JP2780150B2 - Bridge work vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bridge maintenance work such as a work of hanging a lower flange of a bridge typified by a railway bridge having a box girder type iron girder, moving under the bridge, and repainting. The present invention relates to a work vehicle for a bridge used for a vehicle. In particular, in this type of bridge work vehicle where it is necessary to perform an operation of avoiding a flange obstacle (stiffener, etc.),
The present invention relates to a bridge work vehicle capable of increasing a moving speed.

A description will be given by taking as an example a work of repainting a bridge. In the case of steel structures for railway bridges, the paint is usually repainted every 7 to 8 years. At that time, at present, scaffolds are built under and beside the bridge, and humans work on the scaffolds. There are the following problems in such an operation. It takes time to install and remove the scaffold. The undercoating of paint (so-called scraping for removing old paint and rust) is heavy labor in dusty and harsh environments. Danger associated with working at height. The construction period becomes longer and the construction cost becomes considerable. Due to the demanding work, labor shortages have become remarkable, and construction itself may not be possible in the near future.

In order to solve the problem of the current work, a work vehicle that moves under a bridge has been developed, and a robot (such as a keren or a painting robot) is mounted on such a work vehicle to perform a paint repainting operation. There is a plan to make the whole robot. Japanese Patent Publication No. 3-34983 and Japanese Patent Application Laid-Open No. 4-85404 disclose such a working vehicle.

[0004] The work vehicle disclosed in Japanese Patent Publication No. 3-34983 is a vehicle in which a main bogie and a sub bogie having a plurality of clamp mechanisms for clamping a lower flange of a bridge are alternately advanced in a tapeworm manner. The work vehicle disclosed in JP-A-4-85404 has a plurality of wheels running on a lower flange of a girder. When there is an obstacle on the flange, each wheel is independently retracted,
The work vehicle moves forward over obstacles.

[0005]

However, the above-mentioned Tokuhei 3
In the work vehicle of -39833, there is a problem that the moving speed of the work vehicle is slow because the operation is performed only by the worm. In the case of painting work, there is no problem because the work vehicle moves slowly while working originally. However, when the work vehicle is moved from the position where it is attached to the bridge to a work position that is far away, or when the work vehicle is returned to the initial position after the work is completed, the supply of paint materials and the like and the replacement of work equipment are required during the work, and the abutment In the case of returning to the side, it is better that the moving speed is somewhat high.

On the other hand, the working vehicle disclosed in Japanese Patent Application Laid-Open No. 4-85404 can move at a high speed because it travels on a flange below a girder with wheels. However, there are the following problems. If the wheels are merely mounted on the lower flange of the girder, the stopped work vehicle may swing below the girder of the bridge due to the force of the strong wind or the like to hinder the work or the wheels may come off from the lower flange of the girder. In addition, a gap is required between the wheel flange and the beam lower flange when the wheel is lowered to the beam lower flange, and it takes time to perform a position control operation for securing the gap. Therefore, the frequency of the wheel positioning operation has to be reduced.

An object of the present invention is to provide a working vehicle having the following advantages. The moving speed can be increased. By fixing the lower gantry to the bridge with a clamp during work under the bridge girder, it is possible to prevent the work vehicle from swinging against strong wind or vibration when passing through the train. It is also effective as a fixing means when it is set under a bridge girder for a long time. During the operation, the upper pedestal moves back and forth to realize the operation of the operation robot in the bridge axis direction. The operation of setting the clamp claw on the lower flange of the bridge girder can be realized more easily than the operation of setting the wheels. The work vehicle can be automatically set on the bridge under the girder of the bridge by using the clamp mechanism that can be opened and closed.

[0008]

In order to solve the above problems, a bridge work vehicle according to the present invention is a bridge work vehicle suspended under a lower flange of a bridge and moving under the bridge; The vehicle includes a wheel that travels above, a clamp means for clamping the bridge work vehicle to the flange, a wheel avoiding means for avoiding the wheel from the flange, and a wheel moving means for moving the avoided wheel in the longitudinal direction of the bridge. Then, by manual operation or automatic operation, when the traveling wheel approaches a traveling obstacle on the flange, it stops, clamps the bridge work vehicle to the flange, retracts the wheel from the flange, and then moves the wheel to the obstacle. It can be moved over the object, then the wheels can be put back on the flanges again, unclamped and run again.

