JP5706560B1 - Pipe rail travel device - Google Patents

Abstract

To provide a pipe rail traveling device capable of traveling while avoiding a mounting bracket provided on a traveling pipe for fixing a beam pipe vertically intersecting in plan view above the traveling pipe. A pipe rail traveling device comprising a plate-like member having a pair of left and right semicircular parts formed so as to sandwich an outer peripheral surface of a pipe from a radial direction. First, second, and third locking hooks provided at each of the end portions protrude above the frame, and the first and second locking shafts provided at the lower ends of the respective locking hooks are used as centers. And a locking hook opening / closing mechanism in which the semicircular portion is opened and closed in a left-right direction, and has an operating means. A pipe rail travel device comprising an opening / closing regulating means for maintaining the other two locking hooks in a closed state when the locking hooks are in an open state. [Selection] Figure 1

Description

The present invention relates to a pipe rail traveling device using a pipe as a traveling rail and a hanging moving device using the same.

Conventionally, in small factories, warehouses, construction sites, etc., a low-priced pipe is installed on the ceiling as a simple transportation means to transport a short distance, and a crane that moves with wheels is used here as a traveling rail. A suspended structure is used. (See Patent Document 1)

JP 2012-56492 A

However, the pipes used for the ceiling beams are often provided so as to intersect in the vertical and horizontal directions. A pipe rail traveling device that moves on the pipe and moves by a wheel is used as a traveling rail. If a pipe intersecting the upper part of the pipe is provided, the mounting bracket becomes an obstacle to travel, and the pipe rail traveling device cannot travel beyond this mounting bracket.

The present invention has been made in view of such circumstances, and is a pipe rail traveling that can travel while avoiding a mounting bracket provided on the traveling pipe in order to fix a beam pipe that intersects perpendicularly in plan view above the traveling pipe. An object is to provide an apparatus.

The pipe rail traveling device according to claim 1, wherein the pipe rail traveling device according to claim 1 is a pipe rail traveling device having a pipe as a traveling rail, and a pair of left and right semicircles formed so as to sandwich an outer peripheral surface of the pipe from a radial direction. The first, second, and third locking hooks, each of which is formed of a plate-shaped member having a shape portion, are provided at each of a front end portion, an intermediate portion, and a rear end portion of the frame with respect to the traveling direction of the pipe rail traveling device. The first and second bearing support shafts are provided on the upper semicircular middle portions of the semicircular portions of the left and right plate-like members, respectively, and are attached to the respective bearing support shafts. First and second bearing center lines perpendicular to the rotation center axes of the first and second bearings are attached so as to intersect with the axis of the pipe, and Centering on first and second locking shafts provided at the lower end of the hook, there is provided a locking hook opening / closing mechanism that allows the semicircular system to freely open and close in the left-right direction. First and second, third opening and closing motors that are independently opened and closed, and operating means for operating the respective opening and closing to operate the opening and closing, and among the first, second and third locking hooks, any one of the locking hook is in the open state when the other two locking hooks have a closing regulating means for maintaining a closed state, the pipe rail running device frame to the pipe roller periphery from right and left direction A motor drive mechanism having a drive roller formed so as to be pressed and rotated by a surface is provided via an attachment arm attached to each side of each of the locking hooks, and is driven by the drive roller. Further, the driving roller is provided on either the left or right side of the first locking hook, on the other side of the left or right side of the third locking hook, and on the left or right side of the second locking hook. It has been.

The pipe rail traveling device according to claim 2 is the pipe rail traveling device according to claim 1 , wherein the third and fourth bearing support shafts are respectively disposed in the lower semicircular middle portion of the semicircular system portion of each of the locking hooks. The third and fourth bearing center lines perpendicular to the rotation center axes of the third and fourth bearings attached to the third and fourth bearing support shafts are attached so that they intersect the axis of the pipe. ing.

Pipe rail running device according to claim 3, wherein, in the pipe rail running device according to claim 1 or 2, wherein the upper end of the first locking hook is provided an obstacle detection sensor for detecting the traveling direction of the obstacle, When the obstacle detection sensor detects an obstacle, the locking hook opening / closing mechanism is shifted to the open state, the open state is maintained, the drive motor is rotated, and the vehicle runs on its own.

The pipe rail traveling device according to claim 4 is the pipe rail traveling device according to claim 3, wherein when the obstacle detection sensor shifts from the detection state to the non-detection state, the locking hook opening / closing mechanism is closed. Transition.

