JP4670599B2 - Self-propelled cart for inspection equipment - Google Patents

Description

  The present invention relates to a self-propelled carriage for inspection equipment that is equipped with inspection equipment for inspecting the state of a curved surface structure having ferromagnetism such as a steel pipe and that runs along the surface of the curved structure.

As this type of self-propelled cart for inspection equipment (hereinafter, also simply referred to as “self-propelled cart”), for example, techniques described in Patent Documents 1 and 2 are known.
In the technique described in Patent Document 1, a traveling guide member (traveling guide) is movably installed on a curved structure (side plate of a floating roof tank), and the curved structure surface is moved along the guide member. A moving self-propelled cart (measuring cart) is disclosed.

Moreover, in the technique described in Patent Document 2, a self-propelled carriage (magnet traveling car) has a plurality of wheels that are driven by a motor and are independently suspended by the carriage. Each wheel is configured to be rotatable along the surface of the curved structure while being magnetically attached to the surface. The motor can be remotely operated with a remote controller. Thus, the operator can inspect the state of the curved structure while moving the self-propelled carriage on the surface of the curved structure by a remote operation in a desired direction.
Japanese Patent No. 2709448 Japanese Patent No. 2799667

  However, in the technique described in Patent Document 1, the self-propelled carriage moves on the curved structure surface along the guide member, and thus turns at an arbitrary position on the curved structure or faces in an arbitrary direction. It cannot be changed. In addition, the curved surface structure to be applied is a structure that assumes a plane of a large structure such as an oil tank or a surface with a large curvature, and the traveling wheels of the self-propelled carriage are not configured to be swingable. Therefore, the wheel cannot move so as to follow the surface of the curved structure. For this reason, it is difficult to move so as to follow the surface of a curved structure having a small curvature such as a radius of 250 mm.

Further, in the technique described in Patent Document 2, although it is possible to move in a desired direction by remote operation, each wheel is individually suspended by attaching a suspension device or a universal joint to the carriage. Since it is an independent suspension system similar to that of automobiles, there is still room for examination when the wheels are swung so as to follow the surface of a curved structure having a small curvature, and the structure is complicated and expensive.
Accordingly, the present invention has been made paying attention to such a problem, and is capable of swinging each wheel with a relatively simple configuration with respect to the carriage unit, and has a curved surface structure having a relatively small curvature. An object of the present invention is to provide a self-propelled cart for inspection equipment that can swing a wheel so as to follow the curvature even on the surface.

  In order to solve the above-mentioned problems, the present invention provides a self-propelled carriage that is equipped with an inspection device for inspecting the state of a curved structure having ferromagnetism and travels along the surface of the curved structure. A cart unit on which inspection equipment is mounted, a pair of vehicle body units respectively disposed on the left and right sides of the cart unit, motors mounted on each vehicle body unit and driven by the motor, and on the surface of the curved structure A traveling means having wheels that are magnetically attached and rollable along the surface thereof, and each vehicle body part can be rotated around an axis that faces the front and rear direction of the carriage part and an axis that faces the left and right direction of the carriage part. And left and right connecting means.

  According to the present invention, the self-propelled carriage is configured to include a carriage portion and a pair of vehicle body portions on the left and right sides thereof, each vehicle body portion is equipped with a motor, and each vehicle body portion is further connected to the carriage portion. Since the left and right connecting means are connected to each other so as to be rotatable, the left and right connecting means do not use a means for transmitting a driving force such as a universal joint, for example, with a plurality of links, It is possible to connect. The left and right connecting means connect the vehicle body parts to the carriage part so as to be able to rotate around the axis facing the front and rear direction of the carriage part and around the axis facing the left and right direction. It can be swung relatively. Therefore, even if the surface of the curved structure has a relatively small curvature, the wheel can be swung so as to follow the curvature, and the self-propelled carriage can be moved along the surface of the curved structure.

For example, an ultrasonic thickness sensor can be suitably mounted as the inspection device to be mounted.
Here, the left and right connecting means include a swinging rod that extends in the front-rear direction and that is pivotally connected to the vehicle body about an axis whose central part faces the left-right direction, and an axis whose one end faces the front-rear direction. It is preferable if each of them is configured to include a swing link that is pivotally connected to the carriage unit and whose other end is connected to the swing rod. Such a configuration is suitable for connecting the carriage unit and the vehicle body units so that the wheels can be swung with a relatively simple configuration.

In addition, it is more preferable that a tuning unit that swings each vehicle body portion symmetrically with respect to the carriage unit is provided via the left and right connecting units. With such a configuration, it is possible to stabilize the facing direction of the carriage with respect to the curved structure surface. Therefore, it is suitable for stabilizing the measurement posture of the inspection device mounted on the carriage unit.
Here, the tuning means includes a guide shaft extending in the vertical direction of the carriage portion at the center in the left-right direction of the carriage portion, a slide piece slidably movable along the guide shaft, and one end of the slide piece. And a pair of connecting links, the other ends of which are rotatably connected to the swing links of the left and right connecting means, respectively, and each body portion is biased toward the cart portion. It is preferable if it is provided with an urging spring. With such a configuration, the tuning means can be configured with a relatively simple configuration.

In addition, the carriage unit includes a plurality of casters arranged to face the surface of the curved structure, and the plurality of casters includes the curved structure in the facing direction and the inspection device to be mounted. It is more preferable to have an opposing gap adjusting means for adjusting the gap between them. With such a configuration, for example, the relative position can be set so that the inspection device or the carriage unit does not contact the surface of the curved structure. Further, for example, the gap between the object necessary for the inspection device can be set to a relative position as a required gap.
Here, it is preferable that the facing gap adjusting means is configured such that the caster has a male screw part, and the cart part has a female screw capable of screwing the male screw part of the caster. . If it is such a structure, said opposing clearance gap adjustment means can be comprised with a comparatively simple structure.

  Also, a plurality of rotation state detection means for detecting the rotation state of the wheel for each vehicle body part, and a deviation in the traveling direction of each vehicle body part based on the rotation state information from each rotation state detection means is warned. It is preferable to include warning display means for displaying such information and rotation amount difference adjusting means for adjusting the difference in rotation amount between the wheels of each vehicle body. With such a configuration, for example, when the surface of the curved structure having a relatively small curvature is moved, even if there is a difference in the amount of rotation between the wheels of each vehicle body, the operator can display warning information. Thus, the operator can adjust the difference so that the difference is reduced by the rotation amount difference adjusting means while confirming the difference in the rotation amount between the wheels.

  Further, a plurality of rotation state detection means for detecting the rotation state of the wheel for each vehicle body part, and the mutual rotation amount of the wheels of each vehicle body part based on the rotation state information from each rotation state detection means. It is preferable that the rotation amount difference correction unit corrects the difference so as to reduce the difference. With such a configuration, for example, when the surface of a curved structure having a relatively small curvature is moved, even if there is a difference in the amount of rotation between the wheels of each vehicle body, the difference is corrected for the amount of rotation. Since the means can be reduced, more stable running can be achieved.

  As described above, according to the present invention, each wheel can be swung with a relatively simple configuration with respect to the carriage, and even on a curved structure surface having a relatively small curvature, the curvature follows the curvature. It is possible to provide a self-propelled carriage for inspection equipment that can swing a wheel.