A bridge work vehicle according to one aspect of the present invention is a bridge work vehicle that is suspended from a lower flange of the bridge and moves under the bridge; a wheel running on the flange, and a wheel hanging from the wheel. A wheel column, an upper pedestal on which the wheel column is mounted to be openable and closable in a bridge width direction, a lower gantry on which the upper pedestal is mounted so as to be movable in a longitudinal direction of the bridge, and a clamp claw for fixing the lower pedestal to a flange And an openable and contractible clamp column having

In the bridge work vehicle of this aspect, a wheel-flange sensor for detecting a relative position of the flange with respect to the wheel, an obstacle sensor for detecting an obstacle, and a clamp claw for detecting a relative position of the flange with respect to the clamp claw. −
A flange sensor, a gantry sensor that detects the relative position of the upper gantry with respect to the lower gantry, the wheels are stopped by detecting obstacles, the lower gantry is pushed out in the direction of travel, and then the clamp column is closed and shrunk to clamp the claws to the flange. Engage and clamp and raise the wheel, then open the wheel column to avoid the wheel from the flange, then move the wheel forward over the obstruction by advancing the upper cradle, and then move the wheel column Closing and returning the wheel to the flange, then extending and opening the clamp column to release the clamp and lower the wheel to the flange and perform a series of operations of obstruction automatic detection avoidance control device, and further comprising: Good. This work vehicle performs an obstacle avoiding operation of a type in which wheels move over obstacles on the flange.

In the bridge work vehicle according to this aspect, a wheel-flange sensor for detecting a relative position of the flange with respect to the wheel, an obstacle sensor for detecting an obstacle, and a clamp claw for detecting a relative position of the flange with respect to the clamp claw. −
A flange sensor, a gantry sensor that detects the relative position of the upper gantry with respect to the lower gantry, the wheels are stopped by detecting obstacles, the lower gantry is pushed out in the direction of travel, and then the clamp column is closed and shrunk to clamp the claws to the flange. Engage and clamp and raise the wheel, then open the wheel column to avoid the wheel from the flange, then extend the clamp column and lower the wheel below the flange, and then move the wheel by moving the upper cradle forward. Go under the obstacle and move it forward, then retract the clamp column and raise the wheel to the top of the flange, then close the wheel column and return the wheel on the flange, then extend and open the clamp column An obstacle automatic detection avoidance control device that performs a series of operations of releasing the clamp and lowering the wheel to the flange, Good as that provided in et.

The work vehicle of this aspect performs an obstacle avoiding operation of a type in which the wheel descends to below the flange and passes through an obstacle protruding largely outside the flange.
For example, in a bridge in which two rows of girders are arranged in parallel, if a connecting structure (a plate-like structure with ribs extending over both girders) is provided in some places between the girders, In order to pass a considerable portion, such a loop-type operation is necessary.

[0013]

FIG. 1 is a side view conceptually showing a worker according to an embodiment of the present invention. FIG. 2 is a partially omitted front view of the work vehicle shown in FIG.

The work vehicle 10 is suspended from the lower flange 7 of the bridge 1 and moves under the bridge 1 in the longitudinal direction (the left-right direction in FIG. 1 and the vertical direction in FIG. 2). The means by which the work vehicle 10 is suspended from the flange 7 of the bridge 1 includes the wheels 1
There are provided four (front / rear / left / right) wheel columns 14 having a 9 and four (front / rear / left / right) clamp columns 24 having clamp claws 29. 1 and 2, the wheel 19 is on the flange 7, the clamp claws 29 are disengaged from the flange 7, and the work vehicle 10 can run by rotating the wheel 19. In FIG. 2,
The left half of the figure is drawn with the wheel column 14 as the center, and the right half is drawn with the clamp column 24 as the center. Actually, the wheel column also exists on the right side of the figure, and the clamp column also exists on the left side of the figure. .

The wheel column body 17 of the wheel column 14
The wheel column 1 is attached to the front and rear ends of the upper mount 11 of the work vehicle 10.
The slide 15 at the base of 4 is slidably mounted in the bridge width direction. On the upper part of the wheel column 14, wheels 19 are mounted via roller bearings (not shown) and the like. The wheel column main body 17 is provided with the slide driving means 1.
6 (FIG. 2) slides in the width direction of the bridge 1. The slide is driven when the work vehicle 10 is attached to or detached from the bridge 1, or when the wheels 19 avoid obstacles (such as the stiffener 3) on the flange of the bridge 1. In addition,
On the upper gantry 11, a robot (not shown) for performing a cleaning operation and a coating operation is mounted. A mechanism (not shown) for driving the traveling of the wheels 19 is provided in the wheel column main body 17.

