JP2023083812A - Steel girder surface preparation device applied to bridge slab replacement method and surface preparation method using the same - Google Patents

Abstract

To provide a surface preparation device capable of efficiently preparing an upper surface of a steel girder in floor slab replacement work of a bridge or the like, and a surface preparation method using the device.SOLUTION: A steel girder surface preparation device comprises: a truck having front wheels and rear wheels; a purification unit installed on the truck and configured to remove residue, rust, and a coating film present on an upper surface of a steel girder; and a control unit configured to control the truck and the purification unit. In the steel girder surface preparation device that removes residue, rust, and coating film from the upper surface of the steel girder by operating the purification unit while making the truck travel forward or backward along the upper surface of the steel girder according to a command of the control unit, the purification part is provided with moving means for changing a facing distance of the purification unit to the upper surface of the steel girder by moving the purification unit in a direction approaching or separating from the upper surface of the steel girder.SELECTED DRAWING: Figure 1

Description

The present invention is a steel girder scraping device suitable for removing residue, rust, paint film, etc. existing on the upper surface of the steel girder from which the existing floor slab has been removed in the floor slab replacement work of a bridge or the like, and the device. It relates to the Keren method using

The floor slab replacement work for road bridges, etc., usually involves removing the existing floor slab from the steel girder, cleaning and painting the steel girder from which the existing floor slab has been removed, and installing the new floor slab on the steel girder. and erecting a stud dowel on the upper surface of the steel girder through a through-hole provided in the new floor slab, and then pouring concrete into the through-hole to bury the stud dowel. It is common, and at that time, part of the road is often closed to traffic, and it is important that such construction is completed within the planned period. By the way, especially in the cleaning work of steel girders after removing the existing floor slabs, it is necessary to intensively invest a lot of man-hours, which has a great influence on the entire construction process.

As a prior art related to scraping work, for example, Patent Document 1 discloses an injection device that injects an abrasive to the surface of a ground object as a device for collecting abrasives, peeling materials, etc., and an injection device that injects A dispersing device that disperses the abrasive and guides it to the grinding part of the object to be ground, and a tip glove that further reflects the abrasive reflected on the surface of the object to be ground and discharges dust such as the abrasive and peeling material. , and a recovery device connected to the outlet of the tip glove are proposed.

By the way, the blasting device disclosed in Patent Document 1 is a so-called batch-type device that collects abrasive materials, peeling materials, etc. is difficult and there is still room for improvement.

In addition, although Patent Document 2 proposes a chipping device that achieves efficient chipping work by being self-propelled on an object surface such as a concrete wall surface, the device proposed here is a self-propelled part. and chipped parts are arranged in parallel, and it is not suitable for applying to scraping work on relatively narrow steel girders, which is the target of bridge floor slab replacement work. rice field.

JP 2007-160409 A JP 2012-11485 A

An object of the present invention is to provide a steel girder cleaning device capable of efficiently performing cleaning work on the upper surface of a steel girder from which the existing floor slab has been removed by a minimum number of people, and a cleaning using the device. I'm here to suggest a method.

The present invention comprises a bogie having front wheels and rear wheels, a cleaning unit installed on the bogie for removing residue, rust, and paint film present on the upper surface of the steel girder, and a control unit for controlling the bogie and the cleaning unit. and moves the truck forward or backward along the upper surface of the steel girder according to the command of the control unit, and operates the cleaning unit to remove residue, rust, and paint film on the upper surface of the steel girder. A girder keren device,
The steel, wherein the purification unit has a moving means for moving the purification unit toward or away from the upper surface of the steel girder to change the facing distance of the purification unit with respect to the upper surface of the steel girder. It is a girder keren device.

