JP5828973B1 - Structure inspection robot - Google Patents

Abstract

Provided is a structure inspection robot that can travel a place where a projecting member of a structure is installed, can reduce a portion that cannot be reached in the structure, and can inspect a wider area than before. A structure inspection robot (1) has a main body (2) on which an inspection device (5) is mounted, a pair of front wheels (3, 3), and a pair of rear wheels (4, 4). The front wheel 3 and the rear wheel 4 have a plurality of magnets arranged in the circumferential direction on the outer diameter side, and a shielding portion that covers the sides and bottom of the magnets. The front wheel 3 and the rear wheel 4 have conical contact portions 32 and 42 installed on both sides in the width direction. The front wheel 3 and the rear wheel 4 travel along the steel member by being attracted to the steel member of the bridge and driven to rotate. When the structure inspection robot 1 travels through the attachment portion, the contact portions 32 and 42 come into contact with the bolts and nuts to receive a reaction force, and the traveling direction of the wheels 3 and 4 is changed to a direction to avoid the bolts and nuts. Therefore, it is possible to prevent the inconvenience of the wheels 3 and 4 being locked or riding on the bolts and nuts. [Selection] Figure 1

Description

  The present invention relates to a structure inspection robot suitable for inspection of a steel bridge, for example.

  Conventionally, as a part of bridge maintenance management, members constituting the bridge have been inspected. Conventionally, when inspecting the main girder of a girder bridge, for example, it is common to assemble a scaffold close to the side of the flange of the main girder or the bottom of the web, and the inspector performs visual inspection and hammering inspection from this scaffold It is.

  However, the inspection performed by the inspector approaching the member from the scaffold is problematic in that it takes labor and cost to install the scaffold and the burden on the inspector is large.

  In order to solve such a problem, an inspection vehicle having a camera at the tip of an extendable boom is used for inspection of a bridge. In inspections using this type of inspection vehicle, the inspection vehicle is stopped on the bridge slab or below the bridge, and the boom is extended to bring the camera closer to the member to be inspected. Shoot with. An image taken by the camera is displayed on a display installed on a floor slab or on the ground, and an inspector visually checks the displayed image for inspection.

  However, the inspection vehicle has a problem that the inspection range of the bridge is relatively narrow due to the length of the boom and the movable range of the joint. For example, when inspecting a bridge having a plurality of main girders, if the main girder is inspected from the floor slab with an inspection vehicle, the portion between the main girder and the main girder may have insufficient boom extension or joints. In many cases, the camera cannot be approached due to a lack of bending angle. In addition, the inspection vehicle may not be able to ensure the boom operation area in a place where a structure is present close to the side of the bridge, and may not be inspected. In addition, the inspection vehicle may not enter a place where a structure exists below the bridge, and may not be inspected.

  In view of this, a self-propelled inspection robot having a traveling device that travels along a structure on a main body on which an inspection device such as a camera is mounted has been proposed. As this kind of inspection robot, the wheel of the traveling device is composed of a magnet group composed of a plurality of permanent magnets and a magnet holding part formed of an annular flexible member surrounding the wheel connected to the axle, The thing which coat | covered the friction member on the contact surface with the structure of a magnet holding part is proposed (refer patent document 1). This inspection robot is attracted to the ferromagnetic member of the structure by the permanent magnet of the wheel, and the flexible member is deformed according to the shape of the surface of the structure, and further, the friction member reduces the slip to the structure. It is formed as follows. Thereby, it forms so that it can adsorb | suck and run on the uneven | corrugated surface made from steel in which the rib board is provided in the flat surface, without a wheel slipping. The wheel has a cylindrical shape, and a rectangular body node is attached between the left and right wheels and on the bottom surface of the main body.

