JP5481271B2 - Structure inspection device - Google Patents

Description

  The present invention relates to a structure inspection apparatus for photographing and inspecting a part of a structure that is difficult to be visually inspected directly, such as a lower surface of a bridge or the like, or a floor under a building or the like.

  In recent years, deterioration of strength has become a problem with the aging of bridges and structures. For example, many existing bridges were built during the high growth period from the 1950s to the 1973s. These bridges need to be replaced and reinforced.

  For such bridges, it is necessary to conduct periodic inspections every few years, and work is being carried out to create and update bridge management charts during inspections. However, in the inspection of bridges, it is necessary to inspect parts that are difficult to visually inspect, such as floor slabs, bridge girders, bearings and piers on the lower side of the bridge, and installation facilities such as water pipes installed in the space between the bridge girders. Therefore, large-scale facilities such as a truck crane and an inspection scaffold were necessary for the inspection work.

  Such large-scale equipment takes a long working day and has a large inspection cost. Therefore, an inspection device for photographing an inspection portion using a photographing camera has been proposed. For example, in Patent Document 1, a horizontal arm is arranged below an object to be inspected via a vertical rod attached to an inspection carriage so as to be movable up and down, and a photographic camera is mounted on a holding arm standing on a traveling carriage that runs on the horizontal arm. And an inspection device for photographing the inspection location on the lower surface of the inspection object by rotating the holding arm and rotating the photographing camera in the vertical direction to set the photographing direction. Further, in Patent Document 2, an articulated movable arm configured to be changeable in three axial directions of the X axis, the Y axis, and the Z axis is attached to the vehicle body, and the structure is constituted by a photographing device mounted on the tip of the movable arm. An inspection device for photographing the lower surface of an object is described.

JP 2009-275385 A JP 2008-020426 A

  In Patent Document 1, the vertical rod connects the split rod members to set the length in the vertical direction, and the vertical rod can be moved in the vertical direction by the lifting winch to adjust the height. The rod is rotated to adjust the position of the horizontal arm. However, since this vertical rod position adjustment is performed manually, it is difficult to accurately position the vertical rod, and it is necessary to reduce the weight of the vertical rod so that it can be manually operated. There is a problem that cannot be done.

  In Patent Document 2, an articulated movable arm that can be changed in three axis directions is operated hydraulically or electrically to position an imaging device. However, the movable arm has a large number of joint portions and a complicated structure. The weight is also heavy, and there are difficulties in performing an accurate operation.

  SUMMARY OF THE INVENTION An object of the present invention is to provide an inspection device that can accurately position a photographing camera that captures an image of an object under inspection and that can perform inspection work efficiently and safely. .

The structure inspection apparatus according to the present invention is fixed to a rod member that is held in the vertical direction on the side of the inspection object and a mounting portion fixed to a lower end portion of the rod member, and is below the inspection object. An extending arm member, a photographing means for photographing an inspection object from below by a photographing camera attached to the arm member, a guiding means for guiding the rod member to be movable only in the axial direction, The tip part is fixed to the mounting part , the rod member is held by a wire stretched along the axial direction of the rod member, and the raising / lowering position of the arm member is set by adjusting the length that the wire is fed out. a lifting means for, by rotating the rod member about an axis and a pivoting means for setting the pivot position of the arm member, said rod member, combining a plurality of divided rod members Characterized in that the guide rollers are mounted so that a gap of a predetermined distance is formed between the outer and inner peripheral surfaces of the outer split rod member inside the split rod member with a stretchable structure.

  The present invention has the above-described configuration, so that the rod member that is held in the vertical direction and is movable only in the axial direction is moved up and down by its own weight based on the feeding length of the wire, and the arm member is moved up and down. The position can be set accurately. In addition, the swiveling means can rotate the rod member around the axis to accurately set the swiveling position of the arm member, and by accurately setting the raising and lowering position and swiveling position, the photographing camera attached to the arm member can be set. Position accuracy can be increased.

  In addition, since the position of the photographing camera can be set by remote control using the elevating means and the turning means, it is possible to efficiently and safely perform the inspection work when inspecting structures such as bridges.