The pipe rail traveling device according to claim 1, wherein the pipe rail traveling device has a pipe as a traveling rail, and has a pair of left and right semicircular systems formed so as to sandwich the outer peripheral surface of the pipe from the radial direction. 1st, 2nd, and 3rd hooks which consist of a plate-like member and are provided in each of the front end part, the middle part, and the rear end part of the frame with respect to the traveling direction of the pipe rail traveling device are provided to project toward the frame. The first and second bearing support shafts are respectively provided in the upper semicircular middle portions of the semicircular portions of the left and right plate members, and the rotation centers of the first and second bearings attached to the respective bearing support shafts The first and second bearing centerlines orthogonal to the shaft are attached so as to intersect the axis of the pipe, and the first and second engagements provided at the lower ends of the respective locking hooks. First, second, and third opening / closing motors and respective opening / closing motors each provided with a locking hook opening / closing mechanism in which a semicircular portion that can be opened / closed in the left / right direction is provided. Operating means for operating the opening and closing, and when one of the first, second and third locking hooks is open, the other two locking hooks are closed. have a closing regulating means for maintaining the state, the pipe rail running device motor drive mechanism to the frame from the left and right direction with the formed drive roller to drive the rotation presses the pipe roller peripheral surface of each Provided via attachment arms respectively attached to the side portions of the locking hooks and run by the respective driving rollers, and further, the driving rollers are connected to the first locking hooks. One or right, said third catching hooks left or right of the other, are provided on both left and right to the second locking hook. As a result, in order to get over the mounting bracket of the traveling pipe rail, even if one locking hook is opened and the pipe fixing bracket is avoided, the other two locking hooks remain closed. can be safely run avoiding pipe fixing member is not an obstacle to drop out of the running pipe rail and Do Ri, since constraint is moved by pushing the pipe rail traveling device manually by human power in the traveling direction is eliminated, the operation It can be used in a remote place where a person does not reach, and even if one locking hook is in an open state, at least one drive roller on the left and right sides can contact the outer peripheral surface of the pipe and transmit the driving force reliably. In addition, the weight of the pipe rail traveling device can be reduced by reducing the number of driving rollers from six to four as compared with the case where the driving rollers are used in left and right pairs.

In particular, in the pipe rail traveling device according to claim 2, in the pipe rail traveling device according to claim 1 , the third and fourth bearings are respectively provided in the lower semicircular middle portions of the semicircular portions of the respective locking hooks. Since the third and fourth bearing center lines orthogonal to the rotation center axis are attached so as to intersect the axis of the pipe, the traveling pipe is inclined downward in the traveling direction so that Even when the first and second bearings are not in contact with each other, the third and fourth bearings are in contact with each other from below the pipe, so that the pipe rail traveling device can travel smoothly.

Particularly, in the pipe rail traveling device according to claim 3, in the pipe rail traveling device according to claim 1 or 2, an obstacle detection sensor for detecting an obstacle in the traveling direction is provided at an upper end portion of the first locking hook. When the obstacle detection sensor detects an obstacle, the locking hook opening / closing mechanism is moved to the open state, the open state is maintained, the drive motor is rotated, and the vehicle runs on its own. You can drive while avoiding obstacles.

In particular, in the pipe rail traveling device according to claim 4, in the pipe rail traveling device according to claim 3, when the obstacle detection sensor shifts from the detection state to the non-detection state, the locking hook opening / closing mechanism is provided. Since the transition to the closed state is made, it is possible to automatically return to the closed state of the locking hook immediately after traveling while avoiding obstacles and to reliably maintain the hanging state on the pipe.

Next, embodiments of the present invention will be described with reference to the accompanying drawings for understanding of the present invention.
Here, FIG. 1 is an explanatory view showing an installed state of a pipe rail traveling device according to an embodiment of the present invention, FIG. 2 is a plan view showing the pipe rail traveling device, and FIG. 3 is a front view showing the pipe rail traveling device. FIG. 4, FIG. 4 is a right side view showing the pipe rail traveling device, FIG. 5 (a) is an explanatory view showing a state before the second locking hook of the pipe rail traveling device is closed and the obstacle is overcome, (b) ) Is an explanatory view showing a state in which the second locking hook of the pipe rail traveling device is opened, and FIG. 6 (a) is a state after overcoming an obstacle with the second locking hook of the pipe rail traveling device being opened. Explanatory drawing, (b) is explanatory drawing which shows the state which the 2nd latching hook of the pipe rail traveling apparatus closed again, FIG. 7 is explanatory drawing which shows the 1st latching hook mechanism of the pipe rail traveling apparatus, FIG. Shows the second locking hook mechanism of the pipe rail traveling device. FIG. 9 is an explanatory view showing a third locking hook mechanism of the pipe rail traveling device, and FIG. 10A is an explanatory view showing a closed state of the second locking hook mechanism of the pipe rail traveling device. b) is an explanatory view showing an open state of the second locking hook mechanism of the pipe rail traveling device, FIG. 11 is a flowchart showing an operation mode of the pipe rail traveling device, and FIG. 12 shows a traveling mode of the pipe rail traveling device. FIG. 13 is a first flowchart showing an avoidance mode of the pipe rail traveling device, FIG. 14 is a second flowchart showing an avoidance mode of the pipe rail traveling device, and FIG. 15 is an avoiding mode of the pipe rail traveling device. FIG. 16 is a fourth flowchart showing an avoidance mode of the pipe rail traveling device.