JP 2013-177112 A

  In steel structures such as bridges and steel towers, there are places where the surface is uneven, with a plurality of bolts and rivets arranged in rows and columns, for example, like an attachment part. The contact portion is often provided across the member, and often cannot be bypassed when the inspection robot travels along the member. However, in the above conventional inspection robot, since the wheel has a cylindrical shape, the wheel may be locked to the bolt or rivet of the attachment portion, which may make it impossible to run. Moreover, there is a possibility that the wheel rides on the bolt or rivet of the contact portion, the adsorption force to the ferromagnetic member decreases, and the inspection robot falls. The possibility that the wheel is engaged with the bolt or the rivet and the possibility of riding on the bolt or the rivet is increased by a friction member provided on the contact surface of the magnet holding portion. In addition, the vehicle body node arranged between the wheels may be locked to the bolts and rivets of the attachment portion, and the inspection robot may not be able to travel. As a result, the conventional inspection robot cannot advance to a part ahead of the attachment part of the structure, so that there is a part that cannot reach the structure and a part that cannot check the structure. .

  Therefore, the object of the present invention is to be able to run through places where projecting members such as bolts and rivets of the structure are provided, reduce the parts that cannot be reached in the structure, and inspect the structure over a wider area than before. It is to provide a structure inspection robot capable of performing the above.

In order to solve the above problems, a structure inspection robot of the present invention includes a main body on which a structure inspection device is mounted,
A structure inspection robot comprising a traveling device that moves the main body along the ferromagnetic member by rotating the wheel by attracting the wheel to the ferromagnetic member of the structure with a magnetic force,
The traveling device includes a contact portion that changes a traveling direction by contacting a protruding member protruding from a traveling surface on a side portion of the wheel.

  According to the said structure, the main body carrying the structure inspection apparatus moves along a structure with a traveling apparatus. The traveling device is attracted to the ferromagnetic member of the structure by the magnetic force of the wheel, and travels along the ferromagnetic member by rotationally driving the wheel. When traveling along the ferromagnetic member, it may come into contact with a protruding member that protrudes from the surface of the ferromagnetic member that is the traveling surface, such as a bolt or a rivet. Here, when the contact portion provided on the side portion of the wheel of the traveling device contacts the projecting member, the contact portion receives a reaction force from the projecting member, and the reaction force causes the traveling direction of the wheel to avoid the projecting member. As a result, the traveling direction of the traveling device is changed. Thereby, since the state where the wheel is adsorbed on the surface of the ferromagnetic member is maintained, the traveling device can continue traveling along the surface of the ferromagnetic member. Therefore, it is possible to effectively prevent the inconvenience that the wheel is locked to the protruding member and the inconvenience that the wheel rides up as in the conventional inspection robot. As a result, this structure inspection robot can effectively run through the place where the protruding member is arranged on the running surface, and travels ahead of the place where the protruding member of the structure is arranged to inspect the structure. It can be performed. Therefore, the structure inspection robot of the present invention can reduce the portion that cannot be reached in the structure as compared with the conventional structure, and can inspect the structure in a wider portion than the conventional structure.

  Here, the contact portion of the wheel has a surface which is a contact surface, an inclined surface inclined with respect to a surface perpendicular to the rotation axis, a curved surface, and an uneven surface formed by grooves and peaks extending in a radial direction. It can be formed in various shapes such as. In short, the surface of the contact portion may have any shape as long as the contact portion is formed so as to contact the protruding member and receive a reaction force in a direction different from the traveling direction of the structure inspection robot. Further, since the traveling device forms an interval with respect to the traveling surface, the distance from the contact position of the wheel to the traveling surface to the portion closest to the traveling surface of the main body or the traveling device is projected from the traveling surface of the projecting member. It is preferable to set it to be larger than the height. Moreover, the said wheel can use the disk-shaped thing by which the magnetic part which produces a magnetic force is arrange | positioned on the outer diameter side. The wheel includes a hub that is connected to a rotating shaft, a spoke-like radial member that extends in a radial direction from the hub, and a magnetic part that is connected to a tip of the radial member and generates a magnetic force. be able to. In the present invention, the ferromagnetic member refers to a member that is made of a ferromagnetic material and generates a magnetic force with an object that generates magnetism. Further, the protruding member refers to an object protruding from the running surface, and it does not matter whether it is a part of the ferromagnetic member or a member different from the ferromagnetic member. Further, the material of the protruding member may be the same material as the ferromagnetic member or a different material. For example, the protruding member corresponds to a bolt or a rivet that connects the members of the structure.