Below the upper mount 11, a lower mount 21 is provided.
The bridge 1 is provided so as to be relatively movable in the longitudinal direction. A gantry slide 33 shown in the lower part of FIG. 2 and gantry driving means 31 mounted on both ends of the lower gantry 21 in FIG. 1 are provided for connecting and relatively driving the two gantry 11, 21. ing.

At the front and rear ends of the lower gantry 21, a total of four clamp columns 24 are provided. The clamp column 24 is, as shown in FIG.
The bridge 1 swings in the width direction of the bridge 1 around a swing fulcrum 25 fixed on the bridge 1 by a swing driving means 26.
The clamp column 24 includes a clamp vertical drive unit 27,
It has a clamp arm 28 which expands and contracts by the clamp vertical drive means 27. At the upper end of the clamp arm 28, a clamp claw 29 which can be hooked on the upper surface of the flange 7 of the bridge 1 is provided. The state of FIGS.
The clamp claws 29 are in a state of being detached from the flange 7.

Next, the operation of the work vehicle 10 shown in FIGS. 1 and 2 moving forward avoiding obstacles on the flange 7 of the bridge 1 will be described. FIG. 3 is an operation explanatory diagram for explaining an operation in which the work vehicle in FIGS. 1 and 2 moves forward avoiding an obstacle on the bridge 1 flange 7.

FIG. 3A shows a state in which the vehicle travels on the flange 7 by the wheels 19 as in FIG. However, the stiffener 3 of the bridge and its attachment plate 5 exist immediately before (left side) the front (left side in the figure) wheel 19, and the vehicle cannot just move forward, but has just stopped.

FIG. 3B shows a state in which only the lower gantry 21 has advanced (leftward) from the state of FIG. 3A (while the upper gantry 11 is stopped). The front clamp column 24
It is located considerably forward (left side) from the stiffener 3.

FIG. 3C shows that, from the state shown in FIG. 3B, the clamp claw 29 is engaged with the flange 7, the clamp arm 28 is contracted, and the lower gantry 21 is lifted up. The bridge 1 is lifted up, and the front wheel column 14 (the side avoiding obstacles) is
Is in a state of sliding outward in the width direction.
That is, the clamp is engaged, and the wheels are retracted to avoid obstacles such as stiffeners.

FIG. 3D shows a state in which the upper gantry 11 has advanced leftward on the lower gantry 21 from the state shown in FIG. 3C.
When the left wheel 19 passes through the stiffener 3, the wheel 19 protrudes outward to such an extent that the wheel 19 does not come into contact with the stiffener 3. As shown, left wheel 1
9 moves to the left over the stiffener 3.

FIG. 3E shows that, from the state shown in FIG. 3D, the lower arm is lowered by extending the clamp arm, so that the upper arm 11, the wheel column 14, and the wheel 19 are also lowered,
After 9 has re-mounted on the flange 7, the clamping column 2
4 is in a state of swinging outward. The front view is the same as the state shown in FIG. That is, the clamp has been released and the wheel has returned onto the flange.

FIG. 3F shows a state in which the lower gantry 21 has moved leftward from the state shown in FIG. As the working vehicle 10,
The state has returned to the state of FIG. However, the left wheel 19
Proceed to the left past Stiffener 3. Thereafter, if the same operation is performed, the right wheel 19 gets over the stiffener 3. Further thereafter, by rotating the wheels 19,
Work vehicle 10 moves forward

Next, another pattern of the obstacle avoiding operation of the work vehicle according to the present invention will be described. FIG. 14 is an explanatory diagram of one pattern different from FIG. 3 of the obstacle avoiding operation of the work vehicle according to one embodiment of the present invention.

FIG. 14K shows a state where the operations of FIGS. 3A and 3B are completed. That is, the obstacle 101
The work vehicle 10 stops in front of (the above-mentioned connecting structure, which is greatly extended in the vertical direction of the drawing sheet), the lower gantry 21 is advanced leftward and clamped with the clamp claws 29 to clamp the clamp column 24. The wheel 19 has been retracted and the wheel 19 has been floated on the flange 7. The detection of an obstacle is performed by a coil spring type limit switch (the second column from the top in Table 4) which is mounted upward on the clamp claws of the clamp arm.