Hereinafter, an embodiment of a self-propelled carriage for inspection equipment according to the present invention will be described with reference to the drawings as appropriate. Here, this self-propelled carriage for inspection equipment (hereinafter also simply referred to as “self-propelled carriage”) rolls while the wheels are adsorbed on the outer wall surface of the steel pipe, which is a curved structure having ferromagnetic properties, by the magnetic attraction force. It moves along the outer wall surface by moving.
1-3 is a figure explaining one Embodiment of the self-propelled carriage which concerns on this invention, FIG. 1 has shown the figure which looked at the whole self-propelled carriage from diagonally upward, FIG. FIG. 2 is a perspective view of a part of the perspective view shown in FIG. 1. FIG. 3 is a diagram for explaining a schematic configuration of the self-propelled carriage, and FIG. 3A shows a schematic configuration of the entire self-propelled carriage in a block diagram. FIG. 2B shows the operation surface portion of the controller.

  As shown in FIG. 1 and FIG. 2, the self-propelled carriage 1 includes a carriage part 4 at the substantially center in the left-right direction. The carriage unit 4 has a support frame 5 made of a sheet metal having a rectangular shape in plan view on the bottom side. The support frame 5 has a locking portion (not shown) inside the frame, and an ultrasonic thickness sensor 2 (hereinafter also simply referred to as “sensor”) as an inspection device is located above the locking portion. It comes to be mounted from. The sensor 2 has a box shape, and a transducer for detecting the thickness of the outer wall surface of the steel pipe is accommodated therein, and is configured to be able to measure a reduction amount of the wall thickness due to internal corrosion of the steel pipe. Yes.

  As shown in FIG. 2, the sensor 2 is hooked by two sensor fixing wires 2b in the front and rear, and both ends of each sensor fixing wire 2b are respectively provided by sensor fixing springs 2c which are tension springs. The support frame 5 is connected obliquely downward so as to be pressed toward the surface to be measured. As a result, the carriage unit 4 is formed in a substantially rectangular parallelepiped box shape as a whole by mounting the sensor 2, and the sensor 2 is firmly supported in the support frame 5 with the front, rear, left and right enclosed. The sensor 2 is prevented from dropping even when the self-propelled carriage 1 is turned upside down, and can move integrally with the support frame 5. The carriage unit 4 has a connector (not shown) on the rear side in the front-rear direction, and a main cable 59 is connected to the connector as shown in FIG. The sensor 2 is connected to the control unit 50 through the main cable 59 as shown in FIG. Thereby, the information measured by the sensor 2 is configured to be sent to the control unit 50 via the main cable 59.

Here, the cart unit 4 is provided with a plurality of casters on the support frame 5 toward the surface S to be measured. Hereinafter, the structure of the caster portion will be described with reference to FIG. FIG. 4 is a diagram for explaining the carriage unit. In FIG. 4, only the carriage unit is illustrated. FIG. 4A is a plan view thereof, FIG. 4B is a front view thereof, and FIG. c) is a right side view thereof.
As shown in FIG. 4 (a), a total of four caster mounting bases 42 are attached to the carriage unit 4 at two locations on each of the left and right sides of the support frame 5. A caster 40 is attached to each caster mounting base 42.

  Specifically, as shown in FIG. 4B, the caster mounting base 42 is a substantially L-shaped sheet metal member when viewed from the front, and one side of the substantially L-shaped (left side in the figure) is screw-fastened. Is attached to the support frame 5. Further, the other side of the substantially L-shape is formed so as to protrude from side to side in a substantially trapezoidal shape in plan view, as shown in FIG. A tapped hole (not shown) penetrating through is processed. That is, the tap hole is formed so that the direction of the axis passing therethrough faces the side facing the surface of the curved structure.

  On the other hand, as shown in FIG. 4B, the caster 40 includes a substantially cylindrical caster main body 40a (hereinafter, the caster main body is simply referred to as “main body”). The main body 40a is open toward the curved structure side (downward in the figure) and has a gap inside. And in this main-body part 40a, the ball | bowl 40c is internally mounted so that rotation is possible. The ball 40c is pressed from the back side (the side opposite to the curved structure) by a spring further embedded in the air gap, whereby a part of the ball protrudes from the open curved structure side. Thus, it functions as a leg ring that can roll in any direction. Further, a male screw portion 40b is formed on the other end side of the main body portion 40a so as to be integrated with the main body portion 40a and extend coaxially.

Then, as shown in FIGS. 4B to 4C, the male screw portion 40 b is screwed into the tap hole of the caster mounting base 42 from the curved surface structure side, so that the four casters 40 are attached to the support frame 5. Is mounted toward the measured surface S side. And the fastening position of the external thread part 40b sets the required clearance T which is a gap required in the measurement direction of the sensor 2 by adjusting the clearance gap between a curved surface structure and the sensor 2 in the axial direction. ing. The set position in the axial direction is securely fixed by the caster fixing nut 46. Here, the opposing gap adjusting means corresponds to a male screw portion 40b of the caster 40 and a tap hole formed on the caster mounting base 42 and facing the surface of the curved structure so as to be able to be screwed to the male screw portion 40b. is doing.
Furthermore, as shown in FIGS. 1 to 2, the self-propelled carriage 1 has a pair of vehicle body parts 6 </ b> L and 6 </ b> R on both the left and right sides of the carriage part 4. The pair of vehicle body parts 6 </ b> L and 6 </ b> R has a substantially rectangular parallelepiped shape similar to the carriage part 4, and the long sides thereof are arranged substantially parallel to the long side of the carriage part 4.

  Hereinafter, the frame structure constituting each of the vehicle body portions 6L and 6R will be described with reference to FIG. 5 as appropriate. 5 is a diagram for explaining the self-propelled carriage shown in FIG. 1. FIG. 5A is a front view thereof, FIG. 5B is a plan view thereof, and FIG. (D) is the figure seen from the left side. Here, since the left and right body parts 6L and 6R are formed symmetrically in the left-right direction with respect to the carriage part 4, in the following description of the frame structure, the frame structure of the left body part 6L will be described. The description of the right vehicle body 6R will be omitted as appropriate.

  As shown in FIG. 5A, the vehicle body portion 6L includes a base frame 81 slightly below the center in the height direction. The base frame 81 is a substantially L-shaped sheet metal member, and one side of the base frame portion 4 is a folded portion 81b. The folded portion 81b is formed by being folded at a right angle downward with an appropriate length. As shown in FIG. 5 (b), the base frame 81 has a rectangular shape in plan view on the side opposite to the folded portion 81b, and the rectangular surface is shown in FIG. 5 (a). Are arranged almost horizontally. And the inner frame 82 extended in the up-down direction is being fixed to the folding | returning part 81b from the trolley | bogie part 4 side by screw fastening.

  As shown in FIG. 5D, the inner frame 82 is a sheet metal member having a rectangular shape when viewed from the side, and also serves as a cover on the cart unit 4 side of the vehicle body unit 6L having a substantially rectangular parallelepiped shape. ing. The lower side in the vertical direction of the inner frame 82 is a protruding portion 82 c that protrudes downward from the portion attached to the base frame 81. On the other hand, the upper side in the vertical direction is a folded portion 82b that is folded at a right angle with an appropriate length toward the side opposite to the carriage portion 4. A connector (an inter-vehicle body connector 52 or a steering connector 56) is attached to the folded portion 82b. A vehicle body cover 7L is attached to the folded portion 82b.

  The base frame 81 is provided with an outer frame 83 on the side opposite to the side on which the inner frame 82 is mounted and at a position facing the protruding portion 82 c of the inner frame 82. As shown in FIG. 5 (c), the outer frame 83 is a substantially L-shaped sheet metal member extending in the front-rear direction, and the upper side of the substantially L-shaped figure is a folded portion 83b. The folded portion 83 b is attached to the lower surface side of the base frame 81. Further, the opposite side of the substantially L-shape is formed as an overhang portion 83c provided in parallel to face the overhang portion 82c.