As shown in FIG. 1, a pipe rail traveling device 10 according to an embodiment of the present invention includes a first locking hook 12 provided on a top portion of a frame 11 via a first height adjustment base 13. And a second locking hook 12a provided at the upper part of the intermediate part via the second height adjusting base 13a, and a third hook similarly provided at the upper part of the rear end part via the third height adjusting base 13b. The suspension hook 12b is hung on the traveling pipe rail 51. The first, second, and third locking hooks 12, 12 a, and 12 b are each provided with four bearings, and these bearings are in contact with the outer peripheral surface of the traveling pipe rail 51. Therefore, the friction between the pipe rail traveling device 10 and the traveling pipe rail 51 is reduced, and smooth traveling is possible.
The first, second, third, and fourth drive rollers 16, 16a, 16b, and 16c are also in contact with the outer peripheral surface of the traveling pipe rail 51 to drive the motor, thereby driving the first, second, third, and fourth. By rotating the drive rollers 16, 16a, 16b, and 16c, the pipe rail traveling device 10 advances in the direction of arrow A.
Here, the traveling pipe rail 51 used is made of a general structural carbon steel material, and has a diameter of 48.6 mm and a thickness of 2.4 mm. The maximum length is 6 m, and the traveling pipe rail 51 is appropriately cut and used so as to have a required length.
Further, a beam pipe 52 is provided above the traveling pipe rail 51 so as to intersect at right angles. A ceiling beam is simply configured by combining the traveling pipe rail 51 and the beam pipe 52. In order to fix the traveling pipe rail 51 and the beam pipe 52, a pipe fixing metal 53 is provided.
The obstacle detection sensor 54 is provided at a position for detecting an object in the traveling direction above the right semicircular arm of the first locking hook 12, and the obstacle detection sensor 54 may be an infrared sensor.

FIG. 2 is a plan view of the pipe rail traveling device, in which the first, second, and third locking hooks 12, 12a, 12b are closed. Further, it is not locked to the traveling pipe rail 51. A first drive roller 16 is provided on a side surface of the first right motor mounting arm 18 of the first locking hook 12 via a first driving motor, and a second left motor mounting arm 17a of the second locking hook 12a. The second drive roller 16a is provided on the side surface of the second drive motor 16a via the second drive motor, and the third drive roller 16b is provided on the side surface of the second right motor mounting arm 18a via the third drive motor. A fourth drive roller 16c is provided on a side surface of the third left motor mounting arm 17b via a fourth drive motor. In this pipe rail traveling device 10, at least two of the first, second, third, and fourth drive rollers 16, 16 a, 16 b, and 16 c are pressed on both side surfaces of a traveling pipe rail (not shown). Therefore, it is not necessary to attach a driving motor and a driving roller to the first left motor mounting arm 17 and the third right motor mounting arm 18b, thereby realizing a reduction in the weight of the pipe rail traveling device 10. ing.

First, second, and third arm support shafts 35, 35a, and 35b are provided to support the first, second, and third right semicircular arms. Thus, the first, second, and third right semicircular arms are rotatably provided around the first, second, and third arm support shafts 35, 35a, and 35b.

The first, second and third left motor mounting arms 17, 17a and 17b and the first, second and third right motor mounting arms 18, 18a and 18b have different lengths in the longitudinal direction. This is because when the first, second and third locking hooks 12, 12a and 12b are opened by the operation of the first, second and third opening / closing motors 20, 20a and 20b, the drive motors interfere with each other. This is to prevent the collision.
The first, second, and third opening / closing motors 20, 20a, 20b used here are DC motors, which start at a voltage of 7.2 V and a current of 0.67 A, and are 242 rpm.
Next, the first, second, third and fourth drive rollers 16, 16a, 16b and 16c used here are made of rubber and have a diameter of 850 mm.

FIG. 3 is a front view of the pipe rail traveling device 10. As shown above, the first, second, third, and fourth drive motors are provided at the distal ends of the first and second right motor mounting arms 18 and 18a and the second and third left motor mounting arms 17a and 17b, respectively. 19, 19 a, 19 b, 19 c are attached, and the first, second, third are directed upward via respective shafts of the first, second, third, and fourth drive motors 19, 19 a, 19 b, 19 c. A fourth drive roller is attached.
Since these drive motors do not interfere with each other on the left and right, the first, second, and third left motor mounting arms and the first, second, and third right motor mounting arms have different lengths in the longitudinal direction.

