JP2021102860A - Trace confirmation device - Google Patents

Abstract

To realize a trace confirmation device for reducing the work load of trace confirmation.SOLUTION: In a trace confirmation device 100, when a device main body 1 set on a pair of rails R is remotely operated by a controller 2 and a frame body 10 is shifted from a predetermined position of a frame 20 and stopped by the device main body 1 moved along the rails R, it can be determined that there is a foreign object which interferes with the construction limit (limit range related to a track of a train) at the stopped point. Further, it can be determined that there is no foreign object which interferes with the construction limit (limit range related to the track of the train) in the range where the device main body 1 set on the pair of rails R is remotely operated by the controller 2 and the device main body 1 can be moved along the rails R. With such a trace confirmation device 100, it is possible to reduce the work load of the trace confirmation in comparison with the conventional trace confirmation in which an operator checks the presence or absence of a foreign object by walking in the work range after completion of the work in the track.SELECTED DRAWING: Figure 1

Description

The present invention relates to a trace confirmation device that reduces the work load of trace confirmation performed by an operator after the work on the track is completed.

Conventionally, after the completion of work on the track such as track maintenance, it is necessary to check whether tools and materials have been left behind on the track, and to confirm that the structure created by the construction does not interfere with the construction limit. Workers are supposed to do it.
Since work on the track is often done during the night when the track is closed, it is necessary to check the traces using lights during dark hours so that there is no oversight, or for a limited time before the first train starts moving. The burden on the worker was heavy because it had to be done within the time.

On the other hand, as a technique for determining the presence or absence of obstacles that hinder railway vehicles traveling on a railroad track by using a laser ranging technique, the technique is performed by measuring the distance from the platform of a station or on a railroad track. It is known that the distance is measured from the moving trolley (see, for example, Patent Documents 1 and 2).

Japanese Unexamined Patent Publication No. 2001-304860 Japanese Unexamined Patent Publication No. 2017-19388

However, the techniques of Patent Documents 1 and 2 are too large for trace confirmation, which must be performed in a relatively short time, and are unsuitable for finding tools left behind in the track.

An object of the present invention is to provide a trace confirmation device that reduces the work load of trace confirmation.

In order to achieve the above object, the present invention
A frame body having a shape capable of measuring a limit range regarding the track of a train passing on a pair of rails, a gantry on which the frame body is mounted, and a gantry arranged on the gantry and rolling on the pair of rails. A device body including a plurality of wheels and a motor that outputs a driving force for rotating the wheels.
A trace confirmation device including a controller for remotely controlling the main body of the device.
The gantry is provided with a sensor that detects that the frame body placed at a predetermined position is displaced from the predetermined position.
When the sensor detects that the frame body has deviated from a predetermined position, a process of notifying the controller that a foreign substance that interferes with the limit range has been detected and a process of stopping the motor are executed. A control means is provided.
The limit range related to the train track here is the so-called construction limit, home limit, reduction limit, vehicle limit, and the like.

In the case of the trace confirmation device having such a configuration, the device main body set on the pair of rails is remotely controlled by the controller, and the frame body is displaced from the predetermined position of the gantry and stopped by the device main body moved along the rails. In this case, since the controller is notified that a foreign substance that interferes with the predetermined limit range (for example, the construction limit) has been detected, it can be determined that there is a foreign substance that interferes with the predetermined limit range at the stopped point. ..
In addition, it is determined that there is no foreign matter that interferes with the predetermined limit range in the range where the device body set on the pair of rails can be remotely controlled by the controller and the device body can be moved along the rails. Can be done.
With such a trace confirmation device, the work load of trace confirmation can be reduced as compared with the conventional trace confirmation in which a worker walks in the work range to check for foreign matter after the work on the track is completed. it can.

Also, preferably
The gantry is provided with an imaging unit that images the front of the apparatus main body in the traveling direction.
The controller is provided with a display unit that displays an image captured by the imaging unit.