In the steel girder cleaning device having the above configuration,
1) The purification unit has a pitching rotation means that rotates about the axis in the width direction of the bogie as a fulcrum to change the facing angle of the purification unit with respect to the upper surface of the steel girder.
2) The purification unit has rotating means for rolling that rotates about the longitudinal axis of the bogie as a fulcrum to change the facing angle of the purification unit with respect to the upper surface of the steel girder.
3) At least one of the front wheels and the rear wheels has a steering section for changing the traveling direction of the truck;
4) at least one of the front and rear wheels has a drive;
5) The bogie has a wheel derailment risk detection sensor that detects an approach to the edge of the steel girder in the width direction;
6) The bogie has an obstacle detection sensor on at least one of the front and rear of the bogie for detecting an obstacle existing on the upper surface of the steel girder;
7) The purification unit includes a hood having an opening that opens toward the upper surface of the steel girder, and is placed in the hood and sprays high-pressure washing water through the opening toward the upper surface of the steel girder 1 or 2. and a suction duct that is connected to the hood and recovers the jetted high-pressure washing water together with the residue, rust, and paint film removed by the jetting of the high-pressure washing water.
8) It is preferable as a specific means for solving the problem that the jet nozzle is a spin jet nozzle rotatably held within the hood.

In addition, the present invention provides a method for removing residue, rust, and paint film existing on the upper surface of a steel girder using the above steel girder cleaning device,
According to the command of the control unit, the carriage is made to run independently on the upper surface of the steel girder by automatic control or operation by a control terminal, and at least one of the facing distance and the facing angle of the purification unit with respect to the upper surface of the steel girder is appropriately adjusted. A cleaning method for a steel girder, characterized by removing residues, rust, and paint film on the upper surface of the steel girder over the entire area in the cleaning section while adjusting.

According to the present invention, it is possible to efficiently perform the cleaning work on the upper surface of the steel girder with the minimum number of personnel, reducing the cost and shortening the construction period in the floor slab replacement work of the road bridge. can be achieved.

1 is an external perspective view of the front side of a cleaning device according to the present invention; FIG. 1 is an external perspective view of the rear surface side of a cleaning device according to the present invention; FIG. 1 is an external perspective view showing a state in which a scraping device according to the present invention is arranged on the upper surface of a steel girder from which a floor slab has been removed; FIG. 1 is a side view of a cleaning device according to the present invention; FIG. FIG. 5 is a plan view of the cleaning device shown in FIG. 4; 5 is a bottom view of the cleaning device shown in FIG. 4. FIG. FIG. 5 is a front view of the cleaning device shown in FIG. 4; FIG. 2 is an external perspective view showing the cleaning device according to the present invention with a part of the constituent members removed. FIG. 4 is an explanatory diagram of the operating situation of the cleaning device according to the present invention; (a), (b) is explanatory drawing of the operating condition of the keren apparatus according to this invention. It is explanatory drawing of a derailing danger detection sensor. (a), (b) is explanatory drawing of a derailing danger detection sensor. (a), (b) is explanatory drawing of an obstacle detection sensor. (a), (b) is explanatory drawing of an obstacle detection sensor. FIG. 2 is a diagram schematically showing a block diagram relating to the control system of the cleaning device according to the present invention; FIG. 4 is a diagram schematically showing a flow chart of control of the cleaning device according to the present invention;

Hereinafter, the present invention will be described more specifically with reference to the drawings.
1 is an external perspective view of the front side of the cleaning device according to the present invention, FIG. 2 is an external perspective view of the rear side of the cleaning device according to the present invention, and FIG. 3 is the cleaning device according to the present invention. is an external perspective view showing a state in which is arranged on the upper surface of the steel girder from which the floor slab has been removed. 4 is a side view of the cleaning device according to the present invention, FIG. 5 is a plan view of the cleaning device shown in FIG. 4, FIG. 6 is a bottom view of the cleaning device shown in FIG. 4, and FIG. [Fig. 5] is a front view of the cleaning device shown in Fig. 4;

Reference numeral 1 in FIGS. 1 to 7 is a carriage forming the basic framework of the steel girder cleaning device according to the present invention. The carriage 1 is provided with a frame 1a constructed by appropriately combining long members and short members. The frame 1a has a pair of left and right front wheels 1b and a pair of left and right wheels. A rear wheel 1c is provided by combining different wheels.