  In the structure inspection robot of one embodiment, the surface of the contact portion of the wheel of the traveling device is formed in a conical shape or a truncated cone shape.

  According to the above-described embodiment, the contact portion whose surface is formed in the shape of a cone or a truncated cone is brought into contact with the protruding member on the surface of the ferromagnetic member, thereby effectively applying a reaction force to the wheel to advance the traveling device. You can change the direction.

  In the structure inspection robot of one embodiment, the wheel contact portion of the traveling device has a curved surface.

  According to the above-described embodiment, the contact portion whose surface is formed in a curved surface comes into contact with the protruding member on the surface of the ferromagnetic member, so that the reaction direction can be effectively applied to the wheel and the traveling direction of the traveling device can be changed. .

  In the structure inspection robot of one embodiment, the contact portion of the wheel of the traveling device is formed of a low friction material.

  According to the said embodiment, when a contact part is formed with a low friction material, when it contacts with the protrusion member of the surface of a ferromagnetic member, engagement with a protrusion member is prevented effectively. Therefore, the traveling direction of the structure inspection robot can be quickly changed by the reaction force received from the protruding member. Here, the surface portion of the contact portion may be formed of a low friction material, or the entire contact portion may be formed of a low friction material. The low friction material refers to a material having a static friction coefficient of 0.5 or less. Examples of the low friction material include PTFE (polytetrafluoroethylene), PFA (tetrafluoroethylene / perfluoroalkyl vinyl ether copolymer), FEP (tetrafluoroethylene / hexafluoropropylene copolymer), ETFE (tetrafluoroethylene). -Fluorine resins such as ethylene copolymer), PVDF (polyvinylidene fluoride), PCTFE (polychlorotrifluoroethylene), ECTFE (chlorotrifluoroethylene-ethylene copolymer), and other resins can be used. .

  In the structure inspection robot of one embodiment, the contact portion is provided on one side in the thickness direction of the wheel and on different sides of a plurality of wheels on the same axis.

  According to the above embodiment, the structure inspection robot advances by arranging the contact portions on one side in the thickness direction and on different sides of the plurality of wheels on the plurality of wheels arranged on the same axis. The number of contact portions can be reduced without reducing the performance of changing the direction. Further, by disposing the contact portion on the opposite side of a plurality of wheels on the same axis, the contact portion can be functioned without increasing the widthwise dimension of the traveling device. Here, the plurality of wheels on the same axis refers to a plurality of wheels attached to the same rotation shaft and wheels attached to a plurality of rotation shafts arranged in the same extending direction.

In the structure inspection robot of one embodiment, the structure is a bridge,
The outline of the conical surface portion of the contact portion is formed so as to form an angle of 59 ° or more and 79 ° or less with respect to the rotation shaft in a right angle view of the rotation shaft of the wheel.

  When the structure inspection robot travels on a bridge as a structure, a protruding member provided at an attachment portion that connects the ferromagnetic members to each other can be an obstacle to travel. Here, according to the above-described embodiment, the contact portion contacts the projecting member by forming the contour of the conical surface portion of the contact portion so as to form an angle of 59 ° or more and 79 ° or less with respect to the rotation axis. When it does, the reaction force of the direction which can change the advancing direction of a traveling apparatus can be received effectively from a protrusion member. Therefore, the above-mentioned contact portion can be run through without being locked or riding on the protruding member. Here, when the angle of the contour of the contact portion with respect to the rotation axis exceeds 79 °, the reaction force received when contacting the protruding member is small, and the effect of changing the traveling direction of the traveling device may not be obtained. There is a risk of locking or riding on the washer that constitutes the protruding member. On the other hand, when the angle of the contour of the contact portion with respect to the rotation axis is smaller than 59 °, there is a high possibility that the contact with the projecting member is increased when the projecting member is contacted, and the traveling device may stop moving. Here, when the projecting member is a bolt and nut provided on a bridge as a structure, the contour of the conical surface portion of the contact portion forms an angle of 59 ° or more and 79 ° or less with respect to the rotation axis. By being formed in this way, it is possible to effectively prevent the bolts and nuts from being locked and riding on. Furthermore, when a high-strength bolt is used for the bolt nut, it is preferable that the contour of the conical surface portion of the contact portion is formed so as to form an angle of 59 ° or more and 73 ° or less with respect to the rotation shaft. Further, when a torcia-type bolt is used for the bolt nut, it is preferable that the contour of the conical surface portion of the contact portion is formed so as to form an angle of 59 ° or more and 79 ° or less with respect to the rotation shaft.