Since the image captured by the imaging unit of the device main body can be displayed on the display unit of the controller, the operator who operates the controller can check the state in front of the device main body to be remotely controlled.

Also, preferably
The frame body mounted on the gantry is provided with a stationary means that functions to be stationary at the predetermined position.
The stationary means allows the frame body to deviate from the predetermined position when the frame body comes into contact with a foreign object, and the frame body is vibrated when the device main body moves on the pair of rails. It should be stationary so that it does not deviate from the predetermined position.

By providing the stationary means, it is possible to prevent the frame body from deviating from the predetermined position of the gantry due to vibration when the device body moves on the rail, so that it is detected that the frame body deviates from the predetermined position. In such a case, it is possible to make a more accurate determination that there is a foreign substance that interferes with a predetermined limit range (for example, a building limit) at the detected point.

Also, preferably
The stationary means is composed of a magnet fixed to the frame body side and a magnet fixed to the gantry side, and the frame body is stationary at the predetermined position by the attractive force of the magnets. To do so.

If the stationary means is composed of magnets, the frame body is allowed to deviate from a predetermined position when the frame body comes into contact with a foreign object, and the frame body is mounted on a vibration when the device body moves on a pair of rails. It functions suitably as a stationary means for stationary so as not to deviate from a predetermined position of.

Also, preferably
The frame body extends in a direction intersecting the pair of rails to form an upper edge of the frame body, and extends in a direction intersecting the pair of rails to form a lower edge of the frame body. It has a lower frame member and
The upper frame member is hung on the gantry, and the lower frame member is configured to be arranged between the upper surface of the rail and the axial center of the wheel.

Since the frame body in which the upper frame member is hung on the gantry and is mounted so as to be hung on the gantry is supported by the gantry above the center of gravity of the frame body, the frame body mounted on the gantry is It becomes difficult to break the posture supported by the gantry.
Further, since the lower frame member of the frame body is arranged between the upper surface of the rail and the axis of the wheel, it is possible to suitably measure the lower end side of the predetermined limit range (building limit) of the train. ..

According to the present invention, the work load of trace confirmation can be reduced.

It is a front view which shows the trace confirmation device of this embodiment. It is a front view (a) which shows the mode which removed the frame body from the apparatus main body of the trace confirmation device of this embodiment, and is the front view (b) of a frame body. It is a side view which shows the apparatus main body of the trace confirmation apparatus of this embodiment. It is a side view which shows the mode which removed the frame body from the apparatus main body of the trace confirmation apparatus of this embodiment. It is a block diagram which shows the control system of the trace confirmation device of this embodiment. It is an enlarged view which shows the stationary means. Explanatory drawing (a) showing the sensor in the state where the frame body is placed in the predetermined position of the gantry, and explanatory drawing (a) showing the sensor in the state where the frame body mounted on the gantry is deviated from the predetermined position. b).

Hereinafter, embodiments of the trace confirmation device according to the present invention will be described in detail with reference to the drawings. However, although the embodiments described below are provided with various technically preferable limitations for carrying out the present invention, the scope of the present invention is not limited to the following embodiments and illustrated examples.
The trace confirmation device runs on a pair of rails after the work on the track is completed, and checks for foreign matter that is obstructing the limit range related to the track of the train, such as the construction limit of the train passing on the pair of rails. It is a device for doing.
The building gauge will be described as an example of the limit range related to the track of the train, but the limit range here includes the building gauge, the home limit, the reduction limit, the vehicle limit, and the like.