Hereinafter, in the present invention, the front side of the truck 1 means the side where the front wheels 1b are mounted, and the rear side of the truck 1 means the side where the rear wheels 1c are mounted. Further, the width direction (horizontal direction) of the truck 1 means a direction that intersects or is perpendicular to the direction from the front to the rear of the truck 1 or the direction from the rear to the front (front-rear direction).

In addition, reference numeral 2 in FIGS. 1 to 7 is suspended from the frame 1a of the bogie 3 so as to be positioned between the front wheel 1b and the rear wheel 1c. It is a purification part to remove.

The purification unit 2 includes a hood 2a having an opening that opens toward the upper surface of the steel girder H, and a jet nozzle 2b that is disposed in the hood 2a and sprays high-pressure washing water onto the upper surface of the steel girder H through the opening. (See FIG. 6), and a suction duct 2c that is connected to the hood 2a and collects the jetted high-pressure washing water together with the residue, rust, and paint film removed by the jetting of the high-pressure washing water. be done.

As the jet nozzle 2b, a spin jet nozzle having a rotary drive unit 2d connected to the control unit 3 and rotating the jet nozzle 2b within the hood 2a to evenly spray the upper surface of the steel girder H with high-pressure washing water is used. is preferred. The jet nozzle 2b is connected to a supply path 2e for supplying high-pressure cleaning water and a supply path 2f for supplying compressed air, and the suction duct 2c is connected to a vacuum pump (dust collection pump) provided at its end. ing. The high-pressure washing water jetted from the jet nozzle 2b is collected through the suction duct 2c along with the residue, rust and paint film in accordance with the arrows in FIG.

In the present invention, a water jet type cleaning unit 2 has been described as an example, but it is also possible to use a cleaning unit 2 having a blasting mechanism that jets powder or spheres to perform cleaning work. is not limited to water jet purifiers.

In addition, reference numeral 3 in FIGS. 1 to 7 is a control unit (including a battery) provided on the frame 1a of the truck 1 and comprehensively controls the truck 1, the purification unit 2, and other equipment in general. Then, according to the command from the control unit 3, the purification unit 2 is moved toward and away from the upper surface of the steel girder H, and the facing distance (reference height) L (refer to FIG. 9) of the purification unit 2 with respect to the upper surface of the steel girder. ) is a means of transportation that changes

A hydraulic, pneumatic, or electric direct acting actuator is applied to the moving means 4, and the main body portion 4a (or the operating portion 4b) thereof is fixed to the frame 1a of the carriage 1 via a pivot so as to be capable of swinging. The portion 4b (or the main body portion 4a) is pivotably connected to the top plate 2a1 of the hood 2a of the purifier 2 via a pivot. For example, two moving means 4 are provided at opposite positions in the front-rear direction of the carriage 1 so that the purification unit 2 can be maintained in a horizontal posture and moved toward and away from the upper surface of the steel girder H. preferable.

Reference numeral 5 in FIGS. 1 to 7 designates a facing angle of the purification unit 2 with respect to the upper surface of the steel girder H by rotating the purification unit 2 about the axis in the width direction of the truck 1 according to the command of the control unit 3. This is a rotation means for pitching that changes θ (see FIG. 10).

As shown in FIG. 8 by removing a part of the constituent members of the cleaning device, the rotating means 5 extends in the longitudinal direction of the moving means 4 and the carriage 1, and reaches the top of the hood 2a on the edge side in the width direction of the carriage 1. A pair of plate-like members 5a fixed and held on the plate 2a1, a lateral plate member 5b connected to the rear end portion and the front end portion of the pair of plate-like members 5a, and both ends of the lateral plate member 5b located at the rear end portion and a pair of hanging pieces 5c provided on the respective parts, one end of which is swingably connected to the hanging piece 5c via a pivot S1, and the other end of which is swingably connected to the frame 1a of the truck 1 via a pivot S2. It is composed of a scissor arm 5d. The pivot S2 is the center of rotation of the scissors arm 5d, and the pivot S1 is the center of rotation of the purification unit 2. As shown in FIG. The central axes of the pivots S1 and S2 are both the axes of the truck 1 in the width direction.