Next, the wheel column 14 is opened outward. FIG.
In the case of, the overhang amount of the obstacle was small.
If the upper gantry 11 is advanced to the left from the state of FIG.
Was able to clear obstacles and move forward. However, since the obstacle 101 in the case of FIG. 14 protrudes largely in the front of the paper surface, if the upper pedestal 11 is advanced leftward from this state, the wheel 19 will hit the obstacle 101. Therefore, in this case, the wheel 19 and the wheel column 14 are largely lowered so as to pass under the obstacle 101.

FIG. 14 (L) shows that, from the state shown in FIG. 14 (K), the clamp column 24 extends greatly downward, and the lower pedestal 21 and the upper pedestal 11 are lowered, so that the wheels 19 are also lowered to below the flange 7. It is in a state where it is. The upper gantry 11 is advanced left from the state (L) to the state (M). At this time, since there is a clearance h between the wheel 19 and the obstacle 101 above the wheel 19, the wheel 19 does not interfere with the obstacle 101.

FIG. 14 (N) shows that the clamp column 24 is contracted from the state of FIG.
The wheel column 14, the wheel 19, and the like are in a raised state. FIG. 14 (O) shows that after the wheel column 14 is closed inward in the width direction (in the depth direction of the paper) from the state shown in FIG. 14 (N), the clamp column 24 shrinks, and the wheel 19 descends on the flange 7, and the clamp column 24 is closed. Is opened, the clamp column 29 comes off the flange 7, and the clamp column 24 is further contracted.

FIG. 14 (P) shows a state in which the lower base 21 has advanced leftward from the state shown in FIG. 14 (O). In this state, the left wheel 19 passes through the obstacle 101 and the obstacle 10
Pass to the left of 1. Thereafter, a similar obstacle avoiding operation is performed, and the right wheel 19 also passes the obstacle 101.

In the case of the obstacle avoiding operation shown in FIG. 14, the number of operation steps is larger than that of the operation of FIG. 3, and it takes time to avoid the obstacle. However, obstacles that protrude greatly from the girder, such as a connecting structure, can be avoided, so that the structure is highly flexible.

A more specific embodiment will be described. FIG. 4 is a sectional view showing details of a wheel column portion of the work vehicle according to one embodiment of the present invention. The wheels 19 (upper right in the figure) are flanged wheels and ride on the flange 7 of the bridge. The axle 53 of the wheel 19 is supported by a bearing holder 54 on the wheel column body 17 via a bearing.
The axle 53 is driven by a vertically extending shaft 47 via bevel gears 51 and 49. The shaft 47 is a bevel gear 4
Spline shaft 4 extending horizontally via 5, 43
1 driven. The spline shaft 41 is driven by a traveling motor (not shown). Bevel gear 43
Is slidable in the axial direction (left-right direction in the figure) with respect to the spline shaft 41. Therefore, even if the wheel column main body 17 moves left and right, there is no problem in driving the traveling wheels 19.

A slide 15 composed of a linear guide (a kind of linear motion bearing) is provided at the bottom of the wheel column main body 17 so that the wheel column main body 17 can slide on the upper gantry 11 right and left. I have. Of course, this linear guide is designed to withstand vertical compressive and tensile forces. A rack 67 is also cut at the bottom of the wheel column main body 17 so as to extend left and right.
A pinion 65 is engaged with this rack. The pinion 65 is driven by the motor 61 via the shaft 63. The motor 61 is fixed to the upper base 11. Therefore, when the pinion 65 is turned, the rack 6
7 moves left and right, and accordingly, the wheel column 17 moves left and right.

[0034] Between the upper frame 11 and the lower frame 21,
A slide 33 composed of a linear guide is provided.
Therefore, the upper gantry 11 and the lower gantry 21 slide relatively in the vertical direction of the drawing. The drive between the frames is performed by the timing belt 32 and the motor 31 shown in FIG.

FIG. 5 is a sectional view showing details of the clamp column portion of the working vehicle according to one embodiment of the present invention. The state shown in this figure is a state where the clamp column 27 is hooked on the flange 7 of the bridge (clamp state). Clamp claw 29
Is traveling from the clamp arm 28 in an L-shape. The clamp arm 28 is connected to a screw 75 via a nut 77.
It moves up and down by the rotation of. The screw shaft 75 is driven by the motor 71. The clamp arm 28 is vertically guided by the linear shaft 73 via the guide bush 79.