The trace confirmation device 100 of the present embodiment is, for example, as shown in FIGS. 1 to 5, a frame body 10, a pedestal 20 on which the frame body 10 is mounted, and a pair of rails R arranged on the pedestal 20. A device main body 1 including a plurality of wheels 21 (four in the present embodiment) that roll the wheels 21, a motor 22 that outputs a driving force for rotating the wheels 21, and a controller 2 for remotely controlling the device main body 1. It has.
Further, the gantry 20 of the device main body 1 includes a sensor 30 for detecting that the frame body 10 placed at a predetermined position deviates from the predetermined position, and an imaging unit 40 for imaging the front of the device main body 1 in the traveling direction. A light irradiation unit 50 or the like for irradiating illumination light is provided in front of the apparatus main body 1 in the traveling direction, and a control box B incorporating a power supply unit 60, a communication unit 70, and a control unit 80 is provided on the gantry 20. It is arranged.

The frame body 10 is an instrument in which a plurality of pipes are connected, and has a shape capable of measuring the construction limit of a train passing on a pair of rails R (see FIG. 2B).
The frame body 10 is formed by using, for example, a carbon pipe, an FRP pipe, a glass fiber pipe, or the like in order to realize a lightweight design.
The frame body 10 has a shape similar to an instrument called a building limit obstacle inspection device, a building limit measurement ruler, or the like. That is, the frame body 10 has a shape capable of measuring the construction limit near the track corresponding to the lower side of the train.
As shown in FIG. 1, in the posture in which the frame body 10 is placed on the gantry 20, the building limit of the train in which the frame body 10 passes on the pair of rails R can be measured.

Further, the frame body 10 extends in a direction intersecting the pair of rails R in a state of being mounted on the gantry 20 of the device main body 1 arranged so as to travel on the pair of rails R, and the frame body 1 of the frame body 1 It has an upper frame member 11 forming an upper edge, and a lower frame member 12 extending in a direction intersecting the pair of rails R and forming a lower edge of the frame body 1.
When the frame body 10 is placed on the gantry 20 of the apparatus main body 1, the upper frame member 11 is hung on the gantry 20, and the lower frame member 12 is placed between the upper surface of the rail R and the axial center of the wheel 21. Be placed.
In this way, the upper frame member 11 of the frame body 10 is hung on the gantry 20, and the frame body 10 mounted so as to hang on the gantry 20 is placed on the gantry 20 above the center of gravity of the frame body 10. Since it is supported, the frame body 10 mounted on the gantry 20 does not easily lose its posture supported by the gantry 20.
Further, since the lower frame member 12 of the frame body 10 is arranged between the upper surface of the rail R and the axial center of the wheel 21, it is possible to suitably measure the lower end side of the construction limit of the train. ..

The gantry 20 is formed by using, for example, a carbon pipe, an FRP pipe, a glass fiber pipe, or the like in order to realize a lightweight design, and is formed on a lower gantry 20a to which wheels 21 are rotatably attached and a lower gantry 20a. It has an erected upper pedestal 20b.
The lower pedestal 20a is a pedestal portion in which a plurality of pipes are assembled in a substantially rectangular shape and arranged substantially parallel to a pair of rails R.
The upper pedestal 20b is a pedestal portion in which a plurality of pipes are assembled in a substantially rectangular shape and connected substantially perpendicular to the lower pedestal 20a.

Of the four wheels 21 attached to the lower gantry 20a, the two wheels 1 on the front side in the traveling direction are driven wheels, and the two wheels 21 on the rear side in the traveling direction are driving wheels. The two wheels 21, which are the driving wheels, are each rotationally driven by the motor 22.
The motor 22 is arranged on the lower pedestal 20a.
Further, a control box B is arranged on the lower pedestal 20a.