By moving the front and rear moving means 4 connected to the top plate 2a1 with the same amount of stroke, the purification unit 2 is maintained in a parallel posture as shown in FIG. are appropriately actuated, and the scissors arm 5d is oscillated around pivots S1 and S2 as shown in FIGS. Thereby, the facing angle θ is adjusted according to the condition of the upper surface of the steel girder.

The facing distance L and facing angle .theta. Based on the result, the moving means 4 and the rotating means 5 are operated and adjusted according to the command from the control section 3 .

Although not shown, the cleaning device according to the present invention is rotating means for rolling that rotates about the longitudinal axis of the truck 1 as a fulcrum to change the facing angle of the purification unit 2 with respect to the upper surface of the steel girder. can also be set.

Reference numeral 6 in FIGS. 1 to 7 denotes a steering section for changing the traveling direction of the truck 1 by appropriately steering the front wheels 1b and the rear wheels 1c. The steering unit 6 includes a drive source such as a motor, a speed reducer or the like connected to the steering shafts 1b1 and 1c1 (see FIG. 8) of the front wheels 1b and the rear wheels 1c, or other actuators. The front wheels 1b and the rear wheels 1c can be steered by rotating the steering shafts 1b1 and 1c1 by the steering section 6 in accordance with the command of No. 3.

Reference numeral 7 in FIGS. 1 to 7 denotes a drive section for appropriately driving the front wheels 1b and the rear wheels 1c (see FIG. 6). The drive unit 7 is composed of a speed reducer or the like connected to the drive shafts of the front wheels 1b and the rear wheels 1c, or other actuators. It is possible to drive the rear wheels 1c.

Although the steering unit 6 and the driving unit 7 are provided on both the front wheel 1b and the rear wheel 1c, they may be provided on either the front wheel 1b or the rear wheel 1c.

Reference numeral 8 in FIGS. 1 to 7 is provided immediately before and near the outside of the front wheel 1b, and immediately after and near the outside of the rear wheel 1c, and detects the approach to the edge of the steel girder H in the width direction. It is a derailment danger detection sensor that inputs the result to the control unit 3.

The derailment risk detection sensor 8 includes an arm 8a that is pivotably connected to the axle of the front wheel 1b and the rear wheel 1c, and a conical roller 8b that is rotatably connected to the tip of the arm 8a and tapers inward. shall apply.

Such a derailment danger detection sensor 8 rolls on the upper surface of the steel girder H according to the running of the truck 1, and when the wheels 1b and 1c of the truck 1 are rotating on the steel girder H with a margin 11, the large-diameter portion of the roller 8b touches the steel girder H, and the arm 8a maintains a constant angle. As shown in FIGS. 12(a) and 12(b), the diameter of one of the rollers 8b decreases and the angle of the arm 8a changes. informs the danger of derailing near the end of the steel girder H.

Even if it is determined that there is a danger that the bogie 1 will derail from the steel girder H according to the detection result of the derailment danger detection sensor 8, the control unit 3 will command the end of the steel girder H to move the ground contact center of the wheels 1b and 1c. By changing the steering angle to secure the distance to the steel girder H, the direction of movement is gently changed from the end to the center of the steel girder H, and the risk of derailment is avoided. In the present invention, another sensor such as a laser sensor can be used as the derailing risk detection sensor 8 in order to simplify the structure of the device.

Reference numeral 9 in FIGS. 1 to 7 denotes an obstacle detection sensor provided on each of the plate member 5a and the hanging piece 5c of the rotating means 5 so as to sandwich the purification unit 2 in the front and rear. Suspension parts are provided at the four corners and are used to suspend the carriage 1 at four points by passing wires or the like through the through-holes and install it at a predetermined position.

The obstacle detection sensor 9 includes a roller 9a that rolls on the upper surface of the steel girder according to the running of the truck 1, an arm 9b that supports the roller 9a, and a sensor body that supports the arm 9b in a cantilevered manner. 9c, a rotating flap type sensor that detects when the roller 9a comes into contact with an obstacle or the like and the angle of the arm 9b changes from the neutral position can be used.