First, second, and third L-shaped brackets 36, 36a, and 36b are provided to attach the first, second, and third opening / closing motors 20, 20a, and 20b in parallel to the frame 11. The first, second, and third open / close motors 20, 20a, 20b are connected to the first, second, and third left half via the first, second, and third arm motor mounting brackets 39, 39a, and 39b. Circular arms 15, 15a, 15b are attached.
In order to keep the first, second, and third arm support shafts at a certain height, the first, second, and third L-shaped brackets 36, 36a, and 36b, and the eighth, ninth, and tenth L-shapes. Brackets 38, 38a, and 38b are provided.
Further, although not shown here, if any mounting bracket for suspending a thing is provided on the frame 11, the pipe rail traveling device 10 can be suspended and transported to a target place. .

The pipe rail traveling device 10 having the above-described configuration has the first, second, third, and fourth drive motors 19, 19 a, 19 b, and 19 c, which are fixed to the motor shaft. The third and fourth drive rollers 16, 16 a, 16 b, and 16 c rotate to advance in the direction of arrow A of the traveling pipe rail 51.
The first, second, third, and fourth drive motors 19, 19a, 19b, and 19c used here are DC motors that start at a voltage of 7.2 V and a current of 0.67 A, and are 242 rpm.

FIG. 4 is a right side view of the pipe rail traveling device 10. The side portions of the first, second, third and fourth bearings 21, 24, 27 and 30 shown here are in contact with the side portions of the traveling pipe rail 51, and the first, second and second The rotation center axes (center lines B, C, D, E) of the third and fourth bearings 21, 24, 27, 30 are attached so as to intersect with the axis (not shown) of the traveling pipe rail 51, This reduces friction and allows smooth running.
The frame 11 and the first height adjustment base 13 are lightened by making the inside hollow.

Next, a part of operation | movement of the pipe rail traveling apparatus 10 which concerns on one embodiment of this invention is demonstrated using FIG. 5, FIG.
First, a series of avoidance operations will be described, though not shown here. The first, second, third, and fourth drive rollers 16, 16a, 16b, and 16c and the first, second, third, and fourth drive motors 19, 19a, 19b, and 19c are used to advance in the traveling direction. Then, the path of the pipe rail traveling device 10 is blocked by the beam pipe 52. Therefore, by operating the first opening / closing motor 20, the first locking hook 12 is opened, and the second, third, and fourth driving rollers 16a, 16b, and 16c that are still grounded to the traveling pipe rail 51 are provided. By rotating, the beam pipe 52 can be avoided and the vehicle can proceed in the traveling direction.
At this time, electric power can be saved by stopping the first drive roller 16 and the first drive motor 19 of the first locking hook 12 that are in the open state without operating them.
If it can move in the front longitudinal direction while avoiding the beam pipe 52, it can be closed by rotating the first locking hook 12 that remains open in the direction opposite to that of the first opening / closing motor 20. Thereby, holding force increases and stability can be maintained.

After that, when moving in the front longitudinal direction, the second locking hook 12a is prevented from progressing by the beam pipe 52 as shown in FIGS. 5 (a), 5 (b), 6 (a) and 6 (b). By repeating the avoidance operation as described in [0029], it is possible to avoid the beam pipe 52 and advance in the traveling direction.

FIG. 7 is a view showing a mechanism of the first locking hook 12 of the pipe rail traveling device 10. A first right semicircular arm gear 33 is formed at the lower end of the first right semicircular arm 14, and a first left semicircular arm gear 34 is formed at the lower end of the first left semicircular arm 15. Since the right semicircular arm gear 33 and the left semicircular arm gear 34 mesh with each other, the movements of both perform a pair of operations.
The first, second, third, and fourth bearings 21, 24, 27, and 30 are respectively provided in the upper half circle middle portion and the lower half circle middle portion of the first right semicircular arm 14 and the first left semicircle arm 15. The first, second, third, and fourth bearing support shafts 22, 25, 28, and 31 are provided to support the first, second, third, and fourth bearings 21, 24, 27, and 30. To the first, second, third and fourth bearing support bases 23, 26, 29 and 32.
The first, second, third and fourth bearings 21, 24, 27, 30 are mounted so that the rotation center axes (center lines B, C, D, E) are orthogonal to the axis of the traveling pipe rail 51. As a result, the traveling pipe rail 51 can be smoothly slid.
In order to promote the forward movement of the pipe rail traveling device 10, the first drive motor 19 is connected to the side surface of the first right motor mounting arm 18 via the fourth L-shaped bracket 37 on the side surface of the first right semicircular arm 14. A first drive roller 16 is provided.