It is a front view regarding the embodiment concerning the present invention. It is a partially expanded front view regarding the action | operation mechanism for performing the raising / lowering operation | movement and rotation operation | movement of a vertical rod. It is a partial enlarged plan view regarding the action mechanism for performing the raising / lowering operation | movement and rotation operation | movement of a vertical rod. It is AA sectional drawing of FIG. It is BB sectional drawing of FIG. It is a front view regarding the vertical rod of the extended state. It is a front view regarding the vertical rod of the shortened state. It is an enlarged view regarding the guide roller part of the front end side in the shortened state shown in FIG. It is AA sectional drawing of FIG. 8, BB sectional drawing, CC sectional drawing, and DD sectional drawing. It is an enlarged view regarding the guide roller part of the rear end side in the shortened state shown in FIG. It is HH sectional drawing of FIG. 10, GG sectional drawing, FF sectional view, and EE sectional drawing.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are preferable specific examples for carrying out the present invention, and thus various technical limitations are made. However, the present invention is particularly limited in the following description. Unless otherwise specified, the present invention is not limited to these forms.

  FIG. 1 is a front view of an embodiment according to the present invention. The inspection device includes an inspection carriage 2 installed on the upper surface of an inspection object 1 such as a bridge, a carriage column 3 provided on the inspection carriage 2, a mounting arm 4 horizontally supported by the carriage column 3, and an upper and lower sides of the installation arm 4. The suspension rod 5 attached along the direction, the horizontal arm 6 attached along the horizontal direction to the lower end of the vertical rod 5, the traveling carriage 7 attached so as to be able to run in the longitudinal direction of the horizontal arm 6, and the traveling carriage 7 is provided with a photographing camera 8 attached thereto.

  The inspection cart 2 has a free caster attached to the bottom surface, and can be self-propelled by hand. Further, after the inspection carriage 2 is moved to a predetermined position, the entire inspection carriage 2 is jacked up so that the inspection carriage 2 is not moved at a position where inspection work is performed.

  A shaft support member 10 is erected on the upper surface of the inspection carriage 2, and the carriage column 3 is pivotally supported on the shaft support member 10 so as to be rotatable. Then, during the inspection work, the carriage column 3 is rotated and fixed in an upright state, and when the inspection device is transported, the carriage column 3 is rotated sideways and stored. The carriage column 3 includes a telescopic column that can be expanded and contracted in the vertical direction. By manually rotating the handle 11 of the lifting mechanism attached to the carriage column 3, the expansion column is moved up and down to attach the mounting arm 4. The height position of can be adjusted.

  An arm holding unit 12 is fixed to the upper part of the telescopic column of the carriage column 3, and the mounting arm 4 is supported between two pairs of guide rollers pivotally supported by the arm holding unit 12 so as to be movable in the horizontal direction. ing. Rack teeth are linearly attached to the attachment arm 4 along the longitudinal direction, and a drive gear and a drive motor are attached to the arm holding unit 12. Then, by driving the drive motor with the rack teeth meshed with the drive gear, the mounting arm 4 can be moved in the horizontal direction to adjust the horizontal position.

  2 and 3 are a partially enlarged front view and a plan view relating to an operating mechanism for performing the raising and lowering operation and the rotating operation of the vertical rod 5. A fixed frame 13 is attached to the tip of the attachment arm 4. The fixed frame 13 is formed in a frame shape through which the vertical rod 5 can pass, and a part of the outer peripheral portion is fixed to the distal end portion of the mounting arm 4 with screws.

  The upper portion of the fixed frame 13 is formed in a planar shape, and an extending portion 14 is formed by projecting a part of the outer peripheral edge portion outward. A drive motor 15 is attached and fixed to the lower surface of the extended portion 14. A drive shaft of the drive motor 15 penetrates the extended portion 14 and protrudes upward, and a drive gear 16 is fixed to the protruding portion.

  4 is a cross-sectional view taken along line AA in FIG. A movable frame 18 is rotatably mounted on the fixed frame 13 via an annular coupling mechanism 17 composed of ball bearings. The movable frame 18 is formed in the shape of a frame through which the vertical rod 5 can pass, similarly to the fixed frame 13, and an annular spur gear 19 is fitted on the outer periphery thereof. The tooth row formed on the outer peripheral edge of the spur gear 19 is set to mesh with the drive gear 16. Therefore, the movable frame 18 can be rotated by driving the drive motor 15 to rotate.