In the obstacle detection sensor 9, for example, if the facing distance L (reference height) of the purification unit 2 is set to 20 mm, as shown in FIGS. Even if the projection m exists on the steel girder H, the harmful object detection sensor 9 can be set so as not to detect that there is an obstacle m. When a projection m whose facing distance L exceeds 20 mm exists on the steel girder H, as shown in FIGS. If the cart 1 moves further than this, it is determined that it will cause an obstacle to the purification unit 2 , and an alarm is issued from the control unit 3 and a signal for stopping the cart 1 is output to the driving unit 7 .

After the obstacle is removed, the roller 9a of the obstacle detection sensor 9 returns to the neutral position (initial position), and the obstacle can always be detected as the truck 1 travels. It should be noted that other sensors can be used as the obstacle detection sensor 9, and the present invention is not limited to the illustrated one.

FIG. 15 is a diagram schematically showing a block diagram related to the control system of the cleaning device according to the present invention, and FIG. 16 is a diagram schematically showing a flow chart of control of the cleaning device according to the present invention. .

In the cleaning device according to the present invention, as shown in FIG. 15, the control unit 3 is connected to an external PC, and the cleaning device is automatically controlled according to the program installed in the external PC in the manner shown in FIG. The cleaning work can be performed while the carriage 1 is moved forward or backward. In addition, it is also possible to perform cleaning work while performing all operations of the cleaning device by the work operator using a control terminal such as a wired switch box (controller) or a wireless switch box. Residue, rust and paint on the top surface can be efficiently removed.

As described above, the cleaning device according to the present invention causes the carriage 1 to run independently on the upper surface of the steel girder H according to the command of the control unit 3, and the cleaning unit 2 faces the upper surface of the steel girder H. It is possible to remove residues, rust, paint film, obstacles, etc. on the upper surface of the steel girder H over the entire area by operating the cleaning unit 2 while appropriately adjusting the facing angle θ, and it is possible to remove floor slabs of road bridges. It is possible to reduce costs and shorten the construction period in replacement work.

According to the present invention, it is possible to provide a scraping device capable of efficiently scraping the upper surface of a steel girder and a scraping method using the scraping device in floor slab replacement work of a bridge or the like.

1 Carriage 1a Frame 1b Front wheel 1b1 Steering shaft 1c Rear wheel 1c1 Steering shaft 2 Cleaning unit 2a Hood 2a1 Top plate 2b Jet nozzle 2c Suction duct 2d Rotary drive unit 2e Supply path 2f for supplying high-pressure washing water Supply path for supplying compressed air 3 Control part 4 Moving means 4a Body part 4b Actuating part 5 Rotating means 5a Plate member 5b Horizontal plate member 5c Drooping piece 5d Scissors arm 6 Steering part 7 Driving part 8 Derailment risk detection sensor 8a Arm 8b Roller 9 Obstacle detection Sensor 9a Roller 9b Arm 10 Hanging portion L Facing distance θ Facing angle S1 Axis S2 Axis m Anchor member n Splice plate

The present invention comprises a bogie having front wheels and rear wheels, a cleaning unit installed on the bogie for removing residue, rust, and paint film present on the upper surface of the steel girder, and a control unit for controlling the bogie and the cleaning unit. and moves the truck forward or backward along the upper surface of the steel girder according to the command of the control unit, and operates the cleaning unit to remove residue, rust, and paint film on the upper surface of the steel girder. A girder keren device,
The purification unit includes a hood having an opening that opens toward the upper surface of the steel girder,
The hood is connected to the hood and has a moving means for moving the hood toward or away from the upper surface of the steel girder to change the facing distance of the cleaning section to the upper surface of the steel girder. It is a steel girder cleaning device.