Frame body support portions 20c are provided on both sides of the upper stage portion of the upper frame 20b.
The frame body support portion 20c is a member formed by bending both ends of an elongated metal plate upward, and is arranged in a direction along the longitudinal direction of the apparatus main body 1 in the traveling direction.
The central portion of the frame body support portion 20c in the longitudinal direction is substantially orthogonal to the pipe of the upper stage portion of the upper gantry 20b, and the frame body support portion 20c is fixed to the upper gantry 20b at the intersection thereof.
The frame body 10 (upper frame member 11) is hung and placed on the upper surface of the frame body support portion 20c fixed to the upper frame body 20b in this way.
Then, as shown in FIG. 3, the central portion of the frame body support portion 20c in the longitudinal direction is at a predetermined position where the frame body 10 (upper frame member 11) is placed on the gantry 20.
That is, the upper frame member 11 of the frame body 10 is hung at a predetermined position in the central portion of the frame body support portion 20c in the longitudinal direction, and the frame body 10 is placed on the gantry 20.
When the frame body 10 is placed at a predetermined position on the gantry 20, as shown in FIG. 3, the upper gantry 20b and the frame body 10 are arranged so as to overlap each other on substantially the same plane, and the frame body 10 is the lower portion. It is arranged substantially perpendicular to the gantry 20a.
Further, when the frame body 10 is placed at a predetermined position of the gantry 20, as shown in FIG. 1, the gantry 20 arranged substantially in the center side in the width direction of the frame body 10 supports the frame body 10. It has become.
As shown in FIG. 3, since both ends of the frame body support portion 20c are bent upward, even if the frame body 10 mounted on the upper surface of the frame body support portion 20c is displaced back and forth. , The frame body 10 is hard to fall off from the frame body support portion 20c.

Further, as shown in FIGS. 1, 3 and 6, the upper frame member 11 of the frame body 10 is hung at a predetermined position in the central portion of the frame body support portion 20c in the longitudinal direction, and the frame body 10 is mounted on the gantry 20. A stationary means 90 that functions to stationary the frame body 10 at a predetermined position is provided in a state of being mounted on the frame body 10.
Specifically, as shown in FIG. 6, a frame-side magnet 91 is fixedly attached to the lower surface side of the upper frame member 11 of the frame body 10, and a gantry-side magnet 92 is provided on the upper surface side of the upper pipe of the upper gantry 20b. The frame body 10 is fixedly installed, and the frame body 10 is placed at a predetermined position on the gantry 20 by the attractive force of the magnetic force of the frame-side magnet 91 and the gantry-side magnet 92.
That is, the frame-side magnet 91 fixed to the upper frame member 11 of the frame body 10 and the gantry-side magnet 92 fixed to the upper pipe of the upper gantry 20b are placed at predetermined positions on the gantry 20. It functions as a stationary means 90 for stationary the body 10.
In particular, the stationary means 90 (frame-side magnet 91 and gantry-side magnet 92) allows the frame body 10 mounted on the gantry 20 to deviate from a predetermined position when it comes into contact with a foreign object. The frame body 10 is stationary so as not to deviate from a predetermined position due to vibration when the device main body 1 moves on the pair of rails R.
In this way, when the frame body 10 comes into contact with a foreign object, the frame body 10 is allowed to deviate from the predetermined position, and the frame body 10 moves from the predetermined position due to vibration when the device body 1 moves on the pair of rails R. It is designed so that the distance between the frame-side magnet 91 and the gantry-side magnet 92, which are arranged opposite to each other, is an appropriate distance in order to realize that the magnets are stationary so as not to be displaced. Further, in order to realize such emplacement, a frame-side magnet 91 and a gantry-side magnet 92 having an appropriate magnetic force are used.

Further, as shown in FIGS. 1 and 2 (a), sensors 30 are provided at the four outer corners of the upper gantry 20b, respectively.
The sensor 30 of the present embodiment includes a rotary detection lever.
When the frame body 10 is not placed at a predetermined position on the gantry 20, the detection lever of the sensor 30 rises in a substantially vertical direction as shown in FIG.
Further, when the frame body 10 is placed at a predetermined position on the gantry 20, as shown in FIG. 3, the detection lever of the sensor 30 is pressed by the frame body 10 and takes a tilted posture. ing.
Specifically, when the frame body 10 is placed at a predetermined position on the gantry 20, the detection lever of the sensor 30 on the upper side of the upper gantry 20b is pushed down by the upper frame member 11 of the frame body 10 and tilted. I'm taking a posture.
Further, when the frame body 10 is placed at a predetermined position on the gantry 20, the detection lever of the sensor 30 on the lower side of the upper gantry 20b is pushed up by the lower frame member 12 of the frame body 10 and tilted. I'm taking.
The sensor 30 detects that the frame body 10 has deviated from a predetermined position when the tilted detection lever is raised, and outputs the detection signal to the control unit 80. If the detection lever of any one of the four sensors 30 is raised, the detection signal is output to the control unit 80.