  A support frame 20 is erected on the upper surface of the movable frame 18 and fixed by screws. The support frame 20 is a cylindrical body having a rectangular cross section, and is formed so that the vertical rod 5 can pass therethrough. Two pairs of guide rollers 21 are pivotally supported inside the support frame 20, and the vertical rods 5 are sandwiched from both sides by each pair of guide rollers 21, so that they are vertically moved (the axial direction of the vertical rods 5). Is only movable.

  The central axis of the vertical rod 5 is supported by the guide roller 21 so as to coincide with the rotation center of the movable frame 18, and the vertical rod 5 rotates about the central axis by rotating the movable frame 18. It becomes like this. Therefore, the horizontal arm 6 attached to the lower end of the vertical rod 5 turns around the central axis of the vertical rod 5 by the turning operation of the movable frame 18.

  An elevating winch 22 is attached and fixed to the side surface of the support frame 20, and a wire 23 that supports the vertical rod 5 is extended downward from the elevating winch 22. FIG. 5 is a cross-sectional view taken along the line BB of FIG. The wire 23 drawn out from the lifting winch 22 is attached to a guide groove 21a formed in the central portion of the shaft of the lower guide roller 21 so as to be drawn downward along the axial direction of the vertical rod 5. Is set. And the lower end part of the wire 23 is being fixed to the attachment hole 24a formed in the attachment part 24 fixed to the lower end part of the vertical rod 5, and when the vertical rod 5 is set so that it may follow an up-down direction. The weight of the vertical rod 5 is applied to the wire 23 so that the wire 23 is stretched along the side surface of the vertical rod 5. Therefore, the vertical rod 5 is set in a state of being suspended by the wire 23. A mounting frame 25 of the horizontal arm 6 is fixed to the mounting portion 24 at the lower end of the vertical rod 5 by screws. The horizontal arm 6 is inserted into the mounting frame 25 and fixed along the horizontal direction. It is like that.

  The vertical rod 5 is supported by the guide roller 21 so as to be movable only in the vertical direction (the axial direction of the vertical rod), and the wire 23 for suspension is stretched along the vertical direction. When the length of the wire 23 that is fed out is adjusted by rotating the drive motor, the lower end position of the vertical rod 5 is moved up and down so that the height can be adjusted accurately and attached to the lower end of the vertical rod 5. The horizontal arm 6 is also interlocked so that the elevation position can be accurately adjusted.

  FIG. 6 is a front view of the vertical rod 5 in an extended state, and FIG. 7 is a front view of the vertical rod 5 in a shortened state. The vertical rod 5 is configured by combining five divided rods 51 to 55, and each divided rod is formed in a cylindrical shape with a rectangular cross section. The split rods 51 to 55 are set so as to increase in size from the split rod 51 on the front end side to the split rod 55 on the rear end side. The split rod 51 is formed so as to be housed in the split rod 52. Similarly, the split rod 52 is configured to be stored in the split rod 53, the split rod 53 is configured to be stored in the split rod 54, and the split rod 54 is configured to be stored in the split rod 55.

  Therefore, as shown in FIG. 6, the vertical rod 5 is expanded and contracted by setting the extended state in which each divided rod is pulled out and the shortened state in which each divided rod is accommodated as shown in FIG. 7. be able to. Further, in the state where each split rod is housed, it is set so that a gap of a predetermined interval is generated between the outer peripheral surface of the inner split rod and the inner peripheral surface of the outer split rod. The vertical rod 5 can be smoothly expanded and contracted by being maintained by a guide roller which will be described later.

  FIG. 8 is an enlarged view of the guide roller portion on the distal end side in the shortened state shown in FIG. 9 is a cross-sectional view taken along the line AA in FIG. 8 (FIG. 9A), a cross-sectional view taken along the line BB in FIG. 8 (FIG. 9B), and a cross-sectional view taken along the line CC in FIG. c)) and DD sectional drawing of FIG. 8 (FIG.9 (d)).