  Furthermore, a swing rod frame 84 made of a sheet metal member is attached to a substantially central portion of the upper surface of the base frame 81. The swing rod frame 84 has a folded portion 84d at the lower portion, and both ends of the folded portion 84d are fixed by screws, so that the opposite side stands on the upper surface of the base frame 81. ing. As shown in FIG. 4D, the swinging saddle frame 84 has a substantially trapezoidal shape when viewed from the side of the standing portion. The trapezoidal surface 84b is fixed at a position substantially parallel to the vertical surface of the inner frame 82. The inner frame 82 and the swinging rod frame 84 are respectively formed with coaxially through holes into which outer rings of the ball bearings 26 to be described later can be fitted, at opposite positions. Further, the base frame 81 is provided with a front cover 86 and a rear cover 87, which are formed so that the substantially rectangular parallelepiped exterior can be configured at the front end portion and the rear end portion in the front-rear direction. A substantially L-shaped body part cover 7L is attached so as to cover the upper surface and the outer surface that are not covered by the inner frame 82, the front cover 86, and the rear cover 87, and thus the substantially rectangular parallelepiped. A vehicle body 6L is formed.

  As shown in FIG. 1, the pair of left and right vehicle body portions 6L and 6R has a circular handle hole 7b formed substantially through the center of the outer surface of each of the vehicle body portion covers 7L and 7R. (In the figure, the handle hole 7b on the side of the vehicle body 6R which is the back surface is not shown). Further, in each of the pair of vehicle body portions 6L and 6R, a wire hook 48 which is a plate member having a through hole on the upper end side on the upper side of the center of the inner surface on the cart portion 4 side is set to the lower end. It is attached with. The wire hook 48 has the required strength and length for the structure above the steel pipe and the self-propelled carriage 1 in order to prevent a drop that may occur in the event of use of the self-propelled carriage 1. It is a connecting part used when fixing each other with a rope.

  Here, as shown in FIG. 2 and FIG. 3A, the left and right body parts 6L and 6R are connected to the carriage part 4 by connecting means 21, respectively. Each of the left and right connecting means 21 includes a rocking rod 22 and a rocking link 24, and the vehicle body parts 6L and 6R are arranged with respect to the carriage part 4 so as to face the carriage part 4 in the front-rear direction. It is connected so as to be able to rotate around an axis facing around and in the left-right direction.

  Specifically, as shown in the perspective view of FIG. 2, the swing rod 22 is a plate-like member extending in the front-rear direction, and is disposed on the side of the cart portion 4 of each of the vehicle body portions 6L and 6R. As shown in FIG. 5 (d), the swing rod 22 is formed with a through hole 22 b penetrating in the plate thickness direction at a position that is a central portion in the front-rear direction of the carriage unit 4. As shown in FIG. 5B, the swinging rod support shaft 85 is inserted into the through hole 22b. Then, as shown in FIG. 4B, the both ends of the swing rod support shaft 85 can be rotated around the axis directed in the left-right direction by the inner frame 82 and the swing rod frame 84. Thus, each is supported via a ball bearing 26. Accordingly, the swing rod 22 can swing around the swing rod support shaft 85 in a plane perpendicular to the traveling direction.

On the other hand, as shown in a perspective view in FIG. 2, the swing link 24 is a substantially parallelogram-shaped sheet metal member that is disposed obliquely in the left-right direction, and each of the vehicle body parts 6 </ b> L, 6 </ b> R and the carriage part 4. It is arranged at the position between.
Specifically, the swing link 24 has two front left and right positions in the front-rear direction as shown in FIG. 5A and two rear left and right positions in the front-rear direction as shown in FIG. 5C. They are arranged at a total of four locations. Each swing link 24 is connected to the support frame 5 at its lower end on the side of the carriage 4 so as to be rotatable about its axis by a support pin 24b having an axis facing in the front-rear direction. In addition, each swing link 24 has an end opposite to the side connected to the cart portion 4 at both ends in the front-rear direction of the swing rod 22 and has two vertical positions. They are fastened by screws 24c.

  As a result, the left and right connecting means 21 connect the vehicle body parts 6L and 6R to the carriage part 4 so as to be rotatable around the axis of the support pin 24b facing the front and rear direction with respect to the support frame 5 of the carriage part 4. They are connected to each other so as to be rotatable around the axis of the swinging support shaft 85 facing in the left-right direction. As a result, the self-propelled carriage 1 is a state in which the tread surface of the wheel 10 is, for example, a curved structure body surface such as a steel pipe having a cylindrical surface as the measurement surface S, and the wheel 10 is in close contact with the measurement surface S. Thus, the curved structure can be made to travel in the cylindrical axis direction, for example.

Further, as shown in FIGS. 2 and 3 (a), the self-propelled carriage 1 is tuned so that the vehicle body parts 6L and 6R swing symmetrically with respect to the carriage part 4 via the left and right connecting means 21. Means 30 are further included.
Specifically, as shown in FIGS. 5A and 5B, the carriage unit 4 is provided with a block-shaped guide base 31 at the front part of the side surface of the support frame 5 and at the center in the left-right direction. Yes. The left and right sides of the guide base 31 are fastened to the support frame 5 with set screws, and a through hole 31b facing in the vertical direction (substantially vertical direction) is formed at the center. A guide shaft 32 is fitted in the through hole 31b of the guide base 31, and the lower end of the guide shaft 32 is fixed to the guide base 31 with a set screw 31c from the front side in the front-rear direction. Thereby, the guide shaft 32 is fixed in a state extending in the vertical direction.

  Further, the guide shaft 32 is fitted with a slide piece 34 that can slide along the axial direction. The slide piece 34 has tapped holes on both the left and right sides. A support pin 36b having an axis directed in the front-rear direction is fixed to the left and right tap holes of the slide piece 34, and is connected to the connection pin which is a thin sheet metal member so as to be rotatable around the axis of the support pin 36b. One end of the link 36 is connected. Further, the other end of the connecting link 36 is connected to the upper end portion of the swing link 24 on the side of the carriage portion 4 so as to be rotatable around the axis of the support pin 36c by a support pin 36c having an axis directed in the front-rear direction. Has been. As a result, the left and right vehicle body parts 6L and 6R move so that the degree of inclination with respect to the carriage part 4 is symmetrical with respect to the guide shaft 32.

  Further, as shown in FIG. 5C, the rear side of the carriage unit 4 connects the substantially central part of the oblique side of the swing link 24 and both sides in the left-right direction of the support frame 5, respectively. Biasing springs 38 that are tension springs are provided at two locations. The urging spring 36 applies a required tension in the direction in which the left and right vehicle body portions 6L and 6R are pulled up to the cart portion 4 side, so that the right vehicle body portion 6R and the support frame 5 are changed according to changes in the situation of the running surface. When the left vehicle body portion 6L tries to return from the tilted state to the aligned state, the restoring movement can be made smooth.

  Further, as shown in FIGS. 5 (a) and 5 (b), the support frame 5 is provided with each swing at a position where the left and right vehicle body parts 6 </ b> L and 6 </ b> R are substantially aligned with the carriage part 4. A total of four stoppers 29 are provided at positions where they contact the end surface of the link 24 on the cart unit 4 side. The stopper 29 restricts the amount of movement of the swing link 36 toward the cart unit 4 so that the swing link 36 does not move toward the cart unit 4 rather than being aligned. That is, it can be regulated so that the posture is not excessively inclined toward the carriage unit 4 from the state where the entirety is aligned.