In the steel girder cleaning device having the above configuration,
1) The purification unit has a pitching rotation means for rotating the hood around the axis in the width direction of the truck as a fulcrum to change the facing angle of the purification unit with respect to the upper surface of the steel girder.
2) The purification unit has rotating means for rolling that rotates the hood around the longitudinal axis of the bogie as a fulcrum to change the facing angle of the purification unit with respect to the upper surface of the steel girder.
3) At least one of the front wheels and the rear wheels has a steering section for changing the traveling direction of the truck;
4) at least one of the front and rear wheels has a drive;
5) The bogie has a wheel derailment risk detection sensor that detects an approach to the edge of the steel girder in the width direction;
6) The bogie has an obstacle detection sensor on at least one of the front and rear of the bogie for detecting an obstacle existing on the upper surface of the steel girder;
7) The purification unit is arranged in a hood having an opening opened toward the upper surface of the steel girder, and is placed in the hood, and sprays high-pressure washing water through the opening toward the upper surface of the steel girder 1 or Equipped with two or more jet nozzles and a suction duct connected to the hood for collecting the jetted high-pressure washing water together with the residue, rust, and paint film removed by the jetting of the high-pressure washing water,
8) It is preferable as a specific means for solving the problem that the jet nozzle is a spin jet nozzle rotatably held within the hood.

In addition, the present invention provides a method for removing residue, rust, and paint film existing on the upper surface of a steel girder using the above steel girder cleaning device,
According to the command of the control unit, the carriage is made to run independently on the upper surface of the steel girder by automatic control or operation by the control terminal, and the facing distance of the hood provided in the purification unit to the upper surface of the steel girder is adjusted as appropriate. A cleaning method for a steel girder characterized by removing residues, rust, and paint film on the upper surface of the steel girder over the entire area in the purification section while cleaning the steel girder.

In addition, reference numeral 2 in FIGS. 1 to 7 is suspended from the frame 1a of the bogie 1 so as to be positioned between the front wheel 1b and the rear wheel 1c, and removes residue, rust, and paint film existing on the upper surface of the steel girder H. It is a purification part to remove.

By moving the front and rear moving means 4 connected to the top plate 2a1 with the same amount of stroke, the purification unit 2 is maintained in a parallel posture as shown in FIG. are appropriately actuated, and the scissors arm 5d is oscillated about the pivots S1 and S2 as shown in FIGS . The facing angle θ is adjusted according to the condition of the upper surface of the girder.

The present invention comprises a bogie having front wheels and rear wheels, a cleaning unit installed on the bogie for removing residue, rust, and paint film present on the upper surface of the steel girder, and a control unit for controlling the bogie and the cleaning unit. and moves the truck forward or backward along the upper surface of the steel girder according to the command of the control unit, and operates the cleaning unit to remove residue, rust, and paint film on the upper surface of the steel girder. A girder keren device,
The purification unit includes a hood having an opening that opens toward the upper surface of the steel girder, and is suspended from the frame of the truck between the front and rear wheels,
the hood is connected to the hood and moves the hood toward or away from the upper surface of the steel girder to change the facing distance of the purification unit with respect to the upper surface of the steel girder ; a rotation means for pitching that rotates the hood about the axis in the width direction as a fulcrum to change the facing angle of the purification unit with respect to the upper surface of the steel girder;
The moving means comprises a main body portion pivotably fixed to the frame of the truck via a pivot, and an operating portion pivotally connected to the top plate of the hood via a pivot, and They are provided at opposite positions in the longitudinal direction of the truck,
The rotating means includes the moving means, a pair of plate-like members extending in the front-rear direction of the truck and fixed and held on the top plate of the hood at the edge sides in the width direction of the truck, and the pair of plate-like members. Horizontal plate members respectively connected to the rear end portion and the front end portion, hanging pieces provided at both ends of the horizontal plate member positioned at the rear end portion, and one end swingable to the hanging piece via a pivot. Consists of a pair of scissor arms that are connected and the other end is pivotally connected to the frame of the truck via a pivot,
1 or 2, the purification unit is arranged in the hood having an opening opened toward the upper surface of the steel girder, and is placed in the hood, and sprays high-pressure washing water through the opening toward the upper surface of the steel girder. A steel girder comprising the above jet nozzle and a suction duct connected to the hood for collecting the jetted high-pressure washing water together with the residue, rust, and paint film removed by the jetting of the high-pressure washing water. It is a keren device.

