts 3 and 3 which are provided on lower ends on both sides of the portal frame part and enable movement along a ground contact surface; and a travel control part which controls the travel parts. The travel control part controls traveling so that a stress generated in a portal frame part becomes a predetermined value or less.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mobile scaffold device that can be self-propelled by a traveling unit such as a wheel.

  When inspecting and repairing in-service tunnels and the like, there is a demand for a method that minimizes traffic restrictions on vehicles such as automobiles. Patent Document 1 discloses a moving frame device in which a truss frame serving as a work scaffold and a reaction force body during inspection and repair is incorporated.

  On the other hand, Patent Documents 2 and 3 disclose a control method for laying a magnetic guide such as a magnetic tape in advance and running an automatic guided vehicle along the magnetic guide.

JP, 2006-180218, A JP-A-7-110713 JP-A-8-44427

  By the way, work carts configured with a portal frame are subjected to countermeasures such as increasing the rigidity of the portal frame because a large stress acts on the portal frame when twisting occurs during turning during movement. ing. However, when the rigidity is increased, not only the material cost and the manufacturing cost are increased, but also the weight is increased, and the place where the material can be used is often limited.

  In addition, when inspecting or repairing, concrete that has deteriorated may be knocked down, and it is effective to provide a wide working floor for improving workability and safety measures for downward traffic. However, the wide working floor and the weight limit are contradictory conditions, and there are many problems in ensuring that the portal frame has sufficient rigidity against torsion during turning.

  Accordingly, an object of the present invention is to provide a moving scaffold device capable of controlling the running so that the stress generated in the portal frame portion is a predetermined value or less.

  To achieve the above object, the mobile scaffold device of the present invention is a self-propelled mobile scaffold device, at least a part of which is configured to be deformable, and both sides of the portal frame part. A pair of travel units that are provided at the lower end of the base plate to allow movement along the ground surface, and a travel control unit that controls the travel unit. The travel control unit is generated in the portal frame unit. Control is performed so that the stress becomes a predetermined value or less.

  Here, the travel control unit performs a turn control based on a speed difference between the pair of travel units, and the travel unit on the outer periphery side of the turn is configured to be capable of intermittent operation for suppressing an increase in the stress. be able to.

  In addition, the control by the travel control unit can be performed by detecting a magnetic guide laid in advance along the movement route. Furthermore, the control by the travel control unit can be performed by detection of a distance sensor that measures the distance to the obstacle. And it is preferable that the said portal frame part is set as the structure which has a deformation function of an up-down direction, and a deformation function of the width direction.

  In the mobile scaffold device of the present invention configured as described above, the stress generated in the portal frame portion is caused by traveling by the traveling portion provided at the lower end portion of the portal frame portion that is configured to be at least partially deformable. It is controlled so as to be below a predetermined value.

For this reason, it is not necessary to make the gate-shaped frame part an excessively rigid structure, and the weight can be reduced. For example, if a device that complies with the specifications for road bridges (crowd load of sidewalk etc. 5.0kN / m ² or less) can be used, it can be used in various application areas such as inspection and repair of inner surface of tunnel and underside of viaduct. become able to.

  In addition, when the traveling control unit performs turning control based on the speed difference between the pair of traveling parts, if the traveling part on the outer periphery side of the turning is intermittently operated, the stress generated in the portal frame part when the twist is released. Can be suppressed.

  Furthermore, by performing control by the travel control unit by detecting a magnetic guide laid in advance, travel along the movement route can be performed with high accuracy. In addition, if the traveling unit is controlled by detection of a distance sensor that measures the distance to the obstacle, contact with the obstacle can be prevented.

  And, if the portal frame has a vertical deformation function and a width deformation function, it can be adapted by deformation when there is a limit (such as building limits) in the inner space where tunnels can be used. Can be easily done.