Here, as shown in FIGS. 2 and 3, the pair of vehicle body portions 6L and 6R are equipped with traveling means 9, respectively.
Specifically, as shown in FIG. 2, the traveling means 9 includes a motor 15 and wheels 10. Two wheels 10 are provided for each of the vehicle body portions 6L and 6R, and a total of four wheels 10 are provided on the left and right. Each wheel 10 is disposed on the lower surface side of the base frame 81 and in a region defined by the projecting portion 82c and the projecting portion 83c facing each other. Further, as shown in FIG. 5 (b), the wheels 10 are arranged in a straight line in the vehicle body portions 6 </ b> L and 6 </ b> R with their rolling directions directed in the front-rear direction of the self-propelled carriage 1. Furthermore, the motor 15 is mounted on each vehicle body 6L, 6R for each wheel 10, and each wheel 10 is individually driven by the motor 15 corresponding thereto via a worm reduction mechanism. It has become.

  FIG. 6 is an enlarged view of the wheel portion on the near side of the traveling means 9 as viewed from the direction of the sign A in FIG. Note that the traveling means 9 of the vehicle body portions 6L and 6R both have the same configuration and are provided symmetrically, and two wheels 10 of each of the traveling means 9 of the vehicle body portions 6L and 6R are provided. Since the configuration including the motor 15 and the worm reduction mechanism is the same, in the following description, the wheel portion on the near side of the traveling means 9 on the vehicle body portion 6R side will be described, and the description of the other wheel portions will be omitted. .

  As shown in the figure, through-holes 82d and 83d are formed in the projecting portion 82c and the projecting portion 83c facing each other at positions on the coaxial line facing each other in the left-right direction. In each of the through holes 82d and 83d, a bearing 18 (hereinafter referred to as a “grease-free bearing”) such as a porous oil-impregnated bearing that can be used without grease for a long period of time is fitted. The non-greasy bearing 18 has a flange on one end side, and is fitted in each of the flanges toward the defined region side. Further, the axle 13 is inserted through the through hole of the grease-free bearing 18, and the axle 13 is rotatably supported with respect to the left and right projecting portions 82 c and 83 c via the grease-free bearing 18. A sleeve 14 is fitted on the axle 13 concentrically with the axle 13 at a portion located in the defined area. The sleeve 14 has a large-diameter portion 14d at a substantially central portion in the axial direction, and both sides thereof are formed as small-diameter portions 14s and 14p having a smaller diameter than the large-diameter portion 14d.

The large diameter portion 14d of the sleeve 14 is formed with two taps 14b penetrating in the radial direction at an appropriate interval in the circumferential direction, and a set screw 14c is attached to each tap 14b, whereby an axle is provided. 13 is fixed.
The small diameter portion 14p is formed on the cart portion 4 side, and the wheel 10 is externally fitted to the small diameter portion 14p. The wheel 10 includes an annular neodymium magnet 11 having a strong magnetic force, and two annular wheel plates 12 sandwiching the neodymium magnet 11 from both sides. These annular wheel plates 12 are made of a ferromagnetic metal material. The neodymium magnet 11 and the wheel plate 12 have a through hole having the same diameter at the center thereof and concentrically with the axle 13, and are formed so that a substantially cylindrical sleeve 14 is inserted into the through hole. ing. Each wheel plate 12 is formed with two taps 12b in the radial direction with an appropriate interval in the circumferential direction, and a set screw 12c is attached to each tap 12b and screwed. The sleeve 14 is fixed to the small diameter portion 14p on the cart portion 4 side. Thereby, each wheel 10 can roll along the surface of the outer wall surface of a steel pipe or the like while being magnetically attached to the surface S to be measured. The outer diameter of the two wheel plates 12 is slightly larger than the outer diameter of the neodymium magnet 11.

  On the other hand, the small-diameter portion 14 s is a small-diameter portion on the opposite side to the cart portion 4, and the worm wheel 17 is fitted on the small-diameter portion 14 s concentrically with the axle 13. The worm wheel 17 is also formed with two taps 17b in the radial direction at appropriate intervals in the circumferential direction, and a set screw 17c is attached to each tap 17b and fastened with screws. It is fixed to. The worm wheel 17 is engaged with a worm 16 connected in an axial direction perpendicular to the worm wheel 17 to constitute a worm reduction mechanism (see FIG. 1B). Here, the motor 15 is disposed on the upper surface side of the base frame 81 so as to be positioned above the worm 16. One end of the worm 16 is coaxially connected to the corresponding output shaft of the motor 15 on the lower surface side of the base frame 81 (the connection portion is not shown).

  Here, each motor 15 is a DC motor with a built-in speed reduction mechanism, and each motor 15 is connected to a motor driver (not shown) corresponding to each in the controller 50 so as to be individually drivable. . Each motor driver has a built-in H bridge circuit, and each motor 15 can be made to rotate and stop as desired by appropriately turning on and off the four transistors constituting the H bridge circuit. It has become. Note that when switching the rotation direction, all the transistors are controlled to be OFF for a short time.

  Further, a rotating plate 19 which is a thin disk is coaxially mounted on a portion connecting the output shaft of each motor 15 and one end side of the worm 16. Slits are formed at appropriate intervals in the circumferential direction of the rotating plate 19, and a photo interrupter 20 is provided at a position where the slits can be detected with the detection portions facing each other. This photo interrupter 20 detects the presence or absence of a slit due to the rotation of the rotating plate 19, and is connected so as to be output to the control unit 50 as a pulse signal, whereby each of the vehicle body units 6L and 6R is connected. The rotation state of the wheel 10 can be detected. The rotating plate 19 and the photo interrupter 20 correspond to the rotation state detecting means.

  As shown in FIG. 1, inter-vehicle body connectors 52 are attached to the upper surfaces of the vehicle body portions 6L and 6R, respectively. The inter-vehicle body connectors 52 are electrically connected to each other by a vehicle-to-vehicle cable 54 so that necessary signals can be transmitted and received and electric power can be supplied. Further, a steering connector 56 to which a steering cable 58 is connected is attached to the left vehicle body portion 6L, and each traveling means 9 is connected via a steering cable 58 connected to the steering connector 56. It is electrically connected to the control unit 50. Further, the control unit 50 is connected to the controller 60 via a controller cable 57 that connects between the control unit 50 and the controller 60.

  As shown in FIG. 3B, the controller 60 is connected to the control unit 50 through a controller cable 57 so as to be able to exchange necessary signals. A reset switch 64 is provided on the operation panel surface of the controller 60. , A speed balance adjusting volume 70, a right toggle switch 66R, a left toggle switch 66L, a left indicator lamp 62L, and a right indicator lamp 62R.

The reset switch 64 is wired so that a signal for resetting the number of pulses output from the photo interrupter 20 to the control unit 50 and counted by the counter in the control unit 50 can be output to the control unit 50.
A potentiometer is used for the speed balance adjusting volume 70, and the power to the motor drivers of the left and right body parts 6L and 6R distributes the current to be supplied to each motor driver through the volume 70. Wiring is possible, and the degree of current distribution can be adjusted by the operation of the operator.

  The right toggle switch 66R and the left toggle switch 66L can be switched to three positions: forward, backward, and neutral. The right toggle switch 66R corresponds to the traveling means 9 of the right vehicle body 6R, and the left toggle switch 66L is wired corresponding to the traveling means 9 of the left vehicle body portion 6L. Each toggle switch 66R, 66L can output a signal corresponding to the forward, backward, and neutral positions to the control unit 50. The left indicator lamp 62L and the right indicator lamp 62R are turned off, blinking, or turned on in response to a signal from the control unit 50.

  The control unit 50 includes a power supply unit (not shown) for supplying necessary power to each unit, the above-described motor driver, and a microcomputer. The control unit 50 has a power cord extending from the power source unit, and is wired so that necessary power can be supplied to each unit by plugging the power cord into a 3P outlet of AC 100V. The control unit 50 is provided with an indicator lamp for confirming the supply of power, and the indicator lamp is turned on when the power is supplied.