  In one embodiment of the structure inspection robot, the wheels of the traveling device are provided on the outer diameter side to generate a magnetic force, and a shielding portion that shields the influence of magnetism from the magnetic force portion in the circumferential direction of the wheel. And have.

  According to the said embodiment, the magnetic part which generate | occur | produces magnetic force is provided in the outer diameter side of the wheel of a traveling apparatus. In addition, the wheel is provided with a shielding part that shields the influence of magnetism from the magnetic part to the side of the wheel. Therefore, when a wheel rotates, while being able to adsorb | suck a wheel effectively to the surface of the ferromagnetic member which is a driving | running | working surface, the problem that a wheel is attracted to a protrusion member can be prevented effectively. Here, the shielding portion is a covering member that surrounds the magnetic force portion and opens only the outer diameter side of the wheel so that the end surface of the magnetic force portion faces the outer diameter side of the vehicle, while covering the other portion of the magnetic force portion. Preferably it is formed.

  In the structure inspection robot according to an embodiment, the traveling device is configured such that the wheels adjacent to each other in the traveling direction are arranged such that the rotation paths of the magnetic portions intersect each other when viewed in the rotation axis direction, and the rotation axis extends. They are arranged at different positions in the present direction.

  According to the above embodiment, when the surface of the ferromagnetic member of the structure, which is the traveling surface, is bent in the traveling direction to form a corner, the structure inspection robot that passes through the corner is the main body traveling. Pitching that pivots about a width axis perpendicular to the direction occurs. Here, since the wheels adjacent to the traveling direction of the traveling device are arranged so that the rotation paths of the magnetic portions intersect each other when viewed in the rotational axis direction, the inconvenience that the main body contacts the corner of the traveling surface is prevented. it can. Therefore, even when a box girder of a bridge as a structure is traveling in the transverse direction, the angle between the vertical plane and the downward horizontal plane from the vertical plane of the box girder to the downward horizontal plane connected to the vertical plane. The vehicle can travel without contacting the body with the body. Moreover, even if there is a protruding member on the vertical surface and / or the downward horizontal plane, the contact portion of the wheel can prevent locking and riding on the protruding member, and it does not fall between the vertical surface and the downward horizontal plane. Can pass through corners. Moreover, even when the I-girder of a bridge as a structure, for example, travels from one side to the other side, the main body contacts the end of the web from one side of the web to the other side. You can drive without. In addition, even if there is a projecting member on the web, the contact portion of the wheel can prevent locking and riding on the projecting member, and it can travel between one surface and the other surface of the plate-shaped member without falling. .

  In one embodiment of the structure inspection robot, the traveling device has two wheels arranged on the same axis, and the distance between these wheels can be adjusted every integer multiple of the arrangement interval of the protruding members. Is formed.