FIG. 8 is a view showing a mechanism of the second locking hook 12 a of the pipe rail traveling device 10. As in the paragraph [0031], the fifth, sixth, seventh, and eighth bearings 21a, 24a, 27a, and 30a are provided in the fifth upper half circle middle portion and the lower half circle middle portion, respectively. The fifth, sixth, seventh and eighth bearing support bases 23a, 26a, 29a and 32a are attached via the sixth, seventh and eighth bearing support shafts 22a, 25a, 28a and 31a.
The second drive motor 19a and the second drive roller 16a are connected via the second L-shaped bracket 37a, and the third drive motor 19b and the third drive roller 16b are connected via the second L-shaped bracket 37b to the second left motor mounting arm 17a. And the second right semicircular arm 14a and the second left semicircular arm 15a via the second right motor mounting arm 18a. Thereby, even if one of the first and third locking hooks 12 and 12b enters the avoidance operation, the second drive motor 19a and the second drive roller 16a and the third drive motor 19b and the third drive roller 16b travel. Since the side surface portion of the pipe rail (not shown) is pressed, it can move forward without problems.

FIG. 9 is a view showing the mechanism of the third locking hook 12 b of the pipe rail traveling device 10. As in the paragraph [0031], the ninth, tenth, eleventh, and twelfth bearings 21b, 24b, 27b, and 30b are replaced with the ninth, tenth, eleventh, and twelfth bearings. It is attached to the ninth, tenth, eleventh, and twelfth bearing support bases 23b, 26b, 29b, and 32b via the bearing support shafts 22b, 25b, 28b, and 31b, and the third right semicircular arm 14b and the The three left semicircular arms 15b are provided at the upper semicircular intermediate portion and the lower semicircular intermediate portion, respectively.
In order to promote the forward movement of the pipe rail traveling device 10, the fourth drive motor 19c is connected to the side surface of the third left motor mounting arm 17b on the side surface of the third left semicircular arm 15b via the fourth L-shaped bracket 37c. A fourth drive roller 16c is provided.
Here, the first, second, and third right semicircular arms 14, 14a, 14b and the first, second, and third left mounting arms 15, 15a, 15b provided below the first mounting arm 15b. The third right semicircular arm gears 33, 33a and 33b and the first, second and third left semicircular arm gears 34, 34a and 34b have a tooth size module of 1 and the number of teeth is 24. It is a piece. Although the material is made of aluminum, another metal such as general carbon steel may be used as long as the material is the same as the right semicircular arm and the left semicircular arm.

FIG. 10A is an explanatory view showing a closed state of the second locking hook mechanism of the pipe rail traveling device, and FIG. 10B is an explanatory view showing an open state of the second locking hook mechanism of the pipe rail traveling device. It is. Details of the operation are shown by the flowcharts in FIG. The right semicircular arm and the left semicircular arm are opened and closed by rotating the direction of rotation of the arm gear at the lower end of each of the right semicircular arm and the left semicircular arm in the forward and reverse directions.

In the closed state, the second semi-circular arm and the left semi-circular arm are closed so that the second and third driving rollers are pressed against the traveling pipe rail, and the driving force is transmitted to advance the pipe rail traveling device. be able to.

When the right semicircular arm and the left semicircular arm are opened in the open state, the second and third drive rollers are separated, and the beam pipe and the pipe fixing bracket can be avoided.
Furthermore, although the open angle of the right semicircular arm and the left semicircular arm is 90 degrees here, the open angle can be increased by driving the open / close motor long.
By arranging the second and third drive rollers in a staggered manner, interference between the motors can be prevented, and the opening angle can be further widened.

Change the diameter and installation position of the first, second, third, and fourth drive rollers 16, 16a, 16b, and 16c, and change the first, second, third, and fourth drive motors 19, 19a, 19b, and 19c. By changing the force, it is possible to change the force that touches the traveling pipe rail 51, or to increase or decrease the traveling speed, so that it can be adapted to each application.
Although not shown here, the operation means includes a controller with a button and a microcomputer attached thereto, and the pipe rail traveling device 10 is operated by a human operation.
This controller is connected to the pipe rail traveling device 10 by wire or wirelessly, and a signal is sent to the pipe rail traveling device 10 to be controlled.
Further, the pipe rail traveling device 10 can be controlled according to the sensor detection output using the obstacle detection sensor 54 instead of the operation means.
Further, the opening / closing restricting means is one of the first, second and third locking hooks according to a program indicating an avoidance mode in a controller (not shown) provided in the pipe rail traveling device 10. When the stop hook is in the open state, the other two locking hooks can maintain the closed state.

FIG. 11 is a flowchart showing an operation mode of the pipe rail traveling device 10. The travel mode is such that the first, second, third, and fourth drive rollers 16, 16a, 16b, and 16c are rotated by the first, second, third, and fourth drive motors 19, 19a, 19b, and 19c, and the pipe rail. In this mode, the traveling device 10 is caused to travel (step S001). In the avoidance mode, the first, second, and third open / close motors 20, 20a, and 20b are driven so that the first, second, third right, and left semicircular arms 12, 12a, and 12b are sequentially opened. In this mode, objects are avoided (step S002).