  The guide roller on the front end side is attached to the outer surface of the split rod. A pair of guide rollers 55a and 55b are fixed to the opposite narrow side surfaces at the tip of the outermost split rod 55, and a pair of guide rollers 55c and 55d are fixed to the opposite wide side surfaces.

  The guide rollers 55a and 55b include a fixed shaft 551 attached to a support plate 550 fixed to the narrow side surface and a pair of roller bodies 552 that are rotatably supported by the fixed shaft 551. The roller body 552 is disposed so as to protrude inward from an opening formed by cutting out the front end portion of the split rod 55 on the rear end side and to contact the outer surface of the split rod 54.

  The guide rollers 55c and 55d include a fixed shaft 554 attached to a support plate 553 fixed to the wide side surface and a pair of roller bodies 555 that are rotatably supported by the fixed shaft 554. The roller body 555 is disposed so as to protrude inward from a pair of openings drilled in the distal end portion of the split rod 55 and to come into contact with the outer surface of the split rod 54.

  As described above, the guide rollers 55a to 55d attached to the four outer surfaces of the split rod 55 are set in contact with the outer surface of the inner split rod 54 from four directions. The split rod 54 can stably move in the axial direction in a state where a predetermined gap is formed between the surface and the inner peripheral surface of the split rod 55.

  Four guide rollers 54 a to 54 d having the same structure as that of the split rod 55 are attached to the outer surface of the split rod 54, and a predetermined gap is provided between the outer peripheral surface of the inner split rod 53 and the inner peripheral surface of the split rod 54. The guide rollers are rotated in accordance with the axial movement of the dividing rod 53, and a stable and smooth movement can be performed. Also, four guide rollers 53 a to 53 d having the same structure are attached to the outer surface of the split rod 53, and a predetermined gap is provided between the outer peripheral surface of the inner split rod 52 and the inner peripheral surface of the split rod 53. The guide rollers are rotated along with the movement of the dividing rod 52 in the axial direction, and stable and smooth movement can be performed. Also, four guide rollers 52 a to 52 d having the same structure are attached to the outer surface of the split rod 52, and a predetermined gap is provided between the outer peripheral surface of the innermost split rod 51 and the inner peripheral surface of the split rod 52. It is set in a state in which a gap is formed, and each guide roller rotates with the movement of the dividing rod 51 in the axial direction, so that stable and smooth movement can be performed.

  When the vertical rod 5 is shortened, the support plates 520 to 550 fixed to the distal ends of the split rods 52 to 55 come into contact with the distal ends of the outer split rods and serve as stoppers. The split rods 52 to 54 are not inserted.

  Stopper pins 526 to 556 are attached to the support plates 520 to 550, and the tip ends of the stopper pins 526 to 556 protrude inside the split rods 52 to 55. When the vertical rod 5 is extended, a locking portion (not shown) fixed to the outer surface of the rear end side of the split rods 51 to 54 is caught by the stopper pins 526 to 556, and the split rods 51 to 54 are not pulled out. It is like that.

  FIG. 10 is an enlarged view of the guide roller portion on the rear end side in the shortened state shown in FIG. 11 is a cross-sectional view taken along the line H-H in FIG. 10 (FIG. 11A), a cross-sectional view taken along the line GG in FIG. 10 (FIG. 11B), and a cross-sectional view taken along the line FF in FIG. It is EE sectional drawing (FIG.11 (d)) of c)) and FIG.

  The guide roller on the rear end side is attached so as to contact the inner side surface of each split rod. A pair of mounting plates 51e is fixed to the rear end portion of the innermost split rod 51 at the end portions of the opposing wide side surfaces. The pair of mounting plates 51e are formed in a substantially rectangular shape, the front end side is fixed to the split rod 51, and the rear end side is extended, and in the extended portion, the interval between the mounting plates 51e is reduced inward. It is formed in a stepped shape. A pair of guide rollers 51f and 51g are attached to the narrow side surface between the pair of attachment plates 51e, and a pair of sliding bodies 51h are fixed to the wide side surface of each attachment plate 51e.