  As projecting members present in the ferromagnetic members of the structure, there are bolts and rivets that connect the ferromagnetic members to each other. In many cases, these bolts and rivets are arranged in a matrix at the connecting portions of the ferromagnetic members. The bolts and rivets arranged at the connecting portion of the ferromagnetic member are often arranged at a predetermined interval. According to this embodiment, when preparing for inspection of a structure using a structure inspection robot, the distance between the wheels can be adjusted every integer multiple of the predetermined arrangement interval of the protruding members. Can easily be adjusted to the distance between the bolts and rivets as protruding members. Therefore, the structure inspection robot can be easily adjusted so that the installation positions of the bolts and rivets can be run. Here, it is preferable that the minimum distance between the wheels is set between a minimum lower limit distance and a minimum upper limit distance that can be arranged on both sides of the structure inspection robot body. The minimum upper limit distance is larger than the minimum lower limit distance, and 1 is added to an integer that gives a value that is an integral multiple of the arrangement interval of the protruding members closest to the minimum lower limit distance, and this integer is multiplied by the arrangement interval of the protruding members. The distance obtained by subtracting the diameter of the protruding member, the width of the wheel, and twice the width of the contact portion at the top of the protruding member. By setting such a minimum distance, by adjusting the mutual distance between the wheels from the above minimum distance by an integral multiple of the arrangement interval of the projecting members, the wheels are located between the projecting members at any adjustment distance. Can be run. In the structure inspection robot of the present embodiment, for example, either an engagement tooth or an engagement claw is provided on the wheel and the rotation shaft, and the engagement interval between the engagement tooth and the engagement claw is an integer of a predetermined distance. Can be set to double. Here, the engagement interval between the engagement teeth and the engagement claw can be set, for example, for each integral multiple of 100 mm, 120 mm, and 150 mm.

A structure inspection robot according to an embodiment includes a plurality of the main bodies,
Each of the main bodies is provided with a pair of wheels arranged coaxially,
The plurality of main bodies are connected by an elastic body.

  According to the embodiment, two pairs of wheels arranged coaxially are provided in each of the plurality of main bodies in the traveling direction. Here, when the contact portion of the wheel comes into contact with the projecting member, any one of the main bodies is connected to the other main body by an elastic body. Few. Accordingly, since it is possible to prevent locking and riding on the protruding member for each main body, a structure inspection robot with high running performance can be obtained. In addition, it is preferable to arrange | position the wheel pair of a main body so that the rotation path | route of a mutual magnetic part cross | intersects in an axial direction view. As a result, the main body does not contact the corners of the ferromagnetic member between the vertical surface of the ferromagnetic member and the downward horizontal plane, or between one surface and the other surface of the plate-like ferromagnetic member. You can travel. Therefore, it is possible to effectively prevent the inconvenience that the wheels of each main body are separated from the traveling surface.

  In one embodiment of the structure inspection robot, the traveling device has two wheels coaxially disposed on one side in the traveling direction, and is disposed coaxially on the other side in the traveling direction. Has two wheels.

  According to the above-described embodiment, a structure inspection robot that can travel stably in both the one traveling direction and the other traveling direction of the traveling device is obtained.

  In the structure inspection robot of one embodiment, the traveling device has two wheels arranged coaxially on one side in the traveling direction, and one wheel on the other side in the traveling direction.

  According to the embodiment, since the traveling path of the wheels can be reduced in the width direction perpendicular to the traveling direction of the traveling device, a structure inspection robot having high traveling performance can be obtained that can easily pass between the protruding members. .

It is a top view showing typically the structure inspection robot of a 1st embodiment of the present invention. It is a side view which shows a structure inspection robot typically. It is a cross-sectional view which shows the wheel of a structure inspection robot. It is a longitudinal cross-sectional view which shows the wheel of a structure inspection robot. It is an exploded view which shows the wheel of a structure inspection robot. It is a top view which shows the modification of the wheel of a structure inspection robot. It is a top view which shows a mode that a structure inspection robot drive | works the attachment part of a bridge. It is a front view which shows a mode that a structure inspection robot drive | works the attachment part of a bridge. It is sectional drawing which shows the volt | bolt installed in the joining part of the bridge. It is sectional drawing which shows the rivet installed in the attachment part of a bridge. It is sectional drawing which shows a mode that a structure inspection robot drive | works a bridge in a crossing direction. It is a top view which shows a mode that a structure inspection robot drive | works the attachment part of a bridge. It is a top view which shows a mode that the structure inspection robot of 2nd Embodiment drive | works the attachment part of a bridge. It is a front view which shows the mode of the wheel of the structure inspection robot of 2nd Embodiment which drive | works the attachment part of a bridge. It is a cross-sectional view which shows the wheel of the structure inspection robot of 3rd Embodiment. It is a longitudinal cross-sectional view which shows the wheel of the structure inspection robot of 3rd Embodiment. It is a top view which shows typically the structure inspection robot of 4th Embodiment. It is a top view which shows typically the structure inspection robot of 5th Embodiment. It is a top view which shows typically the structure inspection robot of 6th Embodiment. It is a side view which shows typically the structure inspection robot of 6th Embodiment. It is sectional drawing which shows the modification of the wheel of a structure inspection robot.