FIG. 12 is a flowchart showing a travel mode of the pipe rail travel device 10. The first, second, third, and fourth drive motors 19, 19a, 19b, and 19c are driven to rotate the first, second, third, and fourth drive rollers 16, 16a, 16b, and 16c, and the pipe rail. The traveling device 10 is caused to travel and move forward (step S101). Next, it is determined whether or not there is an operation (step S102). If no operation is detected, the first, second, third, and fourth drive motors 19, 19a, 19b, and 19c are driven, and the first, second, third, and fourth drive rollers 16, 16a, and 16b are driven. , 16c is rotated to keep the pipe rail traveling device 10 traveling (NO). If an operation is detected, the travel mode is terminated (YES).

FIG. 13 is a first flowchart showing the avoidance mode of the pipe rail traveling device 10. The first, second, third, and fourth drive motors 19, 19a, 19b, and 19c are stopped, and the first, second, third, and fourth drive rollers 16, 16a, 16b, and 16c are stopped. (Step S201). The first opening / closing motor 20 is rotated forward to open the first right and left semicircular arms 13 and 14 (step S202). Next, it is determined whether t1 has elapsed (step S203). If the passage of t1 is not detected, the first opening / closing motor 20 is rotated, the first right and left semicircular arms 13 and 14 are opened, the second and third drive motors 19a and 19b are driven, and the second and second The three driving rollers 16a and 16b are rotated to cause the pipe rail traveling device 10 to travel (NO). Moreover, if t1 time progress is detected, it will progress to next (YES). Then, the first opening / closing motor 20 is stopped (step 204). Then, the process proceeds to the connector A. Here, the t1 time is about several seconds, and is the time until the first locking hook 12 is completely opened.

FIG. 14 is a second flowchart showing the avoidance mode of the pipe rail traveling device 10, starting from the connector A, rotating the second and third drive rollers 16 a and 16 b with the second and third drive motors 19 a and 19 b, Advance (step S205). Next, it is determined whether t2 has elapsed. (Step S206). If the elapse of time t2 is not detected, the second and third drive motors 19a and 19b are continuously rotated to drive the second and third drive rollers 16a and 16b (NO). If the passage of t2 time is detected, the process proceeds to the next (YES). Then, the second and third drive motors are stopped (step 207). Next, the first opening / closing motor 20 is reversely rotated to close the first right and left semicircular arms 14 and 15 (step S208). Next, the elapse of t3 time is determined. (Step S209). If the elapse of t3 time is not detected, the first opening / closing motor 20 is continuously rotated, and the first right and left semicircular arms 14, 15 are closed (NO). If the elapse of t3 time is detected, the process proceeds to the next (YES). Then, the first opening / closing motor is stopped (step 210). Then, the process proceeds to the connector B. Here, the time t2 is about several seconds, and is the time for the pipe rail travel device 10 to move the distance from the first locking hook 12 to the second locking hook 12a. The time t3 is about several seconds and is the time until the first locking hook 12 is closed.

FIG. 15 is a third flowchart showing the avoidance mode of the pipe rail traveling device 10, starting from the connector B, rotating the second opening / closing motor 20 a forwardly, and opening the second right and left semicircular arms 13 a, 14 a ( Step S211). Next, the elapse of t4 time is determined. (Step S212). If the elapse of time t4 is not detected, the second opening / closing motor 20a is continuously rotated to finish opening (NO). If the elapse of t4 time is detected, the process proceeds to the next (YES). Then, the second opening / closing motor is stopped (step 213). Next, the first, second, third, and fourth drive motors 19, 19a, 19b, and 19c are driven, and the first, second, third, and fourth drive rollers are moved to 16, 16a, 16b, and 16c. Rotate the pipe rail travel device 10 to travel (step 214). Next, the elapse of t5 time is determined. (Step S215) If the elapse of t4 time is not detected, the first, second, third, and fourth drive motors 19, 19a, 19b, and 19c are continuously driven, and the first, second, and third are driven. Then, the fourth drive roller is rotated 16, 16a, 16b, 16c, and the pipe rail traveling device 10 is caused to travel (NO). Further, if the elapse of t5 time is detected, the process proceeds (YES). Then, the first, second, third and fourth drive motors are stopped (step 216). Next, the second opening / closing motor 20a is reversely rotated to close the second right and left semicircular arms 14a, 15a (step S219). Next, the process proceeds to the connector C. Here, the time t4 is about several seconds and is the time until the second locking hook 12a is completely opened. The time t5 is about several seconds, and is the time for the pipe rail travel device 10 to move the distance from the second locking hook 12a to the third locking hook 12b. Furthermore, t6 time is about several seconds, and is time until the 2nd latching hook 12a is closed.