The screw shaft 75 and the linear shaft 73 are connected by a bearing case 72 having a built-in thrust bearing, and the load applied to the clamp column 27 is reduced by the clamp arm 28, the nut 77, the screw shaft 7
5, the bearing case 72, the linear shaft 73, the swing fulcrum 25, and the lower frame 21 are transmitted. Linear shaft 7
3 is connected to a lower support 21 by a swing fulcrum 25.
It is connected to. For this reason, the linear shaft 73
Swing is possible in the left and right direction in the figure.

The left swing drive of the linear shaft 73 is performed by a wire 85 via a wire wheel 83. A pulley and a motor (not shown) are provided at the right end of the wire 85. Linear shaft 73
Is driven by a spring 81 in the right direction. The upper end of the spring 81 is the clamp arm 28
And a lower end thereof is connected to the lower frame 21. If a power failure occurs during clamping or if the wire 85
Even when the flange is broken, there is a frictional force between the clamp claw 29 and the bridge flange 7, so that the force of the spring 81 does not cause the clamp claw 29 to come off the flange 7. Also, if a motor with a non-exciting operation brake is used as the wire drive motor, it is assured as a measure against power failure.
The opening and closing of the clamp column may be performed by providing a sliding mechanism (the swing fulcrum 25 slides) such as an axle column in addition to the swing mechanism. Then, a work vehicle that can be used for bridges having different girder widths can be obtained.

FIG. 6 is a block diagram showing the configuration of the overall control system of the work vehicle according to one embodiment of the present invention. Table 1
Is a table summarizing the specifications of each motor.

[0039]

[Table 1]

[0040]
Tables 2, 3, and 4 are tables summarizing the specifications of each sensor.

[0041]

[Table 2]

[0042]

[Table 3]

[0043]

[Table 4]

[0044]
The motor will be described. Thirteen motors of five types were used for the work vehicle drive mechanism (Table 1). It is undesirable that vibrations occur while the work vehicle is operating on the bridge. For this reason, a wheel-running motor that drives the entire work vehicle and a gantry-moving motor that drives the gantry and each column should be of a type that can control the speed. When moving at speed, we secured some speed. When setting the wheels of the work vehicle on the lower flange of the bridge, accurate positioning is required to keep the gap between the lower flange and the wheel flange at 5 mm. Therefore, the motor that drives the wheel column is of a type that can control the speed, and the target position can be positioned at a low speed. An on / off type motor was used as the motor for opening and closing and expanding and contracting the clamp column.

The sensor will be described. 86 sensors of 7 types were used (Table 2). Among them, 58 external sensors are used for detecting the positional relationship and contact between the bridge and the working vehicle, and 28 internal sensors are used for detecting the positional relationship of each part in the working vehicle. A rotary encoder attached to the wheel spline shaft is used to detect the position of the work vehicle on the bridge, a linear encoder using a magnetic scale is used to detect the relative position of the upper and lower pedestals, and the wheel column position and the amount of expansion / contraction of the clamp column are detected. Uses a linear potentiometer. Each position detection sensor was selected such that the resolution with respect to the movement amount was appropriate. Regarding the external sensor that detects the positional relationship between the bridge and the work vehicle, the method, performance, and dimensions were examined and selected, assuming the relationship between the operation of the work vehicle and the detected position of the bridge.

A particularly important sensor around the wheel will be described. FIG. 7 is a plan view showing sensors around the wheels of the working vehicle according to one embodiment of the present invention. FIG. 8 is a side view of FIG. Limit switches 91 and 91 'are attached to the front and rear (outermost) of the wheel 19 to detect obstacles (such as the stiffener 3) on the flange 7. The lower side of the limit switch 91 (FIG. 8)
This is a photoelectric switch 92 for detection.

Mounted immediately before the left side of the wheel 19 are two photoelectric switches 93 (FIG. 7) for detecting the position of the end of the flange 7. When the photoelectric switch 93 on the upper side (outside the flange 7) of FIG. 7 is turned on, it is recognized that the wheel 19 is on the flange 7. The photoelectric switch 93 'on the lower side of FIG. This photoelectric switch 93 '
Is turned off, there is a risk of derailing, and the running of the wheels is immediately stopped, the movement is prohibited, and the operator is prompted to perform a wheel position restoring operation. In response to this, the operator activates the wheel position restoring operation and sets the wheel at an appropriate position with respect to the lower flange of the girder. The wheel position restoring operation is the following operation. First, the clamp arm 28 is hooked on the lower flange 7 of the girder, and the entire work vehicle 10 is lifted to be moved to the wheels 19.
From the lower flange 7 of the girder. When the fixing of the swing drive means (26 in FIG. 2) is loosened while the work vehicle is suspended by the clamp arm, the work vehicle 10 falls to an appropriate position in the girder width direction by its own weight. In this state, the wheel 19 is positioned with respect to the lower beam flange 7. Mounted on the right side of the wheel 19 is a limit switch 94 for detecting the landing of the wheel flange. Automatic operation for avoiding obstacles is performed based on information obtained from these sensors.