  Hereinafter, the present invention will be described in detail with reference to the illustrated embodiments.

  FIG. 1 is a plan view schematically showing the structure inspection robot of the first embodiment of the present invention, and FIG. 2 is a side view schematically showing the structure inspection robot of the first embodiment. The structure inspection robot according to the first embodiment is formed so as to inspect a bridge as a structure, and is attracted to a steel member as a ferromagnetic member by a magnetic force by a magnetic part provided on a wheel of the traveling device. The inspection is performed by moving to a predetermined inspection position.

  The structure inspection robot 1 includes a main body 2 on which an inspection device 5 such as a visible light moving image camera or an infrared camera is mounted, and four wheels 3, 3, 4, 4 arranged at approximately four corners of the main body 2.

  The wheels 3, 3, 4, 4 are a pair of front wheels 3, 3 arranged coaxially on one side of the main body 2 and a pair of rear wheels 4 arranged coaxially on the other side of the main body 2. 4. The pair of front wheels 3 and 3 are set to have a wider separation distance than the pair of rear wheels 4 and 4. In addition, before and after the arrangement positions of the wheels 3 and 4 are determined for convenience, either side of the main body 2 may be the front. That is, a pair of wheels 4 and 4 with a small separation distance may be used as a front wheel, and a pair of wheels 3 and 3 with a large separation distance may be used as a rear wheel.

  As shown in the cross-sectional view of FIG. 3 and the longitudinal cross-sectional view of FIG. 4, the front wheel 3 is provided with magnets 35, 35, 35, as magnetic portions on the outer diameter side of the disk-shaped wheel body 31. Are arranged at predetermined intervals in the circumferential direction. FIG. 3 shows a state in which the front wheel 3 is adsorbed and travels with a downward horizontal plane in which the normal line of the steel member is directed vertically downward as the travel surface 20. As the magnet 35 of the front wheel 3, a permanent magnet such as a neodymium magnet or a samarium cobalt magnet is used. An electromagnet may be used as the magnetic part. The magnet 35 as the magnetic part is covered with a shielding part 36 except for the radially outer end face from which the magnetic force is emitted. The shielding part 36 has a cylindrical shape with one end opened, and houses the magnet 35 so that the end surface of the magnet 35 faces the opening. The shielding portion 36 can be made of a ferromagnetic material, and is particularly preferably made of directional silicon steel, nickel iron alloy, electromagnetic stainless steel, or the like. An anti-slip coating made of rubber or resin can be provided on the outer diameter side of the wheel body 31 and the magnetic force portion and in contact with the ferromagnetic member of the structure during traveling. As shown in FIG. 5, the wheel main body 31 of the front wheel 3 is connected to the drive shaft 7 by a hub 6 provided at the center. The hub 6 of the front wheel 3 is adjustable in the axial direction at a fixed position with respect to the drive shaft 7. Thereby, the axial direction position along the drive shaft 7 of the front wheel 3 is formed to be changeable. That is, the distance between the pair of front wheels 3, 3 arranged on the same axis and arranged on both sides in the width direction of the main body 2 can be adjusted along the drive shafts 7, 7 arranged on the same axis. Is formed. The distance between the front wheels 3, 3 is that the drive shafts 7, 7 are provided with engaging teeth, and the hub 6 of the front wheels 3, 3 is provided with engaging claws, and these engaging teeth are engaged with the engaging claws. The interval is set to an integer multiple of 100 mm, an integer multiple of 120 mm, and an integer multiple of 150 mm. The minimum value of the distance between the front wheels 3 and 3 can be adjusted to an arbitrary value. Thereby, the mutual distance of the front wheels 3 and 3 can be set to a value obtained by adding an integer multiple of 100 mm, a value obtained by adding an integer multiple of 120 mm, and a value obtained by adding an integer multiple of 150 mm from the minimum value. Is formed. The distance between the front wheels 3 and 3 may be formed so that the drive shafts 7 and 7 are provided with engaging claws and the hub 6 of the front wheels 3 and 3 is provided with engaging teeth. Further, the hub 6 of the front wheel 3 is fixed to the end of the drive shaft 7 and the drive shaft 7 is telescopically formed so that the distance between the two front wheels 3 and 3 can be adjusted. Also good.