It is a perspective view explaining the structure of the movement scaffold apparatus of embodiment of this invention. It is explanatory drawing which showed the use condition of the movement scaffold apparatus in a place with a level | step difference. It is a figure which illustrates typically the deformation function of the width direction of a portal frame part. It is explanatory drawing which showed the use condition which deform | transforms a moving scaffold apparatus in the width direction. It is a figure explaining the opening-and-closing type opening-and-closing expansion part of a work-table part. It is a figure explaining the slide type slide expansion part of a work-table part. It is a perspective view explaining the state by which the moving scaffold apparatus was folded. It is a figure which illustrates typically the operation | movement which spreads the folded moving scaffold apparatus. It is a figure for demonstrating the traveling control at the time of turning of a mobile scaffold apparatus. It is a top view explaining the structure of a magnetic guide. It is a perspective view explaining the positional relationship of a magnetic guide and a detection sensor. It is a figure explaining an example of the traveling control by a distance sensor. It is a figure explaining another example of the traveling control by a distance sensor. It is a schematic diagram explaining the structure of the detection sensor of a magnetic guide. It is a figure explaining quantification of the deviation amount of a detection sensor. It is a figure explaining the conditions of traveling control. It is a figure explaining the turning control of a moving scaffold apparatus using the positional relationship of a magnetic guide and a detection sensor.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing an overall configuration of a mobile scaffold device 1 according to the present embodiment, and FIG. 2 is a diagram for explaining a configuration including a place where the mobile scaffold device 1 is used.

  This moving scaffold device 1 is a device for use as a scaffold when inspecting or repairing a target surface of an object extending in one direction (longitudinal direction) such as a tunnel T or a box culvert. . Below, the case where the inner peripheral surface of the tunnel T which is a road tunnel is inspected will be described as an example.

  As shown in FIG. 2, the tunnel T is covered with a concrete lining T1 having a semicircular inner cross section, and a roadway T2 on which the vehicle runs is provided on the bottom plate. A sidewalk T3 (or an inspection road) that is one step higher is provided on the side of the roadway T2.

  Here, in the tunnel T, there is set a construction limit in which an obstructing object should not be installed within a certain width and height so as not to hinder the traveling of the vehicle. For this reason, the moving scaffold device 1 is also deformed as described later so as to be outside the range of the building limit.

  On the other hand, the cross-section of the tunnel T is not all formed in the same direction in the extending direction (longitudinal direction), and the cross-sectional shape of the lining T1 may be different in the extending direction, such as providing a parking belt. In addition, equipment such as a ventilation duct and lighting may be installed so as to protrude inside the lining T1.

  For this reason, a scaffold device manufactured only for a certain cross section cannot be used in cross sections having different shapes. Moreover, such a scaffold device cannot be moved continuously in the longitudinal direction of the tunnel T.

  Therefore, as shown in FIG. 1, the mobile scaffold device 1 according to the present embodiment is provided at a gate-shaped frame portion 2 that is configured to be deformable at least partially, and at the lower end portions on both sides of the portal-shaped frame portion 2. And a pair of traveling units 3 and 3 that enable movement along the ground surface and a traveling control unit that controls the traveling units 3 and 3.

  The front-view portal shape of the portal frame portion 2 includes side frames 21 and 21 disposed near the upper corners, leg portions 22 and 22 provided below the side frames 21 and 21, and both sides in the width direction. It is formed by the work table part 23 provided so that the side frames 21 and 21 may be connected.

  The portal frame 2 is provided with a plurality of portals at intervals in the traveling direction of the mobile scaffold device 1, and the portals are connected by a connecting member 25 and a connecting plate 26. Furthermore, the inner corner side of the side frame 21 formed in a square shape when viewed from the front is reinforced by the receiving member 211.

  Further, between the side frame 21 and the leg portion 22, an elevating / lowering portion 221 in which a jack or the like is incorporated is provided. That is, as shown in FIG. 2, when a sidewalk T3 is provided only on one side of the tunnel T and there is a step or a cant, the lift 221 on the side placed on the step is shrunk, or the lift on the lower side The work table portion 23 can be kept horizontal by extending the length 221 or moving the lifting portions 221 on both sides up and down. This elevating / lowering part 221 functions as a vertical deformation of the portal frame part 2.

  A handrail portion 24 is provided around the work table portion 23 formed in a planar shape. In addition, the work table portion 23 includes a slide portion 231 that functions as a deformation function in the width direction. That is, as schematically shown in FIG. 3, a part of the floor portion of the work table portion 23 is nested, and by operating the jack portion 232 for expanding and contracting the nested portion in the width direction, the portal frame portion 2 can be deformed in the width direction.

  For example, as shown in FIG. 4, when there is an obstacle B on one side in the running direction (in the direction of the thick arrow at the center), the slide part 231 of the work table 23 is moved over the obstacle B while the mobile scaffold device 1 is running. By shrinking to the side where there is no gap, the width of the portal frame portion 2 can be reduced.

  In addition, the work table unit 23 may be provided with an expansion function with respect to the traveling direction of the mobile scaffold device 1 (for example, the extending direction of the tunnel T). FIG. 5A shows an example of a mobile scaffolding device 1A provided with a work platform 23A that can be expanded in an openable / closable manner.