Further, an imaging unit 40 is arranged in the middle portion of the upper pedestal 20b, and light irradiation units 50 are arranged on both sides of the imaging unit 40. Further, light irradiation portions 50 are also arranged at the four corners inside the upper pedestal 20b.
The image pickup unit 40 is, for example, a CCD camera, and the light irradiation unit 50 is, for example, an LED light.

The power supply unit 60 is, for example, a rechargeable battery (battery) that supplies electric power to each unit of the device main body 1, and is built in the control box B.

For example, the communication unit 70 receives an operation signal from the controller 2 that remotely operates the apparatus main body 1, transmits the data of the image captured by the imaging unit 40 to the controller 2, and the sensor 30 positions the frame body 10. It is a device that transmits a detection signal for detecting a deviation to the controller 2, and is built in the control box B. The communication between the communication unit 70 and the controller 2 may be wireless communication or wired communication via a cable.

The control unit 80 includes, for example, a CPU that performs various arithmetic processes and a ROM that stores various control programs and data executed by the CPU, and controls each part of the device main body 1 in an integrated manner. It is designed to do. The control unit 80 is built in the control box B.
The control unit 80 functions as a control means for executing a process of stopping the motor 22 when the sensor 30 detects that the frame body 10 has deviated from a predetermined position. That is, the control unit 80 executes a process of stopping the motor 22 when the detection signal detected by the sensor 30 is input.
Further, when the sensor 30 detects that the frame body 10 has deviated from a predetermined position, the control unit 80 notifies the controller 2 that the position of the frame body 10 has deviated from the communication unit 70. It functions as a control means for collaborative execution. That is, the control unit 80 transmits the detection signal detected by the sensor 30 to the controller 2 via the communication unit 70, and executes a process of notifying the controller 2 that the position shift of the frame body 10 has occurred. To do.
The control unit 80 also executes a process of transmitting the image data captured by the image pickup unit 40 to the controller 2 via the communication unit 70.

The controller 2 is, for example, a tablet terminal, which is an electronic device having a touch panel having a structure in which a liquid crystal panel and a touch pad are superposed, and has two functions of display and operation input.
That is, the controller 2 includes a display unit 2c and an operation unit 2b.
Further, the controller 2 includes a communication unit 2a for communicating with the communication unit 70 of the device main body 1. The communication unit 2a transmits an operation signal for remote control of the device main body 1, receives data of an image captured by the image pickup unit 40, and a detection signal in which the sensor 30 detects a misalignment of the frame body 10. Or receive.
Further, the controller 2 has a built-in rechargeable battery (not shown).

By operating the operation unit 2b of the controller 2, the device main body 1 can be remotely controlled, such as running or stopping the device main body 1.
Further, since the image captured by the imaging unit 40 of the device main body 1 can be displayed on the display unit 2c of the controller 2, the state in front of the device main body 1 to be remotely controlled can be confirmed.
Further, when the communication unit 2a of the controller 2 receives the detection signal from the sensor 30 of the device main body 1 and is notified that the position of the frame body 10 has been displaced, for example, "abnormality detection" is displayed on the display unit 2c. Is displayed. In addition, an alarm sound for notifying "abnormality detection" is sounded from the speaker (not shown) of the controller 2. When the controller 2 is notified by the detection signal that a foreign substance that interferes with the building limit has been detected in this way, a notification regarding the "abnormality detection" is made.