  Similarly to the front wheel 3, the rear wheels 4 also have magnets 35, 35, 35,... As a plurality of magnetic portions arranged at predetermined intervals in the circumferential direction on the outer diameter side of the disk-shaped wheel body 41. These magnets 35, 35, 35,... Are covered with a shielding part 36 except for the radially outer end face that emits magnetic force. In addition, the two rear wheels 4 on the same axis have the same mechanism as the front wheel 3, and the distance between each other is a value obtained by adding an integral multiple of 100 mm and an integral multiple of 120 mm from an arbitrary minimum value. And a value obtained by adding an integral multiple of 150 mm.

  Contact portions 32 and 42 are attached to the front wheel 3 and the rear wheel 4 on both sides in the axial direction. FIG. 5 is an exploded view showing the front wheel 3 provided with the contact portion 32. The contact portion 32 is formed in a conical shape having an open bottom surface. In the contact portion 32, a conical surface of a main body made of metal is provided with a coating made of PTFE (polytetrafluoroethylene) as a low friction material to form a contact surface 32a. A columnar fitting portion having an open bottom surface is formed inside the contact portion 32, and the fitting portion is fitted to the outer surface of the hub 6 and fixed to the wheel body 31. The contact portion 32 fixed to one side of the wheel 3 has a sharp apex, while the contact portion 32 fixed to the other side has a through hole formed in the apex portion and the drive shaft 7 is inserted therethrough. . When the wheels 3 and 4 are attracted to the traveling surface 20 and rotate, the contact portions 32 and 42 come into contact with the projecting member projecting from the surface of the steel member that is the traveling surface 20, and are thus received from the projecting member. It is comprised so that the advancing direction of a traveling apparatus may be changed with reaction force. FIG. 6 is a view showing the front wheel 3 provided with a contact portion 132 of a modified example. The contact part 132 of the modification is formed in a truncated cone shape, and the contact surface 132a is formed in a truncated cone-shaped slope. The contact portion 132 is fixed to the wheel main body 31 so that the flat surface of the top of the truncated cone comes into contact with the end surface of the hub 6. In addition to PTFE, the coating provided on the surface of the contact portion 32 is made of PFA (tetrafluoroethylene / perfluoroalkyl vinyl ether copolymer), FEP (tetrafluoroethylene / hexafluoropropylene copolymer), ETFE (tetrafluoroethylene). It may be formed of a low friction material such as fluoroethylene / ethylene copolymer), PVDF (polyvinylidene fluoride), PCTFE (polychlorotrifluoroethylene) and ECTFE. In addition to providing a coating formed of a low friction material on the surface of the contact portion 32, a part or all of the contact portion 32 may be formed of a low friction material such as PTFE.

  As shown in FIG. 2, the front wheel 3 and the rear wheel 4 are arranged so as to overlap each other when viewed in the direction of the rotation axis. As a result, the magnet 35 disposed on the outer diameter side of the front wheel 3 draws with the rotation of the front wheel 3 and the magnet disposed on the outer diameter side portion of the rear wheel 4 moves with the rotation of the rear wheel 4. The rotation path to be drawn is arranged so as to intersect when viewed in the direction of the rotation axis. Further, as shown in FIG. 1, the front wheel 3 and the rear wheel 4 are arranged at different positions in the width direction that is the extending direction of the drive shafts 7 and 9. That is, the front wheel 3 and the rear wheel 4 are arranged so as to be shifted in the width direction, so that they can be rotated without interfering with each other while overlapping each other when viewed in the rotation axis direction.