  The work table portion 23A is a work table surface having the same depth as the distance between the front and rear side frames 21 and 21 of the portal frame portion 2 (the length of the connecting member 25) during movement. When stopped, the work table portion 23A can be expanded by opening the open / close expansion portion 233 that has been closed so as to project in the traveling direction as necessary.

  On the other hand, FIG. 5B shows an example of the mobile scaffold device 1B provided with a work table portion 23B that can be expanded in a sliding manner. The work table portion 23B has a work table surface having the same depth as the distance between the front and rear side frames 21 and 21 of the portal frame portion 2 (the length of the connecting member 25) during movement. By extending the stored slide extension part 234 in the traveling direction, the work table part 23B can be extended.

  Furthermore, as shown to FIG. 6A, when assembling at the time of storage or a narrow place, it can also be set as the mobile scaffold apparatus 1C which has the work-table part 23C which can be folded. By providing the center hinge part 235 and the side hinge parts 236 and 236 at the center and both sides of the work table part 23C, the work table part 23C can be folded into an M shape in a front view to reduce the lateral width. it can.

  As schematically shown in FIG. 6B, lock mechanisms 212 are provided on both sides of the work table portion 23C. One end of the lock mechanism 212 is joined to the work table portion 23C side via a pin portion 212b. The other end of the lock mechanism 212 is connected to the side frame 21 side via a slider portion 212a.

  When opening the folded work platform 23C, the slider 212a of the lock mechanism 212 is raised along the side frame 21 while the mobile scaffold device 1C is traveling. If it does so, between leg parts 22 and 22 will open gradually in the width direction, work table part 23C will be developed.

  As shown in FIG. 1, the traveling portions 3 provided at the lower end portions on both sides of the portal frame portion 2 configured as described above include an upper beam portion 33 extending in the traveling direction of the mobile scaffold device 1, A plurality of wheel portions 31,... Attached below, and a drive portion 32 that rotationally drives the wheel portions 31 are provided.

  The drive motor serving as the drive unit 32 can be driven by power supplied from the power generation unit 34, for example. The power generation unit 34 may be provided for each traveling unit 3, 3 or may be shared by both.

  The upper beam portion 33 of the traveling portion 3 is disposed substantially in parallel with the connecting member 25 of the portal frame portion 2, and the leg portions 22 and 22 are fixed to the upper surface of the upper beam portion 33 at intervals. The upper beam portion 33 is formed longer than the depth of the portal frame portion 2, and for example, four wheel portions 31,.

  And the drive parts 32 and 32 are connected to the two wheel parts 31 and 31 of the center among the four wheel parts 31 and ..., for example. The power generation unit 34 can be installed, for example, between the leg portions 22 on the upper surface of the upper beam portion 33.

  The wheel part 31 is supported by a suspension part 311 whose upper end is connected to the upper beam part 33. For example, as shown in FIG. 8B, the wheel portion 31 is pivotally supported by a suspension portion 311 suspended from both side edges of the upper beam portion 33.

  When the suspension portion 311 is fixed to the upper beam portion 33 so as not to rotate, the straight traveling performance of the wheel portion 31 can be enhanced. Moreover, since the driving | running | working parts 3 and 3 each arrange | positioned at the both sides of the portal frame part 2 are each provided with the drive parts 32 and 32, they can be made to drive | work at a different speed.

  Next, traveling control of the mobile scaffold device 1 of the present embodiment will be described with reference to the drawings.

  As shown in FIG. 7, the mobile scaffold device 1 is provided with a pair of running units 3 and 3 that are independently driven on both sides in the width direction. When it is desired to move the mobile scaffold device 1 straight, the pair of traveling units 3 and 3 may be driven at the same speed.

  On the other hand, in order to prevent a sudden change of direction and improve the straight traveling performance, as described above, when the suspension part 311 of the wheel part 31 is fixed to the upper beam part 33 so as not to rotate, the mobile scaffold device 1 is turned. In order to make this happen, the traveling speed of the left and right traveling units 3 and 3 is made different and the vehicle is turned in a desired direction.

  In short, the traveling unit 3 on the inner periphery side of the turn can be turned at a low speed, and the traveling unit 3 on the outer periphery side of the turn can be turned at a high speed, thereby turning in a desired direction.