In the steel girder cleaning device having the above configuration,
1) The purifying section has rotating means for rolling that rotates the hood about the longitudinal axis of the truck to change the angle of the purifying section facing the top surface of the steel girder.
2 ) At least one of the front wheels and the rear wheels has a steering section for changing the traveling direction of the truck;
3) at least one of the front and rear wheels has a drive;
4) The bogie has a wheel derailment risk detection sensor that detects an approach to the edge in the width direction of the steel girder,
5) The bogie has an obstacle detection sensor on at least one of the front and rear of the bogie for detecting an obstacle existing on the upper surface of the steel girder;
6) It is preferable as a specific means for solving the problem that the jet nozzle is a spin jet nozzle rotatably held within the hood.

In the method for removing residue, rust, and paint film present on the upper surface of the steel girder using the steel girder cleaning device according to any one of claims 1 to 7 ,
According to the command of the control unit, the carriage is made to run independently on the upper surface of the steel girder by automatic control or operation by the control terminal, and the facing distance of the hood provided in the purification unit to the upper surface of the steel girder is adjusted as appropriate. A cleaning method for a steel girder characterized by removing residues, rust, and paint film on the upper surface of the steel girder over the entire area in the cleaning section.

Claims (10)

A truck having front wheels and rear wheels, a purification unit installed on the truck for removing residue, rust, and paint film present on the upper surface of the steel girder, and a control unit for controlling the truck and the purification unit, A steel girder scraping device that moves the bogie forward or backward along the upper surface of the steel girder according to a command from the control unit and operates the cleaning unit to remove residue, rust, and paint film on the upper surface of the steel girder. There is
The steel, wherein the purification unit has a moving means for moving the purification unit toward or away from the upper surface of the steel girder to change the facing distance of the purification unit with respect to the upper surface of the steel girder. Girder keren device. 2. A pitching rotation means for changing the facing angle of said purification unit with respect to the upper surface of the steel girder by rotating said purification unit about the axis in the width direction of said bogie as a fulcrum. The steel girder cleaning device described in . 2. The purification unit has a rotating means for rolling that rotates about the longitudinal axis of the bogie as a fulcrum to change the facing angle of the purification unit with respect to the upper surface of the steel girder. Or the steel girder cleaning device described in 2. The steel girder cleaning device according to any one of claims 1 to 3, characterized in that at least one of the front wheels and the rear wheels has a steering section for changing the traveling direction of the bogie. The steel girder cleaning device according to any one of claims 1 to 4, wherein at least one of the front wheels and the rear wheels has a driving portion. The steel according to any one of claims 1 to 5, characterized in that the truck has a derailment risk detection sensor that detects an approach to an edge in the width direction of the steel girder. Girder keren device. 7. The bogie according to any one of claims 1 to 6, wherein the bogie has an obstacle detection sensor on at least one of the front and rear of the bogie for detecting an obstacle existing on the upper surface of the steel girder. Steel girder cleaning device. The purification unit includes a hood having an opening that opens toward the upper surface of the steel girder, and one or more elements that are arranged in the hood and spray high-pressure washing water through the opening toward the upper surface of the steel girder. Claims 1 to 1, characterized by comprising a jet nozzle and a suction duct connected to the hood and collecting the jetted high-pressure washing water together with the residue, rust, and paint film removed by the jetting of the high-pressure washing water. 8. The steel girder cleaning device according to any one of 7. 9. The steel girder cleaning device according to claim 8, wherein said jet nozzle is a spin jet nozzle rotatably held within said hood. In the method for removing residue, rust, and paint film present on the upper surface of the steel girder using the steel girder cleaning device according to any one of claims 1 to 9,
According to the command of the control unit, the carriage is made to run independently on the upper surface of the steel girder by automatic control or operation by a control terminal, and at least one of the facing distance and the facing angle of the purification unit with respect to the upper surface of the steel girder is appropriately adjusted. A cleaning method for a steel girder, characterized by removing residues, rust, and paint film on the upper surface of the steel girder over the entire area in the cleaning section while adjusting.

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