  The guide rollers 51f and 51g are provided with a rotation shaft 516 that is bridged and fixed between the mounting plates 51e, and a pair of roller bodies 517 that are rotatably supported by the rotation shaft 516. 517 is disposed so as to protrude outward from the narrow side surface of the split rod 51 and to come into contact with the inner peripheral surface of the split rod 52. The sliding body 51h is fixed to the outer surface of the mounting plate 51e, and is disposed so as to be in sliding contact with the inner peripheral surface of the split rod 52.

  A pair of guide rollers 51f and 51g and a pair of sliding bodies 51h are attached to the rear end side of the split rod 51 so as to correspond to the four outer faces, and are set in a state of being in contact with the inner face of the outer split rod 52 from four directions. Therefore, a predetermined gap is formed between the outer peripheral surface of the split rod 51 and the inner peripheral surface of the split rod 52. As described above, since the split rod 51 is supported by the guide rollers 52a to 52d at the distal end side of the split rod 52, the split rod 51 is supported by the guide rollers at both ends and moves stably in the axial direction. Will be able to.

  A pair of mounting plates 52e is also fixed to the rear end side of the split rod 52 in the same manner as the split rod 51. The mounting plate 52e has a pair of guide rollers 52f and 52g and a pair of slides corresponding to the four outer surfaces. The moving body 52h is attached and set to a state in which the moving body 52h is in contact with the inner surface of the outer split rod 53 from four directions. Therefore, a predetermined gap is formed between the outer peripheral surface of the split rod 52 and the inner peripheral surface of the split rod 53, and as described above, the split rod 53 is guided by the guide rollers 53a to 53d on the distal end side of the split rod 53. 52 is supported, the split rod 52 is supported by the guide rollers at both end sides and can move stably in the axial direction.

  A pair of mounting plates 53e are also fixed to the rear end side of the split rod 53 in the same manner as the split rod 51. The mounting plate 53e has a pair of guide rollers 53f and 53g and a pair of slides corresponding to the four outer surfaces. The moving body 53h is attached, and is set in a state in which the moving body 53h is in contact with the inner side surface of the outer divided rod 54 from four directions. Therefore, a predetermined gap is formed between the outer peripheral surface of the split rod 53 and the inner peripheral surface of the split rod 54, and as described above, the split rods are guided by the guide rollers 54 a to 54 d on the distal end side of the split rod 54. Since 532 is supported, the split rod 53 can be stably moved in the axial direction by being supported by the guide roller at both ends.

  A pair of mounting plates 54e is also fixed to the rear end side of the split rod 54 in the same manner as the split rod 51. The mounting plate 54e has a pair of guide rollers 54f and 54g and a pair of slides corresponding to the four outer surfaces. The moving body 54h is attached and set in a state in which the moving body 54h is in contact with the inner surface of the outer split rod 55 from four directions. Therefore, a predetermined gap is formed between the outer peripheral surface of the split rod 54 and the inner peripheral surface of the split rod 55, and as described above, the split rod 55 is guided by the guide rollers 55a to 55d on the distal end side of the split rod 55. Since 54 is supported, the split rod 54 is supported by the guide rollers at both end sides and can move stably in the axial direction.

  A rod-like stopper 55f is inserted into the insertion hole 55e formed on the rear end side of the split rod 55 so as to penetrate the split rod 55 and protrudes outward. The stopper 55f is supported by the support frame 20. To prevent the split rod 55 from coming off.

  As described above, the vertical rod 5 is configured to extend or contract by pulling out or inserting the split rods 51 to 55, and smoothly extends and contracts by the guide rollers attached to both ends of the split rod. Therefore, if the feeding length is adjusted by feeding or winding the wire 23, the vertical rod 5 expands and contracts correspondingly, and the entire length can be set accurately. Since the outermost split rod 55 of the vertical rod 5 is supported by the guide roller 21 of the support frame 20 so as to be movable only in the vertical direction, the vertical rod 5 is moved up and down without swinging back and forth and right and left. Therefore, the raising / lowering position of the horizontal arm 6 attached to the lower end portion of the vertical rod 5 by adjusting the feeding length of the wire 23 can be accurately determined.