In the test apparatus, the control unit connects an input / output board to a personal computer, inputs each sensor data, and issues commands such as speed, rotation direction, and stop to a motor control panel for motor control. I did it. The motor control panel houses a controller for speed control, a solid-state relay for switching the motor rotation direction, and a breaker for power supply. In addition, a remote control device, a manual operation box, and a motor operation indicator were installed.

The position / speed control method will be described. A trapezoidal pattern-type (see FIG. 11) speed control was used to move the work vehicle body, the gantry, and the wheel column. The moving direction is determined by the sign of the difference between the current position and the target position. Switching between the acceleration control, the constant speed control, and the deceleration control is performed by comparing the measured position deviation amount with the previously calculated position deviation amount at the time of switching. The position deviation amount at the time of the switching of each control is given acceleration, deceleration,
And the maximum speed. After entering the deceleration control, when the speed falls below a certain value, the positioning control is performed at a certain low speed. In addition, only the position control is performed in the extension / contraction operation of the clamp arm.

When the work vehicle is set on the bridge, the work vehicle is first moved directly below the bridge. After that, the height of the working vehicle body is increased using other lifting devices or jacks, etc.
Extend the clamp arm and raise it so that the clamp engages the lower flange. This state is the initial state (A) of the setting operation of the work vehicle on the bridge. FIG. 9 shows a series of operations.

First, (B) the clamp of the clamp arm is put on the lower flange of the bridge, (C) the clamp arm is contracted, and the work vehicle body is pulled up. During the expansion and contraction operation of the clamp arm, balance control is performed to keep the length of the four arms the same, so that the work vehicle main body is kept horizontal. (D) Next, the wheels are moved toward the lower flange of the bridge, and the wheels are positioned with respect to the lower flange of the bridge. Using a reflective photoelectric switch as a wheel positioning sensor,
Detect the end of the lower flange. The height of the wheel with respect to the bridge lower flange at this time is determined so that the detection error of the end detecting sensor of the bridge lower flange is small and the sensor does not contact the bridge. (E) Next, the work vehicle main body is lowered so that the weight of the work vehicle is supported by the wheel columns. Then, (F) extend the clamp arm,
(G) Open outward. When the work vehicle is unloaded from the bridge, the operation is the reverse of the setting operation except that the wheel positioning operation is omitted.

In the wheel running operation, an instruction based on a moving direction and a moving distance, an instruction based on a coordinate position of a bridge, and a forward / backward instruction using a remote controller can be performed. In addition, various checks are performed to prevent the wheels from falling off the lower flange of the bridge during running and to prevent collision with the pier.

The operation of the working vehicle includes three mechanism initial states and 1
It consisted of one type of work (FIG. 10). The operator of the work vehicle moves the work vehicle by selecting the type of work allowed at that time. When shifting from a certain work a to a certain work b, a work that can be shifted is displayed on a personal computer display, and input check is performed to prevent erroneous operation during manual operation. The suspended initial state in the figure is a state after detecting the positional relationship of each part of the work vehicle before setting the work vehicle on the bridge. The wheel running initial state is a state in which wheel running can be started with the wheel set on the bridge and the clamp removed. The work initial state is a state in which the upper gantry can be moved back and forth while the clamp is attached to the bridge and the work vehicle is fixed, and an initial position of work such as painting or inspection is assumed.

The wheel position restoring operation is an operation of returning the wheel position to a normal position by using a clamp arm when the wheel column of the work vehicle is displaced for some reason during traveling of the wheel. Also, in the automatic driving simulation work, assuming that the work vehicle is used for work such as painting and inspection, when a moving range is given, a work position at a certain interval is calculated, and the wheel running and the gantry movement are combined to perform the work. This is an operation of moving to a position.