Next, a method of using the trace confirmation device 100 of the present embodiment will be described.

First, the wheels 21 of the device main body 1 are placed on the rails R, and the device main bodies 1 are arranged on the pair of rails R.
The frame body 10 is placed on the gantry 20 of the device main body 1.
At this time, the lower frame member 12 of the frame body 10 is arranged under the lower pedestal 20a so as to pass under the wheels 21, and the upper frame member 11 of the frame body 10 is hung on the frame body support portion 20c. To do so.

Next, as shown in FIGS. 3 and 7A, the frame body 10 is placed at a predetermined position on the gantry 20.
At this time, the detection lever of the sensor 30 on the upper side of the upper pedestal 20b is pushed down by the upper frame member 11 of the frame body 10, and the detection lever of the sensor 30 on the lower side of the upper pedestal 20b is attached to the lower frame member 12 of the frame body 10. And push it up.

After setting the device main body 1 on the pair of rails R in this way, the controller 2 is operated to move the device main body 1 forward along the rails R.
At this time, since the image captured by the imaging unit 40 is displayed on the display unit 2c of the controller 2, the operator can confirm the state in front of the device main body 1 to be remotely controlled.
Then, after the device main body 1 is driven to a predetermined point, the controller 2 is operated to retract the device main body 1 along the rail R and return it to the start point.
In this way, it can be determined that there is no foreign matter that hinders the building limit in the range in which the device main body 1 on which the frame body 10 is mounted at the predetermined position of the gantry 20 can be moved along the rail R. ..

On the other hand, the frame body 10 mounted on the gantry 2 of the apparatus main body 1 advanced along the rail R comes into contact with some foreign matter, and the frame body 10 comes into contact with the gantry 20 as shown in FIG. 7B. When the detection lever of the sensor 30 rises away from the predetermined position of the above, the motor 22 stops the movement of the device main body 1 based on the detection signal output from the sensor 30 as the detection lever of the sensor 30 rises. Is stopped. Further, since the controller 2 is notified that the frame body 10 has been displaced, the operator can quickly recognize that there is some abnormality in the device main body 1 that has been advanced, and the device main body can be recognized. It is possible to recognize that there is a foreign substance that interferes with the building limit at the point where 1 stops.
Then, the operator goes to the point where the device main body 1 has stopped to check what the foreign matter has come into contact with the frame body 10.

As described above, in the case of the trace confirmation device 100 of the present embodiment, the device main body 1 set on the pair of rails R is remotely controlled by the controller 2 and moved along the rail R by the device main body 1. When the frame body 10 deviates from the predetermined position of the gantry 20 and stops, the controller 2 is notified that a foreign substance that interferes with the building limit has been detected. You can judge.
Further, there is no foreign matter that hinders the building limit in the range where the device main body 1 set on the pair of rails R can be remotely controlled by the controller 2 and the device main body 1 can be moved along the rail R. You can judge.
In this way, if the trace confirmation device 100 remotely controls the device main body 1 that moves along the rail R with the controller 2, the worker walks in the work range after the work on the track is completed and checks for the presence of foreign matter. Compared with the conventional trace confirmation, the work load of trace confirmation can be reduced.

In particular, since the trace confirmation device 100 includes a frame body 10 having a lower frame member 12 arranged between the upper surface of the rail R and the axial center of the wheel 21, the track body 10 is provided after the work in the track is completed. It has a structure suitable for performing the work of confirming that tools and materials have not been left behind.