  Further, since the vertical rod 5 is configured by combining cylindrical split rods, the weight can be reduced. Since the vertical rod 5 can be extended and contracted by the weight of the split rod while the split rod is suspended by the wire 23, the lifting mechanism of the horizontal arm 6 can be realized with a simple configuration. Therefore, the structure of the turning means for rotating the entire support frame 20 that supports the vertical rod 5 and the lifting winch 22 can be simplified, and the apparatus structure can be made compact.

  In the inspection apparatus described above, when the horizontal arm is attached and positioned at a predetermined position, first, the vertical rod 5 is attached between the guide rollers 21 of the support frame 20 in a shortened state and suspended by the wire 23. The horizontal arm 6 is fixed to the lower end of the vertical rod 5 along the side surface of the inspection object such as a bridge.

  Next, the elevating winch 22 is operated to feed the wire 23, and the vertical rod 5 is extended accordingly. As the vertical rod 5 extends downward, the horizontal arm 6 smoothly descends the side surface of the inspection object. Since the length of the vertical rod 5 is accurately set by the feeding amount of the wire 23, the descending position of the horizontal arm 6 can be accurately set by driving and controlling the lifting winch 22.

  Then, when the photographing camera 8 mounted on the horizontal arm 6 is lowered to a predetermined lowering position lower than the bottom surface of the inspection object, the driving of the lifting winch 22 is stopped. Next, the drive motor 15 attached to the fixed frame 13 is driven to rotate the support frame 20 to rotate the vertical rod 5 around its central axis. By rotating the vertical rod 5, the horizontal arm 6 attached to the lower end is turned to move the photographing camera 8 below the inspection object. At that time, the turning angle of the horizontal arm 6 can be accurately set by controlling the driving of the drive motor 15.

  As described above, by setting the vertical lift position of the horizontal arm 6 by the drive control of the lift winch 22 and setting the horizontal turning position of the horizontal arm 6 by the drive control of the drive motor 15, the horizontal arm 6 is set. 6 can accurately position the three-dimensional position of the imaging camera. In this case, the horizontal arm 6 is deformed when the traveling carriage 7 on which the photographing camera 8 is mounted travels on the horizontal arm 6. The positional error due to such deformation is measured in advance, and the photographing camera is taken into consideration. By performing the positioning of 8, higher-precision positioning can be performed.

  Furthermore, for inspection objects such as bridges, it is technically difficult to measure the three-dimensional coordinate position by GPS or the like with respect to the imaging camera positioned below, but it is placed on the inspection object because it is difficult for radio waves to reach. It is also possible to measure the three-dimensional coordinate position of the inspection carriage and to measure the accurate three-dimensional coordinate position of the photographing camera based on the above-described lift position and turning position with reference to the measured coordinate position. If the inspection position of the inspection device can be set accurately in this way, even if the same inspection location is inspected once every few years, the camera can be accurately aligned in a short time with respect to the same inspection location. By obtaining a photographed image of a location, it is possible to perform image processing such as pattern matching to check the progress of cracks and the like, and to improve the accuracy of updating the bridge management chart.

DESCRIPTION OF SYMBOLS 1 Inspection object 2 Inspection trolley 3 Bogie support | pillar 4 Mounting arm 5 Vertical rod 6 Horizontal arm 7 Traveling trolley 8 Camera
13 Fixed frame
14 Extension
15 Drive motor
16 Drive gear
17 Coupling mechanism
18 Movable frame
19 Spur gear
20 Support frame
21 Guide roller
22 Lifting winch
23 wires
24 Mounting part
51 to 55 Split rod

Claims (1)

A rod member that is held in a vertical direction on the side of the inspection object; an arm member that is fixed to an attachment portion that is fixed to a lower end of the rod member and extends below the inspection object; and the arm member A photographing means for photographing an inspection object from below by a photographing camera attached to the guide, a guiding means for guiding the rod member so as to be movable only in the axial direction, and a distal end portion fixed to the attachment portion. Lifting means for holding the rod member by a wire stretched along the axial direction of the rod member and adjusting the feeding length of the wire to set the lifting position of the arm member; is rotated and a pivoting means for setting the pivot position of the arm member, said rod member, inner with a stretchable structure that combines a plurality of divided rod member Inspection device of a structure, wherein the outer peripheral surface and the outer inner periphery guide roller so that a gap of a predetermined distance is formed between the divided rod member of the split rod member is attached.

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