The operation program of the work vehicle was described in C language. Although the operation of the work vehicle is described by WORK0 to WORK9 in FIG. 10, each work is constituted by one or a plurality of functions describing the unit operation of the work vehicle. For example, twenty types were prepared by moving the work vehicle according to the movement distance instruction or the movement position instruction, or moving the wheel arm inward to position the work vehicle at the lower flange of the girder. Since this function describes the unit operation of the work vehicle, it will be called an operation function. Within a certain processing cycle time within the operation function, sensor state input, equipment abnormality / mechanism state abnormality check, calculation /
Judgment, control command creation, control output, mechanism state display, operation function end judgment, etc. are performed. The interrupt control was not used. FIG. 12 is a flowchart showing an example of the operation program of the operating vehicle. Further, FIG.
FIG. 3 is a flowchart showing an example of a method of processing an operation function.

In the operation of setting the work vehicle on the bridge, the operation of positioning the wheel on the lower flange of the bridge is important. This operation is frequently used in addition to the first setting operation of the work vehicle, such as an obstacle avoiding operation and an operation of shifting to a work initial position. In the test, it was possible to position the target position with an accuracy within 1 mm.

The wheel running operation test will be described. The test was performed by gradually increasing the maximum moving speed of the work vehicle body, the gantry, and the wheel column.
At a setting of cm / s, it was confirmed that the work vehicle on the bridge operated stably without shaking. The test was performed with the acceleration and deceleration of the work vehicle main body, the gantry, and the wheel column set at 1 cm / s ² .

The obstacle avoidance operation test will be described. It was confirmed that the motion algorithm to avoid obstacles and stiffeners, which are obstacles when running on a bridge, was effective. Through the above operation tests, it was confirmed that the prototype mechanism could be used as a box girder type bridge work vehicle.

[0059]

As apparent from the above description, the present invention exhibits the following results. Even for bridges with obstacles to travel, a work vehicle for bridges that can travel by itself over the stiffener of the lower girder flange, the attachment plate, and the connecting structure between the box girder installed in parallel, etc. Can be provided. As a result, the repainting work and inspection work of the bridge can be rationalized (by robotization, etc.). Parts without running obstacles can run at high speed with wheels. As a result, the power for inspection, storage, and dispatch of the work vehicle can be reduced in a short time.

In conventional painting work, temporary scaffolding removal work at high places is unnecessary, and the effects of reducing dangerous work and painting work costs can be expected. In the working vehicle of this embodiment in which all power is realized by electricity, the configuration is simplified as compared with the case of using hydraulic pressure, so that the weight of the working vehicle can be reduced.

The operation of the work vehicle can be remotely controlled,
The operator can perform detailed work. The operation program of the work vehicle can prevent the operator from performing erroneous operations and perform various checks to prevent abnormal operation.

Even when the work vehicle is fixed to the lower flange of the girder by the clamp, the upper gantry can be moved in the longitudinal direction of the iron girder. Therefore, when the work robot is mounted on the upper gantry, the work range of the work robot is increased. Can be. Therefore, work efficiency can be improved.

[Brief description of the drawings]

FIG. 1 is a side view conceptually showing a work vehicle according to one embodiment of the present invention.

FIG. 2 is a partially omitted front view of the work vehicle shown in FIG.

FIG. 3 is an operation explanatory diagram for explaining an operation in which the work vehicle shown in FIGS. 1 and 2 moves forward while avoiding an obstacle on a bridge 1 flange 7;

FIG. 4 is a sectional view showing details of a wheel column portion of the work vehicle according to one embodiment of the present invention.

FIG. 5 is a sectional view showing details of a clamp column portion of the work vehicle according to the embodiment of the present invention.

FIG. 6 is a block diagram showing a configuration of a comprehensive control system of the work vehicle according to one embodiment of the present invention.

FIG. 7 is a plan view showing sensors around the wheels of the working vehicle according to one embodiment of the present invention.

FIG. 8 is a side view showing a sensor around a wheel of the work vehicle according to one embodiment of the present invention.

FIG. 9 is an explanatory diagram showing a series of operations for setting a work vehicle on a bridge.

FIG. 10 is a diagram illustrating an operation configuration of a work vehicle.

FIG. 11 is an explanatory diagram of a trapezoid control method in motor speed control.

FIG. 12 is a flowchart illustrating an example of an operation program of an operating vehicle.

FIG. 13 is a flowchart illustrating an example of a method of processing an operation function.