FIG. 16 is a fourth flowchart showing the avoidance mode of the pipe rail travel device 10, starting from the connector C, rotating the third opening / closing motor 20 a forwardly, and opening the third right and left semicircular arms 14 b, 15 b (steps). S220). Next, the elapse of time t7 is determined (step S221). If the elapse of time t7 is not detected, the second and third drive motors 19a and 19b are continuously rotated to drive the second and third drive rollers 16a and 16b (NO). If the elapse of time t7 is detected, the process proceeds to the next (YES). Next, the third opening / closing motor 20a is stopped (step S222). Next, the second and third drive motors 19a and 19b are rotated forward to drive the second and third drive rollers 16a and 16b (step S223). Next, t8 time elapse is determined (step S224). If the elapse of t8 time is not detected, the second and third drive motors 19a and 19b are continuously rotated to drive the second and third drive rollers 16a and 16b (NO). Next, when the elapse of t8 time is detected, the process proceeds to the next (YES). Next, the second and third drive motors 16a and 16b are stopped (step S225). The third opening / closing motor 20b is reversely rotated to close the third right and left semicircular arms 14b, 15b (step S226). The elapse of time t9 is determined (step S221). If the elapse of time t9 is not detected, the third opening / closing motor 20b is rotated in the reverse direction to close the third right and left semicircular arms 14b, 15b (NO). When the elapse of t9 time is detected, the avoidance mode is ended (YES). Here, the time t7 is about several seconds, and is the time until the third locking hook 12b is completely opened. The time t8 is about several seconds, and is the time for the pipe rail travel device 10 to move a predetermined distance from the third locking hook 12b. The time t9 is about several seconds and is the time until the third locking hook 12b is closed.

As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the configuration described in the above embodiment. For example, the opening / closing regulating means is not vertically oriented but is vertically oriented. It also includes other embodiments and modifications that are conceivable within the scope of the items described in the claims, in the case of being configured to transport work tools and materials on the construction site.

The pipe rail traveling device of the present invention has been devised on the assumption that the traveling pipe rail 51 and the obstacle pipe 52 are combined to travel in a place where a ceiling beam is simply constructed. It can be widely applied to any transport means.

It is explanatory drawing which shows the installation state of the pipe rail traveling apparatus regarding one embodiment of this invention. It is a top view which shows the same pipe rail traveling apparatus. It is a front view which shows the same pipe rail traveling apparatus. It is a right view which shows the same pipe rail traveling apparatus. (A) is explanatory drawing which shows the state before the 2nd latching hook of the same pipe rail traveling device closes and climbs over an obstacle, (b) shows the state where the 2nd latching hook of the same pipe rail traveling device is opened. It is explanatory drawing shown. (A) is explanatory drawing after getting over an obstacle with the 2nd latching hook of the pipe rail traveling device opened, (b) is the state where the 2nd latching hook of the pipe rail traveling device is closed again. It is explanatory drawing shown. It is explanatory drawing which shows the 1st latching hook mechanism of the pipe rail traveling apparatus. It is explanatory drawing showing the 2nd latching hook mechanism of the pipe rail traveling apparatus. It is explanatory drawing showing the 3rd latching hook mechanism of the pipe rail traveling apparatus. (A) is explanatory drawing which shows the closed state of the 2nd latching hook mechanism of the pipe rail traveling apparatus, (b) is explanatory drawing which shows the open state of the 2nd latching hook mechanism of the pipe rail traveling apparatus. It is a flowchart which shows the operation mode of the pipe rail traveling apparatus. It is a flowchart which shows the traveling mode of the pipe rail traveling apparatus. It is a 1st flowchart which shows the avoidance mode of the pipe rail traveling apparatus. It is a 2nd flowchart which shows the avoidance mode of the pipe rail traveling apparatus. It is a 3rd flowchart which shows the avoidance mode of the pipe rail traveling apparatus. It is a 4th flowchart which shows the avoidance mode of the pipe rail traveling apparatus.