  The microcomputer of the control unit 50 stores a CPU and a CPU control program in advance in a predetermined area, a CPU for controlling the entire system of the self-propelled carriage 1 based on a predetermined control program (not shown). A ROM for storing the data read from the ROM, the RAM for storing the calculation results necessary for the calculation process of the CPU, and the external device including the controller 60 and the photo interrupter 20 of the self-propelled carriage 1 And an I / F (interface) that mediates data input / output. These are connected to each other via a signal line such as a bus for transferring data so as to be able to exchange data.

Then, the control unit 50 causes the corresponding traveling means 9 to rotate or stop a predetermined amount by a steering control process programmed in advance according to the positions of the right toggle switch 66R and the left toggle switch 66L of the controller 60. The signal to be controlled is output to the corresponding motor driver.
Moreover, the control part 50 controls lighting of both the left and right indicator lamps of the controller 60 by the steering control process. Further, the microcomputer of the control unit 50 can read the information on the amount of decrease in the wall thickness caused by internal corrosion of the steel pipe measured by the sensor 2, and can write and read the read information on the amount of decrease in the data memory. It has become. The microcomputer in the control unit 50 is configured to decode a steering control process execution command programmed in advance and execute the instruction, and the executed command is stored in a program memory. Variables required during the calculation can be read and written in the data memory.

Hereinafter, the steering control process in the control unit 50 will be described with reference to FIG. FIG. 7 is a flowchart of the steering control process.
When the power is turned on, the steering control process in the control unit 50 is executed, and the process proceeds to step S3 as shown in FIG.
In step S3, it is determined whether or not the positions of the right toggle switch 66R and the left toggle switch 66L are both neutral positions. If both are neutral positions (YES), the process proceeds to step S4. If not (NO), the process proceeds to step S5.

In step S4, the output to all the motor drivers of the traveling means 9 is stopped, and the process returns to step S3.
In step S5, it is determined whether one of the positions of the right toggle switch 66R and the left toggle switch 66L is a neutral position. If either one is a neutral position (YES), the process proceeds to step S6. If not (NO), the process proceeds to step S7. In step S6, a predetermined turning steering process is executed, and the process returns to step S3.

  Here, in a predetermined turning steering process, if only the right toggle switch 66R is moved forward or backward, the self-propelled carriage 1 turns to the left, and if only the left toggle switch 66L is moved forward or backward, the self-propelled carriage 1 is Turn to the right. Further, by moving the left toggle switch 66L forward and the right toggle switch 66R backward, the self-propelled carriage 1 can be turned right at a fixed point. By making the toggle switch 66R forward and turning the left toggle switch 66L backward, the self-propelled carriage 1 can be turned left at a fixed point.

  In step S7, it is determined whether or not the positions of the right toggle switch 66R and the left toggle switch 66L are both in the retracted positions. If both are in the retracted positions (YES), the process proceeds to step S8, otherwise. (NO) The process proceeds to step S9. In step S8, a signal for rotating in the reverse direction is output to the motor driver of the corresponding traveling means 9, and the process proceeds to step S10. In step S9, a signal for rotating in the forward direction is output to the motor driver of the corresponding traveling means 9, and the process proceeds to step S10.

  In step S10, a process of individually counting the pulses output from the photo interrupter 20 provided in each traveling means 9 is performed by an internal counter, and the process proceeds to step S11. In step S11, based on the counted pulse value, the difference in pulse corresponding to the amount of rotation of the wheel 10 between the right vehicle body 6R and the left vehicle body 6L is calculated, and the process proceeds to step S12. .

In step S12, it is determined whether or not the actual difference calculated in step S11 is smaller than the first pulse difference value set in advance. If smaller (YES), the process proceeds to step S14, otherwise. (NO) The process proceeds to step S15.
In step S14, the lighting signal of both the left and right indicator lamps is not output (extinguishes), and the process returns to step S3.
In step S15, it is determined whether or not the actual difference calculated in step S11 is positive. If it is positive (YES), the process proceeds to step S16. If not (NO), the process proceeds to step S17.

  In step S16, the absolute value of the actual difference exceeds the preset first pulse difference value, and is larger than the preset second pulse difference value that is larger than the first pulse difference value. When it is small, blink one of the indicators. Further, when the absolute value of the actual difference exceeds the second pulse difference value, a series of processes of turning on one of the indicator lamps is performed, and the process returns to step S3. Here, for example, if the left vehicle body 6L is set as one side, the left left indicator lamp 62L is made to correspond to the controller 60.

  In step S17, when the absolute value of the actual difference exceeds the first pulse difference value and is smaller than the second pulse difference value, a signal for blinking the other indicator lamp is output. Further, when the absolute value of the actual difference exceeds the second pulse difference value, a series of processes of outputting a signal for lighting the other indicator lamp is performed, and the process returns to step S3. Here, if the left vehicle body 6L is set as one of the above, the right vehicle body 6R is set as the other, and the right right indicator light 62R is set so as to correspond to this toward the controller 60. deep.

Here, the first pulse difference value and the second pulse difference value in the present embodiment are set to the number of pulses at which the travel amount difference between the left and right body parts 6L and 6R is 3 mm and the travel amount difference is 8 mm, respectively. is doing. That is, if the travel amount difference is less than 3 mm, the indicator lamp is not turned on. If the difference in travel distance is less than 3 mm and less than 7 mm, the indicator lamp blinks, and if it is 7 mm or more, the indicator lamp is turned on.
Here, the warning display means corresponds to the left and right indicator lamps 62L and 62R and steps S12 to S17 in this steering control process. Further, a speed balance adjusting volume 70 corresponds to the rotation amount difference adjusting means.

  As described above, the self-propelled carriage 1 is configured to be capable of forward and backward steering and stop steering based on the steering control process by a remote operation by the controller 60 with the sensor 2 mounted on the carriage unit 4. Thus, the self-propelled carriage 1 travels in a desired direction along the outer wall of a steel pipe or the like while magnetically adhering to the outer wall surface serving as the surface S to be measured regardless of its upper surface, lower surface, vertical surface, or curved surface. In addition, it is possible to measure the amount of reduction in wall thickness due to internal corrosion of a curved structure such as a steel pipe. Further, the traveling direction can be changed by turning at a fixed point on the outer wall surface.

Next, a method of using the self-propelled carriage for testing equipment 1 and actions / effects will be described.
First, preparation in advance will be described.
First, it is visually confirmed whether or not foreign matter such as a scale is attached to each wheel 10 of the self-propelled carriage 1, and if foreign matter is attached, it is removed using, for example, an adhesive tape, Or it cleans by injecting pressurized air and blowing away.

The controller 50 and the controller 60 are connected by a controller cable 57, and the controller 50 and the left vehicle body 6L are connected by a steering cable 58. Further, the pair of vehicle body portions 6L and 6R are connected by a vehicle body cable 54, and the control unit 50 and the sensor 2 are connected by a main cable 59.
Then, confirm that the left and right toggle switches 66L, 66R for forward / reverse switching of the controller 60 are in the neutral position, and then connect the power cord of the controller 50 to an AC100V 3P outlet equipped with a leakage breaker. Plug in. At this time, if the indicator lamp of the control unit 50 is lit, power is supplied.

  The left and right toggle switches 66L and 66R are operated to check whether or not all the wheels 10 are rotated. When all the wheels 10 are normally rotated, the controller 60 is used for speed balance adjustment in that state. The operation of turning the volume 70 to the left and right is confirmed, and it is confirmed that the rotational speeds of the wheels 10 of the right vehicle body 6R and the left vehicle body 6L change according to the operation. That is, it is confirmed that if the volume 70 is turned to the right, the rotational speed of the right vehicle body portion 6R is reduced, and if it is turned to the left, the rotational speed of the wheels 10 of the left vehicle body portion 6L is reduced.