FIG. 14 is an explanatory diagram of one pattern different from FIG. 3 of the obstacle avoiding operation of the work vehicle according to one embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Bridge 3 Stiffener 5 Attachment plate 7 Flange 10 Work vehicle 11 Upper mount 14 Wheel column 15 Slide 16 Slide drive means 17 Wheel column main body 19 Wheel 21 Lower mount 24 Clamp column 25 Swing fulcrum 26 Swing drive means 27 Clamp vertical drive means 28 Clamp arm 29 Clamp claw 31 Mount driving means 32 Timing belt 33 Mount slide 41 Spline shaft 43 Bevel gear 45 Bevel gear 47 Shaft 49 Bevel gear 51 Bevel gear 53 Axle 54 Bearing holder 61 Wheel arm moving motor 63 Shaft 65 Pinion 67 Rack 71 Clamp arm expansion / contraction motor 72 Bearing case 73 Linear shaft 75 Screw shaft 77 Screw nut 79 Guide bush 81 Spring 83 Wire wheel 85 Wire 9 Limit switch 92 photoelectric switch 93 photoelectric switch 94 limit switch

Continuation of the front page (72) Inventor Yukio Nishiyama 2-8-8 Hikarimachi, Kokubunji-shi, Tokyo Inside the Railway Technical Research Institute (72) Inventor Mitsunori Takahashi 3-218-18 Honjukucho, Fuchu-shi, Tokyo (56) References JP-A-4-85404 (JP, A) JP-A-4-140304 (JP, A) JP-A-4-108905 (JP, A) JP-B-3-34983 (JP, B2) Kohei 4-5555 (JP, Y2) (58) Field surveyed (Int. Cl. ⁶ , DB name) E01D 19/10

Claims (4)

(57) [Claims] Claims: 1. A work vehicle for a bridge suspended under a lower flange of the bridge and moving under the bridge; a wheel traveling on the flange; a clamp means for clamping the work vehicle for a bridge to the flange; A bridge avoiding means for avoiding from the flange, and a wheel moving means for moving the avoiding wheel in the longitudinal direction of the bridge; a work for a bridge which stops when a running wheel approaches a running obstacle on the flange. For a bridge, wherein the vehicle is clamped to the flange, the wheel is moved away from the flange after the wheel is evacuated from the flange, the wheel is returned on the flange again, the clamp is released, and the vehicle runs again. Working vehicle. 2. A work vehicle for a bridge suspended under a lower flange of a bridge and moving under the bridge; a wheel running on the flange, a wheel column hanging from the wheel, and a bridge width of the wheel column. An upper pedestal mounted to be openable and closable in a direction, a lower pedestal mounted to the upper pedestal so as to be movable in a longitudinal direction of the bridge, and an openable and retractable clamp column having clamp claws for fixing the lower pedestal to a flange. A work vehicle for a bridge, comprising: A wheel-flange sensor for detecting a relative position of the flange with respect to the wheel; an obstacle sensor for detecting an obstacle; a clamp claw-flange sensor for detecting a relative position of the flange to the clamp claw; A gantry sensor that detects the relative position of the upper gantry, the wheels are stopped by detecting obstacles, the lower gantry is pushed out in the direction of travel, then the clamp column is closed and retracted, and the clamp claws are engaged with the flange and clamped. Raise the wheel, then open the wheel column to avoid the wheel from the flange, then move the wheel forward over the obstruction by advancing the upper cradle, then close the wheel column and place the wheel on the flange. And then extend and open the clamp column to release the clamp and lower the wheel to the flange. Obstacle automatic detection avoidance control device and, further comprising Claim 2 bridges for work vehicle according to conduct an operation. A wheel-flange sensor for detecting a relative position of the flange with respect to the wheel; an obstacle sensor for detecting an obstacle; a clamp claw-flange sensor for detecting a relative position of the flange to the clamp claw; A gantry sensor that detects the relative position of the upper gantry, the wheels are stopped by detecting obstacles, the lower gantry is pushed out in the direction of travel, then the clamp column is closed and retracted, and the clamp claws are engaged with the flange and clamped. Raise the wheel, then open the wheel column to avoid the wheel from the flange, then extend the clamp column and lower the wheel under the flange, then move the wheel under the obstacles by advancing the upper cradle To move forward,
Next, the clamp column is retracted to raise the wheel to the top of the flange, then the wheel column is closed and the wheel is returned to the flange, and then the clamp column is extended and opened to release the clamp and lower the wheel to the flange. The bridge work vehicle according to claim 2, further comprising: an obstacle detection automatic avoidance control device that performs an operation.