10: Pipe rail traveling device, 11: Frame, 12: First locking hook, 12a: Second locking hook, 12b: Third locking hook, 13: First height adjustment stand, 13a: Second height Adjustment table, 13b: Third height adjustment table, 14: First right semicircular arm, 14a: Second right semicircular arm, 14b: Third right semicircular arm, 15: First left semicircular shape Arm, 15a: second left semicircular arm, 15b: third left semicircular arm, 16: first drive roller, 16a: second drive roller, 16b: third drive roller, 16c: fourth drive roller, 17: First left motor mounting arm, 17a: Second left motor mounting arm, 17b: Third left motor mounting arm, 18: First right motor mounting arm, 18a: Second right motor mounting arm, 18b: Third right Motor mounting arm, 19: first drive motor, 19a: second drive Motor, 19b Third drive motor, 19c: Fourth drive motor, 20: First open / close motor, 20a: Second open / close motor, 20b: Third open / close motor, 21: First bearing, 21a: Fifth bearing, 21b: Ninth bearing, 22: first bearing support shaft, 22a: fifth bearing support shaft, 22b: ninth bearing support shaft, 23: first bearing support base, 23a: fifth bearing support base, 23b: ninth bearing support 24, second bearing, 24a: sixth bearing, 24b: tenth bearing, 25: second bearing support shaft, 25a: sixth bearing support shaft, 25b: tenth bearing support shaft, 26: second bearing support 26a: sixth bearing support, 26b: tenth bearing support, 27: third bearing, 27a: seventh bearing, 2 b: Eleventh bearing, 28: Third bearing support shaft, 28a: Seventh bearing support shaft, 28b: Eleventh bearing support shaft, 29: Third bearing support base, 29a: Seventh bearing support base, 29b: Eleventh bearing support base, 30: fourth bearing, 30a: eighth bearing, 30b: twelfth bearing, 31: fourth bearing support shaft, 31a: eighth bearing support shaft, 31b: twelfth bearing support shaft 32: fourth bearing support base, 32a: eighth bearing support base, 32b: twelfth bearing support base, 33: first right semicircular arm gear, 33a: second right semicircular arm gear, 33b: Third right semicircular arm gear 34: First left semicircular arm gear 34a: Second left semicircular arm gear 34b: Third left semicircular arm gear 35: First arm support shaft 35a: second arm support shaft, 35b: third arm support shaft, 36: first L-shaped bracket, 36a: second L-shaped bracket, 36b: third L-shaped bracket, 37: fourth L-shaped bracket, 37a: 5th L-shaped bracket, 37b: 6th L-shaped bracket, 37c: 7th L-shaped bracket, 38: 8th L-shaped bracket, 38a: 9th L-shaped bracket, 38b: 10th L-shaped bracket, 39: 1st Arm motor mounting bracket, 39a: second arm motor mounting bracket, 39b: third arm motor mounting bracket, 51: traveling pipe rail, 52: beam pipe, 53: pipe fixing bracket, 54: obstacle detection sensor

Claims (4)

A pipe rail traveling device using a pipe as a traveling rail, comprising a plate-like member having a pair of left and right semicircular portions formed so as to sandwich an outer peripheral surface of the pipe from a radial direction. First, second, and third locking hooks provided at the front, middle, and rear ends of the frame with respect to the running direction are provided so as to protrude above the frame, and the left and right plates First and second bearing support shafts are respectively provided in the upper semicircular middle portion of the semicircular portion of the member, and are orthogonal to the rotation center axes of the first and second bearings attached to the respective bearing support shafts. The first and second bearing centerlines are attached so as to intersect the axial center of the pipe, and the first and second locking shafts provided at the lower ends of the respective locking hooks As a core, there is provided a locking hook opening / closing mechanism in which the semicircular portion is opened and closed in a left-right direction, and the first, second, and third opening / closing motors that open and close each locking hook independently Operating means for operating the open / close motor to open / close, and when any one of the first, second and third locking hooks is open, two locking hooks have a closing regulating means for maintaining a closed state, the formed driving roller as pressed rotationally driving the pipe from the left and right directions in the frame of the pipe rail running device with a roller circumferential surface motor drive mechanism having is provided via a mounting arm attached respectively to the side of each of said locking hook, and to travel under its own power by rotation of each of the driving rollers, further wherein the drive roller The first locking hook is provided on either the left or right side, the third locking hook is provided on either the left or right side, and the second locking hook is provided on either the left or right side. A featured pipe rail travel device. 2. The pipe rail traveling device according to claim 1 , wherein third and fourth bearing support shafts are respectively provided in a lower semicircular middle portion of the semicircular portion of each of the locking hooks, and the third and fourth The third and fourth bearing center lines orthogonal to the rotation center axes of the third and fourth bearings attached to the bearing support shaft are attached so as to intersect with the axis of the pipe. Pipe rail travel device. 3. The pipe rail traveling device according to claim 1 , wherein the obstacle detection sensor that detects an obstacle in a traveling direction is provided at an upper end portion of the first locking hook, and the obstacle detection sensor detects an obstacle. When detected, a pipe rail traveling device is configured to shift the locking hook opening / closing mechanism to an open state, maintain the open state, rotate the drive motor, and travel on its own. 4. The pipe rail travel device according to claim 3 , wherein when the obstacle detection state shifts from detection to non-detection, the obstacle detection sensor shifts the locking hook opening / closing mechanism to a closed state. Traveling device.