In the above embodiment, the frame body 10 having the shape shown in FIG. 2B has been illustrated and described, but the shape of the frame body 10 is not limited to this, and the trace confirmation target point. It may be another frame body having a shape corresponding to the building limit in. Of course, in addition to the construction limit, the frame body may have a shape corresponding to the home limit, the reduction limit, the vehicle limit, and the like.
Since the trace confirmation device 100 of the present embodiment has an aspect in which the frame body 10 can be removed from the gantry 20, various shapes of the frame body 10 can be attached to the gantry 20 for use.
Further, the joint pipe of the attachment may be connected to the frame body 10 so as to be deformed into a frame body having another shape.

Further, in the above-described embodiment, the case where the frame-side magnet 91 and the gantry-side magnet 92 are used as the stationary means 90 has been described as an example, but the present invention is not limited to this, and the gantry 20 is not limited to this. As the stationary means 90 that functions to stationary the frame body 10 placed on the frame 10 at a predetermined position, for example, an ultra-fine thread or an ultra-fine rubber band may be used.
If the upper frame member 11 is restrained on the upper frame 20b with an ultra-fine thread or an ultra-fine rubber band, the ultra-fine thread or the ultra-fine rubber band is cut when the frame body 10 comes into contact with a foreign object, and the frame body It is possible to allow 10 to deviate from a predetermined position. On the other hand, the frame body 10 can be stationary so as not to deviate from a predetermined position due to vibration when the device main body 1 moves on the pair of rails R.

Further, in the above embodiment, the case where the tablet terminal is used as the controller 2 has been described as an example, but the present invention is not limited to this, and the controller 2 may be a controller dedicated to the device. It may be a controller or the like in which a device-dedicated operation unit is attached to a tablet terminal.

In addition, it goes without saying that the specific detailed structure and the like can be changed as appropriate.

1 Device body 2 Controller 100 Trace confirmation device 10 Frame body 11 Upper frame member 12 Lower frame member 20 Mount 20a Lower mount 20b Upper mount 20c Frame body Support 21 Wheels 22 Motor 30 Sensor 40 Imaging unit 50 Light irradiation unit 60 Power supply unit 70 Communication unit (control means)
80 Control unit (control means)
90 Stationary means 91 Frame side magnet 92 Mount side magnet B Control box R rail (pair of rails)

Claims (5)

A frame body having a shape capable of measuring a limit range regarding the track of a train passing on a pair of rails, a gantry on which the frame body is mounted, and a gantry arranged on the gantry and rolling on the pair of rails. A device body including a plurality of wheels and a motor that outputs a driving force for rotating the wheels.
A trace confirmation device including a controller for remotely controlling the main body of the device.
The gantry is provided with a sensor that detects that the frame body placed at a predetermined position is displaced from the predetermined position.
When the sensor detects that the frame body has deviated from a predetermined position, a process of notifying the controller that a foreign substance that interferes with the limit range has been detected and a process of stopping the motor are executed. A trace confirmation device characterized by having a control means. The gantry is provided with an imaging unit that images the front of the apparatus main body in the traveling direction.
The trace confirmation device according to claim 1, wherein the controller is provided with a display unit that displays an image captured by the imaging unit. The frame body mounted on the gantry is provided with a stationary means that functions to be stationary at the predetermined position.
The stationary means allows the frame body to deviate from the predetermined position when the frame body comes into contact with a foreign object, and the frame body is vibrated when the device main body moves on the pair of rails. The trace confirmation device according to claim 1 or 2, wherein the trace confirmation device is stationary so as not to deviate from the predetermined position. The stationary means is composed of a magnet fixed to the frame body side and a magnet fixed to the gantry side, and the frame body is stationary at the predetermined position by the attractive force of the magnets. The trace confirmation device according to claim 3, wherein the trace confirmation device is characterized. The frame body extends in a direction intersecting the pair of rails to form an upper edge of the frame body, and extends in a direction intersecting the pair of rails to form a lower edge of the frame body. It has a lower frame member and
Claim 1 is characterized in that the upper frame member is hung on the gantry, and the lower frame member is arranged between the upper surface of the rail and the axial center of the wheel. The trace confirmation device according to any one of the items to 4.

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