  However, if the speed difference between the traveling parts 3 and 3 is too large between the inner peripheral side and the outer peripheral side, the portal frame part 2 of the mobile scaffold device 1 is twisted. In order to counteract the stress due to torsion, there is a method to increase the rigidity of the portal frame, but this method increases the material cost and weight, and the frame member size may increase and the construction limit may be violated. is there.

  Therefore, by controlling the stress generated in the portal frame portion 2 to be a predetermined value or less by the traveling control unit that controls the traveling units 3 and 3, it is possible to suppress the portal frame portion 2 from becoming excessive. And

  The uppermost part of FIG. 7 shows the state at the start of turning. First, the traveling unit 3 on the inner peripheral side of the turn is continuously driven at a low speed, and the traveling unit 3 on the outer peripheral side of the turn is driven at a high speed.

  When the portal frame portion 2 starts to twist due to such running, the inner peripheral wheel portion 31 causes a side slip. Therefore, the running portion 3 on the outer peripheral side is temporarily stopped to release the twist while continuing the low speed running of the running portion 3 on the inner peripheral side. That is, by performing intermittent operation, the twist is released and the increase in stress is suppressed. Here, there is a case where the twist can be released only by slowing the traveling of the traveling unit 3 on the outer peripheral side.

  Then, after the twist is released, the traveling unit 3 on the outer periphery side of the turn is caused to travel again at a high speed. As a result, when the inner peripheral side wheel portion 31 causes a side slip again, the outer peripheral side traveling portion 3 is again stopped or traveled at a low speed in order to release the twist.

  In short, the traveling unit 3 on the outer periphery side of the turn is operated intermittently. For example, a stress sensor is attached to a portion where the stress is likely to increase when the portal frame portion 2 is twisted (such as the corner portions of the portal frame portion 2 on both sides of the work table portion 23). When the above stress is measured, traveling control can be performed that causes the traveling unit 3 on the outer periphery side of the turn to perform intermittent operation. Here, the “predetermined value” of the stress corresponds to, for example, a value obtained by dividing the yield stress of the member to which the stress sensor is attached by the safety factor.

  In addition, when the vehicle is turned, the outer peripheral traveling unit 3 is set to be intermittently operated at a constant time interval, so that the portal shape can be obtained without measuring the side slip of the wheel unit 31 or the stress of the portal frame 2. Travel control that suppresses the stress generated in the frame portion 2 to a predetermined value or less is possible. And shape maintenance property (stability) can be improved by performing the traveling control in which the portal frame portion 2 is less likely to be twisted.

  By the way, the mobile scaffold device 1 that travels by the wheel portion 31 such as a tire can travel freely without a track, but by simply laying the magnetic guide 5 in advance along the travel path that is desired to travel, it is simple. The desired route can be traveled with high accuracy by the control.

  FIG. 8A shows an example of the configuration of the magnetic guide 5. The magnetic guide 5 can be formed to an arbitrary length by connecting a plurality of strip-like portions 51. The strip-shaped portion 51 is a strip-shaped or strip-shaped member that generates magnetic flux, such as a magnetic tape.

  Holes 521 and 521 are perforated at both ends of the strip-shaped portion 51 formed in a unit length, and the adjacent strip-shaped portions 51 and 51 are connected to each other through the connection ring 52 or the pin material.

  If the strip 51 is lightweight, it can be easily laid by human power. Moreover, if it is the structure which connects the strip-shaped parts 51 and 51 with the connection ring 52, it can install easily also in the location used as a curve.

  Further, the strip 51 is provided with a position point 53 where the magnetic pole is different from the other parts. In the magnetic guide 5 in which a plurality of strip-like portions 51,... Are connected, if the intervals between the position points 53, 53 are set at equal intervals, it is possible to detect the passage of the position point 53 easily and accurately. Can understand the mileage. That is, if the distance measurement is to detect the position point 53, the distance can be accurately measured even if the wheel unit 31 slips or skids, and it is easy to grasp the self position at the time of inspection and repair. Become.

  And the detection sensor 4 which detects the magnetic guide 5 is attached to the traveling part 3 side, as shown to FIG. 8B. For example, the detection sensors 4 and 4 are projected from the front and rear wheel portions 31 and 31 of the traveling unit 3 toward the magnetic guide 5 side.

  In addition, a distance sensor 41 can be attached to the mobile scaffold device 1 together with the detection sensor 4 that detects the magnetic guide 5 described above or instead of the detection sensor 4.

  For example, as shown in FIG. 9A, the travel control by the distance sensor 41 can be performed based on the measurement result by detecting the distance between the distance sensor 41 and an obstacle such as the side wall T11.