Next, after the reset switch 64 on the controller 60 is pressed, the left indicator light of the controller 60 is turned when the left toggle switch 66L of the controller 60 is moved forward or backward to rotate the wheel 10 of the left vehicle body 6L. Confirm that 62L is blinking or lit. At this time, it is confirmed that the left vehicle body 6L is ahead.
Similarly, after the reset switch 64 is pressed, when the right toggle switch 66R of the controller 60 is moved forward or backward to rotate the wheel 10 of the right vehicle body 6R, the right indicator lamp of the controller 60 is turned on. Confirm that 62R is blinking or lit. At this time, it is confirmed that the right vehicle body portion 6R is ahead.

Further, after the reset switch 64 is pressed, both the left and right toggle switches 66L and 66R of the controller 60 are moved forward or both moved backward to rotate the wheels 10 of the left and right vehicle body portions 6L and 6R in the same rotational direction. It is confirmed that both the left and right indicator lamps 62L, 62R of the controller 60 are turned off.
Here, when there is a speed difference between the wheels 10 of the left and right body parts 6L and 6R, the indicator lamp on either side starts blinking and then is always lit. At this time, if the volume 70 is turned to the side of the blinking or lit indicator light, the indicator light will eventually turn off, and the indicator light on the opposite side will begin to flash or illuminate. By adjusting the rotational position of the volume 70 while visually confirming that both 62L and 62R are extinguished, the rotational speeds of the wheels 10 of the left and right vehicle body portions 6L and 6R are adjusted to be equal.

Next, a method of using the self-propelled carriage 1 by attaching it to the outer wall surface of the steel pipe 100 as the object to be measured will be described.
First, the sensor 2 is placed in the support frame 5, the sensor fixing wires 2b are hung on the upper surfaces of both ends, and the sensor fixing spring 2c is securely set in the support frame 5.
In order to prevent a drop that may occur in the unlikely event, the structure above the steel pipe 100 and the self-propelled carriage 1 are connected to each other by attaching a rope having a required strength and length to the wire hook 48. Then, sufficient consideration is given so that the self-propelled cart 1 does not fall and crash into the human body, the ground or other equipment.

Next, while holding the entire self-propelled carriage 1 by hand with both fingers placed on the handle holes 7b formed on the outer surfaces of the body cover 7L, 7R of the left and right body parts 6L, 6R. The direction is confirmed and the wheel is adsorbed on the outer wall surface of the steel pipe 100. At this time, all the wheels 10 are adsorbed so as to be in close contact with the wall surface.
Next, the four casters 40 attached to the sensor 2 are all attached to the surface of the steel pipe 100 with a shim having a required thickness T corresponding to a measurement gap between the sensor 2 and the outer wall surface of the steel pipe 100. These attachment screw portions 40b are adjusted with a tool so as to come into contact with each other, and then fixed with caster fixing nuts 46.

Next, the right and left toggle switches 66L and 66R of the controller 60 are operated to move forward or backward as necessary to perform measurement work at a desired position.
Here, if both the left and right toggle switches 66L and 66R are set to the neutral position, the self-propelled carriage 1 stops. If only the right toggle switch 66R is moved forward or backward, the self-propelled carriage 1 turns to the left, and if only the left toggle switch 66L is moved forward or backward, the self-propelled carriage 1 turns to the right. When the self-propelled carriage 1 turns right (turns) at a fixed point, the left toggle switch 66L is moved forward and the right toggle switch 66R is moved backward. Further, when turning left (turning) at a fixed point, the right toggle switch 66R can be moved forward and the left toggle switch 66L can be moved backward (steered).

  When the traveling direction is finely adjusted while the self-propelled carriage 1 is traveling, the adjustment is performed by turning the volume 70 of the controller 60. That is, if the volume 70 is turned to the right, the self-propelled carriage 1 can be finely adjusted to change the course to the right and turn to the left to change the course to the left. Further, when the self-propelled carriage 1 goes straight, after pressing the reset switch 64 of the controller 60 to temporarily turn off the left and right indicator lights 62L and 62R, the volume 70 is set on the side where one of the indicator lights flashes or lights up. Turn the indicator lamp to turn it off, and set the rotation position of the volume 70 to a position where both the indicator lights 62L and 62R do not blink or light up. You can run 1 almost straight.

  Here, while either of the left and right indicator lamps is flashing, it indicates that the travel amount difference between the left and right body parts 6L and 6R after reset is about 4 to 7 mm (3 mm or more and less than 7 mm). During lighting, it indicates that the travel amount difference is 7 mm or more. Further, when both the indicator lamps are turned off, the difference in travel amount between the left and right vehicle body parts 6L and 6R is less than 3 mm, which indicates that the linear travelability is good. However, when a slip occurs between the wheel 10 and the traveling surface, an error occurs between the display state of the indicator light and the amount of movement of the self-propelled carriage 1, so that the steering operation proceeds with the traveling of the self-propelled carriage 1. It is preferable to perform adjustment with the volume 70 while directly confirming the state visually.

After the measurement is completed, both the toggle switches 66L and 66R of the controller 60 are set to the neutral position to stop the self-propelled carriage 1, and then the power cable plug is unplugged from the power outlet. The vehicle body cable 54 and the main cable 59 that connect the right vehicle body 6R and the left vehicle body 6L accommodate the removal device after the power is turned off.
As described above, according to the self-propelled cart 1 for inspection equipment, the cart unit 4 and the pair of vehicle body units 6L and 6R on the left and right sides thereof are provided, and the motor units 15 are provided in the vehicle body units 6L and 6R, respectively. Furthermore, since each of the vehicle body parts 6L and 6R is connected to the carriage part 4 so as to be rotatable by the left and right connecting means 21, the driving force such as a universal joint is applied to the left and right connecting means 21, for example. As described above, the cart unit 4 and the vehicle body units 6L and 6R can be connected to each other by using a relatively simple plurality of links without using any means for transmitting.

  The left and right connecting means 21 connects the vehicle body parts 6L and 6R to the carriage part 4 so as to be rotatable around an axis that faces the front and rear direction of the carriage part 4 and an axis that faces the left and right direction. 5A to 5C, the vehicle body portions 6L and 6R can be inclined with respect to the carriage portion 4 as shown in FIGS. 8 and 9A. it can. Therefore, each wheel 10 can be swung relative to the carriage unit 4. Therefore, the self-propelled carriage 1 can be moved along the surface of the curved structure having a relatively small curvature.

  In particular, according to the self-propelled carriage 1, the left and right vehicle body portions 6L and 6R are combined with the rotation in the front-rear direction and the left-right direction by the left and right connecting means 21, so that FIG. ), It can be swung to a position where it is twisted back and forth relative to the carriage part 4, so that it can be turned (turned) on the surface of the curved structure or the cylindrical surface of the curved structure. It is possible to suitably cope with complicated movements such as traveling at an angle.

  Further, according to the self-propelled carriage 1, the left and right connecting means 21 are swingably connected to the vehicle body portions 6L and 6R around an axis extending in the front-rear direction and having a center portion facing the left-right direction. The rod 22 and a swing link 24 that is rotatably connected to the carriage unit 4 around an axis whose one end faces the front-rear direction and whose other end is connected to the swing rod 22 are configured. Therefore, the cart unit 4 and the vehicle body units 6L and 6R can be connected so that the wheels 10 can be swung with a relatively simple configuration.