  For example, the distance between the left and right distance sensors 41, 41 and the side walls T11, T11 is measured, and when these distances are detected to be approximately equal, the traveling control unit 6 can perform straight traveling control.

  In addition, when the inclination relative to the progress (plan view) is detected in the mobile scaffold device 1 by subtracting the measured values of the left and right distance sensors 41 and 41 respectively in the front and rear, the inclination is detected by the traveling control unit 6. It is possible to perform travel control for turning in the direction to be lost (left turn, right turn).

  In the case where the distance from the obliquely forward side wall T11 is sequentially measured by the distance sensor 41, it is possible to reduce the occurrence of a control delay before and after the curve.

  On the other hand, if the distance to be measured is too short, the measurement accuracy and the control accuracy may decrease. Therefore, as shown in FIG. 9B, the distance sensor 41 can also measure the distance from the diagonal side wall T11.

  Next, travel control using the magnetic guide 5 and the detection sensor 4 will be described with reference to FIGS. 10A to 10C and FIG. Even during the traveling control, the intermittent operation described above is performed in order to release the torsional stress during turning.

  First, details of the detection sensor 4 will be described with reference to FIG. 10A. The detection sensor 4 is configured to be able to detect and detect a detection area partitioned in the longitudinal direction of a rectangle, for example. Here, it is digitized in the range of -4 to +4.

  In addition, the detection position of the detection sensors 4,... Attached to the traveling units 3, 3 of the mobile scaffold device 1 can be identified by the traveling control unit 6. Here, the identification code of the front detection sensor 4 of the left traveling unit 3 is S11, the rear identification code is S12, the identification code of the front detection sensor 4 of the right traveling unit 3 is S21, and the rear identification code is S22. And

  In FIG. 10B, a method of quantifying the deviation amount of the detection sensor 4 from the magnetic guide 5 according to the detection area of the detection sensor 4 on the magnetic guide 5 will be described. In the digitization, the travel control unit 6 calculates the center value obtained by dividing the sum of the maximum value and the minimum value of the detection area on the magnetic guide 5 by 2.

  For example, when the maximum value is +1 and the minimum value is -1, the center value is 0, when the maximum value is -2 and the minimum value is -3, the center value is -2.5, the maximum value is +3, and the minimum value is The central value when +1 is +2.0.

  Using the center value of each of the detection sensors (S11, S12, S21, S22) calculated in this way, traveling control is performed under conditions as shown in FIG. 10C, for example. For example, if the center values of the detection sensors 4 before and after the traveling unit 3 are equal, the vehicle travels straight as it is, and the difference between the center values of the left and right traveling units 3 and 3 is compared. If the difference between the center values of 3 and 3 is compared and the rear side is closer to the right side, it is possible to perform traveling control such as turning right. Further, the turning speed difference R at that time can also be calculated as illustrated in the table.

  FIG. 11 illustrates the details of the traveling control. In the figure, the center 10 of the mobile scaffold device 1 and the centers 50 of the magnetic guides 5 and 5 arranged on the left and right are shown. Here, an example in which the magnetic guides 5 and 5 are arranged in parallel will be described, but the left and right magnetic guides 5 and 5 may not be arranged in parallel.

  For example, when the center value of the detection sensor 4 is calculated as illustrated in the upper part of FIG. The left turn is controlled under the condition of No. 4. When the center value illustrated in the middle of FIG. 11 is calculated, No. in FIG. The right turn is controlled under the condition of No. 3. And when the center value illustrated in the lower part of FIG. In accordance with the condition 1, straight running control is performed. That is, traveling control is performed such that the center 10 of the moving scaffold device 1 is aligned with the center 50 of the magnetic guides 5 and 5.

  In the above, the example in which the magnetic guides 5 and 5 are laid on the left and right traveling units 3 and 3 has been described, but the present invention is not limited to this. For example, when the magnetic guide 5 is laid only for the right traveling unit 3, if the center values of the front and rear detection sensors 4 and 4 are equal, the vehicle travels straight, and if the rear center value is larger, it turns left, If the center value is smaller, the traveling control unit 6 can easily perform determination processing such as turning right.

  Further, as described above, the travel control can be performed only by the distance sensor 41 (see FIGS. 9A and 9B). However, by combining the distance sensor 41 with the travel control using the magnetic guide 5, an obstacle such as the side wall T11 is obtained. It is possible to perform safer travel control that can avoid contact with the vehicle.

  Next, the operation of the mobile scaffold device 1 of the present embodiment will be described.