Further, according to the self-propelled carriage 1, the left and right connecting means 21 are connected to each other via the tuning means 30 that moves the vehicle body parts 6L and 6R symmetrically with respect to the carriage part 4, so that the steel pipe The facing direction of the carriage unit 4 with respect to 100 measurement surfaces S can be stabilized. Therefore, the measurement posture of the sensor 2 mounted on the carriage unit 4 can be stabilized.
The tuning means 30 includes a guide shaft 32 extending in the vertical direction of the carriage unit 4 at the center in the left-right direction of the carriage unit 4, a slide piece 34 slidably movable along the guide shaft 32, A pair of connecting links 36 each having one end rotatably connected to the slide piece 34 and the other end rotatably connected to the swing link 24 of the left and right connecting means, and the vehicle body portions 6L and 6R. Since the urging spring 38 is urged toward the cart unit 4 side, the tuning means can be configured with a relatively simple configuration.

  Moreover, according to this self-propelled cart 1, the cart unit 4 has a plurality of casters 40 facing the surface to be measured S of the steel pipe 100, which is a curved structure, as shown in FIG. In addition, since the plurality of casters 40 can be adjusted to a position that maintains the required gap T between the steel pipe 100 and the sensor 2, the sensor 2 or the carriage unit 4 can be brought into contact with the measured surface S of the steel pipe 100. The required gap T can be set so as not to occur. For example, the relative position with respect to the surface of the steel pipe 100 required for the sensor 2 can be set as the required gap T.

  Further, according to the self-propelled carriage 1, the rotation state of the wheel 10 for each vehicle body 6L, 6R can be detected by the rotating plate 19 and the photo interrupter 20, and the control unit 50 The controller 60 is provided with a left indicator lamp 62L and a right indicator lamp 62R that display the difference in rotation amount between the wheels 10 of the vehicle body portions 6L and 6R so as to be visible based on the information on the rotation state of the vehicle. A person can visually determine a difference in rotation amount between the wheels 10 of the vehicle body portions 6L and 6R. Then, the operator can adjust the left indicator lamp 62L and the right indicator lamp 62R with the speed balance adjustment volume 70 of the controller 60 so as to reduce the difference in the rotation amount, so that more stable running is achieved. Making it possible.

  In fact, when the steel pipe (diameter 500 mm) was inspected over a width of 10 m using the above-mentioned self-propelled carriage 1, in the conventional manual inspection, 2 days for the installation of the scaffold, 1 day for the inspection, It took 4 days to dismantle, but as a result of inspection using this self-propelled carriage 1, it was not necessary to install a scaffold, and the surface of the steel pipe 100 having a relatively small diameter of 500 mm was covered. While the measurement surface S was moved on the measurement surface S in a desired direction, the amount of reduction in wall thickness due to internal corrosion or the like could be measured. In addition, the number of inspection days is only 0.5 days, and the required inspection can be performed only by taking a total of 0.5 days, and the cost and time required for the inspection are greatly reduced compared to the conventional method. It was confirmed.

As described above, according to the self-propelled carriage 1, each wheel can be swung with a relatively simple configuration, and the surface of the curved structure having a relatively small curvature can be moved.
In addition, the self-propelled cart for inspection equipment according to the present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention.
For example, in the above embodiment, even when a difference in rotation amount between the wheels 10 of the left and right vehicle body parts 6L and 6R occurs, the operator determines the difference in rotation amount between the wheels 10 of the vehicle body parts 6L and 6R. The configuration example that can be reduced with the volume for adjusting the speed balance of the controller 60 while observing the left indicator lamp 62L and the right indicator lamp 62R that display the difference in the rotation amount of the controller 60 has been described, but is not limited thereto. It is not a thing. For example, the warning display means has been described by taking a visible indicator light as an example. For example, the warning display means may be configured to display a warning that can be recognized by the operator by a warning sound or vibration. it can.

Further, in the example of the above embodiment, the operator himself has been described with the configuration example in which the difference in the rotation amount between the wheels 10 is adjusted. For example, the difference is reduced in the steering control process in the control unit 50. It can be set as the structure controlled in this way.
That is, as described below, the speed balance adjustment volume of the controller 60 is configured to be referred to in the steering control process in the control unit 50, and the adjustment corresponding to the speed balance adjustment volume is performed in the steering control process. By executing this, it is possible to automatically correct the difference in rotation amount between the wheels 10 of the left and right vehicle body parts 6L and 6R.

  FIG. 11 is a flowchart of the steering control process when the volume is provided so as to be controllable by the control unit 50. The example shown in the figure is different from the steering control process shown in FIG. 7 in that steps S1, S2, and S13 are further provided and steps S26 and S27 are provided instead of steps S16 and S17. In addition, the same code | symbol is attached | subjected to the step in which the same process is made, and the description is abbreviate | omitted.

  In this example of the steering control process, the volume for adjusting the speed balance is wired so that a signal corresponding to the position in the rotation direction can be output to the control unit 50. As shown in FIG. Is executed, the process proceeds to step S1, the signal input corresponding to the volume position of the controller 60 is read, and the process proceeds to step S2. In step S2, the volume of the volume read in step S1 is read. A signal to be output is set according to the position, and the process proceeds to step S3. Here, as the signal to be output according to the position of the volume is rotated to the right (clockwise) with reference to the center position of the volume, the rotational speed of the right vehicle body portion 6R becomes slower and left (counterclockwise). The control signal is set so that the rotation speed of the wheel 10 of the left vehicle body portion 6L becomes slower as the rotation is turned, and the set signal is output to the motor driver.

Hereinafter, Step S3 to Step S12, Step S14, and Step S15 are the same as the processing in the above embodiment. Note that the migration destination in the determination (YES) in step S12 is read as step S13, and the migration destination in steps S4, S6, and S14 is read as step S1. Further, the transition destination in each determination in step S15 is read as step S26 and step S27, respectively.
In step S13, the output signal up to that time is continuously output without correcting the difference between the left and right rotation amounts, and the process proceeds to step S14.

  In step S26, a signal is output so that the motor driver of one vehicle body is delayed by an amount corresponding to the preceding pulse, and the absolute value of the actual difference exceeds the first pulse difference value. Further, when it is smaller than the second pulse difference value larger than the first pulse difference value, one of the indicator lamps is blinked. Further, when the absolute value of the actual difference exceeds the second pulse difference value, a series of processes for turning on one of the indicator lamps is performed, and the process returns to step S1.

In step S27, a signal is output so that the motor driver of the other vehicle body is delayed by an amount corresponding to the preceding pulse, and the absolute value of the actual difference exceeds the first pulse difference value. If it is smaller than the second pulse difference value, the other indicator lamp is blinked. Furthermore, when the absolute value of the actual difference exceeds the second pulse difference value, a series of processes for turning on the other indicator lamp is performed, and the process returns to step S1. In addition, one side and the other in step S26 and step S27 correspond to the vehicle body portions 6L and 6R, respectively. Here, steps S10 to S27 in the steering control process correspond to the rotation amount difference correction means.
In this way, by the steering control process in the control unit 50, the rotation amount difference correction control is performed to correct the difference in the rotation amount between the wheels 10R of the right vehicle body portion 6R and the left vehicle body portion 6L. can do.

  Further, for example, in the above-described embodiment, the left and right connecting means 21 are swingable rods 22 that extend in the front-rear direction and that are pivotally connected to the vehicle body parts 6L, 6R around an axis whose central part faces the left-right direction. And an oscillating link 24 having one end pivotably connected to the carriage unit 4 about an axis facing the front-rear direction and the other end coupled to the oscillating rod 22. As described above, the present invention is not limited to this, and any appropriate link may be used as long as each vehicle body portion is connected to the carriage portion so as to be rotatable around an axis that faces the front and rear direction of the carriage portion and an axis that faces the left and right direction. The left and right connecting means can be configured by the mechanism. However, in order to connect the cart unit 4 and the vehicle body units 6L and 6R so that the wheels 10 can swing with a relatively simple configuration, it is preferable to configure the left and right coupling means as illustrated above. .

  In the above-described embodiment, the left and right connecting means 21 are described as being connected to each other via the tuning means 30 that moves the vehicle body parts 6L and 6R symmetrically with respect to the carriage part 4. However, the present invention is not limited thereto, and may be configured without the tuning means as exemplified above. However, in order to stabilize the facing direction of the carriage unit with respect to the surface to be measured and further stabilize the measurement posture of the inspection device mounted on the carriage unit, it is preferable to have a configuration having the tuning means as exemplified above. .

Further, the configuration of the tuning means is not limited to the configuration exemplified above, and the tuning means can be configured by an appropriate link mechanism. However, in configuring the tuning means with a relatively simple configuration, it is preferable to configure the tuning means by connecting the left and right connecting means as illustrated above.
Moreover, in the said embodiment, although the trolley | bogie part demonstrated in the example which has a caster, it is not limited to this, It is good also as a structure which does not have a caster. Moreover, even if it has a caster, it is not limited to multiple, For example, it is good also as a structure which has only one caster. However, in order to make it possible to set the relative position so that the inspection device or the carriage unit does not come into contact with the surface of the curved structure, as illustrated above, a plurality of parts directed toward the surface facing the surface of the curved structure. It is preferable to have a structure having casters.

  Even when a caster is provided, a fixed type caster that does not have an adjustment mechanism may be used. However, in the configuration in which the gap between the object necessary for the inspection device can be set to a relative position as a required gap, as illustrated above, the direction in the direction facing the surface of the curved structure A caster having a configuration capable of adjusting the gap between the curved structure and the inspection device is preferable.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining one Embodiment of the self-propelled cart for inspection devices concerning the present invention, and the figure has shown the figure which looked at the whole self-propelled cart for inspection devices from the slanting upper part. It is explanatory drawing shown by the figure which saw through a part in the perspective view shown in FIG. It is a figure explaining schematic structure of the self-propelled trolley | bogie shown in FIG. 1, The same figure (a) has shown the schematic structure of the whole trolley | bogie in the block diagram, The same figure (b) shows the operation surface part of the controller. Show. It is a figure explaining the trolley | bogie part of the self-propelled trolley | bogie shown in FIG. 1, In the same figure, only the trolley | bogie part is illustrated, The same figure (a) is the top view, (b) is the front view, (C) is a right side view. It is a figure explaining the self-propelled trolley | bogie shown in FIG. 1, The figure (a) is the front view, (b) is a top view, (c) is the figure seen from the back, (d) is a left side view It is the figure seen from. The wheel part of the near side of the travel means seen from the code | symbol A direction in FIG. 2 is expanded and shown. It is a flowchart of a steering control process. It is a figure explaining the effect | action of the self-propelled carriage for test | inspection apparatuses shown in FIG. 1, The same figure (a) shows the front view in the state mounted in the surface of a curved-surface structure, and the same figure (b). Fig. 1 shows a view from the back side. It is a perspective view explaining the effect | action of the self-propelled carriage for test | inspection apparatuses shown in FIG. 1, The figure (a) shows the state which the left-right vehicle body part inclined and opened in the reverse C-shape, b) shows a state in which the left and right body parts have moved to the twisted position. It is a figure explaining the effect | action of the caster part of the self-propelled carriage for test | inspection apparatuses shown in FIG. 1, In the same figure, the state mounted in the surface of the curved-surface structure is shown. It is a flowchart of the other example of a steering control process.

Explanation of symbols

1 (For inspection equipment) Self-propelled cart 2 Ultrasonic thickness sensor (Inspection equipment)
4 Carriage part 5 Support frame 6L, 6R Car body part 7L, 7R Car body part cover 8S, 8U Car body part frame 9 Traveling means 10 Wheel 11 Neodymium magnet 12 Wheel plate 13 Axle 14 Sleeve 15 Motor 15 Motor 16 Warm 17 Warm wheel 18 Grease-free bearing 19 Rotating plate 20 Photo interrupter 21 Connecting means 22 Oscillating rod 24 Oscillating link 26 Ball bearing 29 Stopper 30 Synchronizing means 31 Guide base 32 Guide shaft 34 Slide piece 36 Connecting link 38 Energizing spring 40 Caster 42 Caster mounting base 44 Mounting base Nut 46 Caster fixing nut 48 Wire hook 50 Control unit 52 Car body connector 54 Car body cable 56 Steering connector 58 Steering cable 57 Controller cable 59 Main cable 60 Controller 62L, 62R Indicator lamp 64 Reset switch 66L, 66R Toggle switch 70 Volume 81 Base frame 82 Inner frame 83 Outer frame 84 Oscillating rod frame 85 Oscillating rod support shaft 86 Front cover 87 Rear cover 100 Steel pipe (curved surface structure)
S surface to be measured T required clearance

Claims (5)

In a self-propelled carriage mounted with an inspection device for inspecting the state of a curved structure having ferromagnetism and traveling along the surface of the curved structure,
A carriage part on which the inspection device is mounted, a pair of vehicle body parts respectively disposed on the left and right sides of the carriage part, a motor mounted on each vehicle body part and driven by the motor, and the curved structure surface The vehicle means that has wheels that are magnetically attached to each other and that can roll along the surface thereof, and each vehicle body part with respect to the carriage part is rotated around an axis that faces the front and rear direction of the carriage part and an axis that faces the left and right direction, respectively. And left and right connecting means for connecting ,
The left and right connecting means include a swing rod that extends in the front-rear direction and that is pivotally connected to the vehicle body about an axis that is centered in the left-right direction, and a carriage that is connected around the axis whose one end is in the front-rear direction. A swing link that is pivotably connected and the other end is connected to the swing rod, respectively,
A guide shaft extending in the vertical direction of the carriage unit in the left-right direction center of the carriage unit, a slide piece slidably movable along the guide shaft, and one end thereof are rotatably connected to the slide piece. And a pair of connecting links whose other ends are rotatably connected to the swing links of the left and right connecting means, and an urging spring for urging each vehicle body portion toward the carriage portion side. A self-propelled bogie for inspection equipment, comprising a tuning means configured to swing each vehicle body portion symmetrically with respect to the bogie portion . The carriage unit has a plurality of casters arranged to face the surface of the curved structure, and the plurality of casters are provided between the curved structure in the facing direction and the mounted inspection device. The self-propelled cart for inspection equipment according to claim 1, further comprising an opposing gap adjusting means for adjusting the gap . A plurality of rotation state detection means for detecting the rotation state of the wheel for each vehicle body part, and a display for warning the deviation of each vehicle body part in the traveling direction based on the rotation state information from each rotation state detection means The inspection according to claim 1 , further comprising: warning display means for performing the adjustment, and a rotation amount difference adjusting means for adjusting a difference in rotation amount between the wheels of each vehicle body part. Self-propelled cart for equipment. Based on a plurality of rotation state detection means for detecting the rotation state of the wheel for each vehicle body part and information on the rotation state from each rotation state detection part, the difference in rotation amount between the wheels of each vehicle body part is reduced. The self-propelled cart for inspection equipment according to any one of claims 1 to 3, further comprising: a rotation amount difference correction unit that corrects the rotation amount so as to correct the rotation amount . The self-propelled cart for inspection equipment according to any one of claims 1 to 4 , wherein the inspection equipment to be mounted is an ultrasonic thickness sensor .

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