  The mobile scaffold device 1 of the present embodiment configured as described above is configured such that traveling by the traveling units 3 and 3 provided at the lower end of the portal frame 2 that is configured to be at least partially deformable The stress generated in the frame part 2 is controlled so as to be a predetermined value or less.

For this reason, it is not necessary to make the portal frame part 2 into a structure with excessively high rigidity, and weight reduction can be achieved. For example, if the mobile scaffolding device 1 complies with the road bridge specifications (crowd load of 5.0kN / m ² or less, such as sidewalks), various application scopes such as inspection and repair of the inner surface of the tunnel T and the underside of the viaduct Can be used in.

  That is, by using the mobile scaffold device 1, the ceiling surface and wall surface of the tunnel T, box culvert, etc. can be inspected and repaired continuously and efficiently. In addition, when a vehicle such as an automobile is allowed to pass under the portal frame 2, inspection and repair can be performed without performing traffic regulation.

  In addition, when the traveling control unit 6 performs the turning control by the speed difference between the pair of traveling units 3 and 3, if the traveling unit 3 on the outer periphery side of the turning is operated intermittently, the twist is released and the portal frame is released. An increase in stress generated in the portion 2 can be easily suppressed. And since a big twist does not generate | occur | produce, there is little deformation | transformation of the portal frame part 2 (shape retention property is high), and it can be set as the mobile scaffold apparatus 1 with high stability.

  Furthermore, by performing the control by the traveling control unit 6 by detecting the magnetic guide 5 laid in advance, traveling along the moving route can be performed with high accuracy.

  Further, if the traveling units 3 and 3 are controlled by detection of the distance sensor 41 that measures the distance to the obstacle B and the side wall T11, contact with the obstacle B and the like can be prevented.

  And if the portal frame part 2 has a vertical deformation function (elevating part 221) and a width direction deformation function (slide part 231), the inner space of the tunnel T or the like is limited (building limits, etc.). In some cases, it can be easily adapted by deformation. That is, even if there are protrusions of equipment such as ventilation ducts and lighting on the inner peripheral surface of the tunnel T, contact can be avoided by deforming the gate-shaped frame portion 2 according to the shape of the opposing object. Moreover, contact etc. can be prevented reliably by using the distance sensor 41 for the detection of the obstacle B etc.

  The embodiment of the present invention has been described in detail above with reference to the drawings. However, the specific configuration is not limited to this embodiment, and design changes that do not depart from the gist of the present invention are not limited to this embodiment. Included in the invention.

  For example, in the above-described embodiment, a road tunnel has been described as an example. However, the present invention is not limited to this, and the mobile scaffold device 1 of the present invention is used without disturbing the passage of a train even in a railway tunnel. Can be inspected and repaired.

  Moreover, in the said embodiment, although the tunnel T was demonstrated to the example, it is not limited to this, The moving scaffold apparatus 1 of this invention is used also when performing the inspection of the lower surface of a viaduct and a bridge pier continuously. Can be applied.

  Furthermore, although the steering steering of the traveling unit has not been described in the above-described embodiment, the traveling unit may be arbitrarily set, such as a steering steering method or a wheel portion of a steering steering method being partially incorporated. it can.

1,1A-1C Moving scaffold device 2 Portal frame part 221 Lifting part (vertical deformation function)
231 Slide part (deformation function in the width direction)
3 Traveling part 4 Detection sensor 41 Distance sensor 5 Magnetic guide 6 Traveling control part

Claims (5)

A mobile scaffold device capable of self-propelling,
A portal frame part at least partially configured to be deformable;
A pair of running parts provided at the lower ends on both sides of the portal frame part to enable movement along the ground contact surface;
A travel control unit for controlling the travel unit,
The traveling control device is characterized in that the running control unit controls the stress generated in the portal frame portion to be a predetermined value or less.   The travel control unit performs turning control based on a speed difference between the pair of traveling units, and the traveling unit on the outer periphery side of the turning is capable of intermittent operation for suppressing an increase in the stress. Item 4. The moving scaffold device according to Item 1.   3. The moving scaffold device according to claim 1, wherein the control by the traveling control unit is performed by detection of a magnetic guide laid in advance along a moving route. 4.   The mobile scaffold device according to any one of claims 1 to 3, wherein the control by the travel control unit is performed by detection of a distance sensor that measures a distance to an obstacle.   The mobile scaffold device according to any one of claims 1 to 4, wherein the portal frame portion has a vertical deformation function and a width deformation function.