  In the main body 2, an inspection device 5 such as a visible light moving image camera or an infrared camera is installed on a rectangular base 10 in a plan view. Note that the inspection device 5 may be other equipment related to inspection of the bridge, such as a distance sensor. On the base 10, there are geared motors 11, 11, 11, 11 for driving the drive shaft 7 of the two front wheels 3 and the drive shaft 9 of the two rear wheels 4, and a motor driver for controlling the operation of the geared motor 11. 12 is mounted. The front wheel 3, the rear wheel 4, the drive shafts 7 and 9, and the geared motor 11 constitute a traveling device. On the base 10, a receiver 13 that receives an operation signal related to an operation from a remote controller (not shown) and a main controller 14 that receives the operation signal from the receiver 13 and outputs a control signal are mounted. Further, the base 10 is provided with a battery 15 for supplying electric power to the motor driver 12. A control signal from the main controller 14 is input to the motor driver 12, and the motor driver 12 outputs power corresponding to the input control signal to the geared motor 11. The pair of front wheels 3 and the pair of rear wheels 4 are independently controlled in rotation direction and rotation speed by respective geared motors 11. By controlling the rotation direction and the rotation speed of the wheels 3 and 4, the structure inspection robot 1 is switched between forward and reverse, adjustment of the traveling speed, and left and right steering. As shown in FIG. 2, the bottom surface of the base 10 of the main body 2 opposite to the side on which each device is mounted is perpendicular to the line connecting the center of the front wheel 3 and the center of the rear wheel 4. Is set so that the position in the height direction is inside the overlapping portion of the front wheel 3 and the rear wheel 4. The bottom surface of the base 10 only needs to be higher in the height direction than the overlapping portion of the front wheel 3 and the rear wheel 4.

  The structure inspection robot 1 of the first embodiment operates as follows. First, the front wheels 3, 3 and the rear wheels 4, 4 are placed in contact with a steel member of a bridge as a structure, and any magnetic part of the wheels 3, 4 is attracted to the steel member. The posture of the structure inspection robot 1 is set so that the bottom surface of the base 10 of the main body 2 faces the steel member. Subsequently, the operator operates the remote controller, drives the wheels 3 and 4 by remote operation, travels along the steel member of the bridge, and moves to a predetermined inspection position. When the inspection position is reached, shooting by the camera and collection of inspection information by the sensor are performed. While the structure inspection robot 1 is moving, photographing with a camera or the like may be performed.

  The structure inspection robot 1 includes a plurality of magnets 35, 35, 35,... As magnetic portions provided on the outer diameter side of the front wheels 3 and the rear wheels 4. Adsorbed sequentially on the surface of the steel member. As a result, the wheels 3 and 4 are rotationally driven while maintaining the state where the wheels 3 and 4 are attracted to the surface of the steel member which is the traveling surface 20, and the structure inspection robot 1 travels along the steel member.

  In the bridge, an attachment portion is formed at a location where the steel members are connected to each other. At the attachment part, the ends of the steel members are overlapped with each other and an attachment plate is attached, and a plurality of bolts and nuts are passed through the steel member and the attachment plate. The end portions of the steel members are connected to each other by closely contacting the attachment plate. This attachment part is provided in all members, such as a main girder, a cross beam, and a stiffener. When the structure inspection robot passes through the contact portion, a bolt head, a nut, a rivet head, or the like that protrudes from the surface of the steel member that is the traveling surface 20 may obstruct travel. In the connecting portion of the bridge, the arrangement interval of the bolts and nuts or rivets is determined in accordance with the thickness of the steel member and the stress acting on the steel member, but the arrangement interval is 100 mm, 120 mm or 150 mm. There are relatively many cases. Therefore, the mutual distance between the front wheels 3 and 3 and the mutual distance between the rear wheels 4 and 4 can be adjusted from a predetermined minimum value to an integer multiple of 100 mm, an integer multiple of 120 mm, and an integer multiple of 150 mm. Is formed. That is, it is formed to be adjustable to a value obtained by adding an integer multiple of 100 mm to a predetermined minimum value, a value obtained by adding an integer multiple of 120 mm, and a value obtained by adding an integer multiple of 150 mm. Thereby, it can respond easily to the arrangement | positioning space | interval of the bolt nut or rivet of an attachment part.

FIG. 7 is a plan view showing a state in which the structure inspection robot 1 travels through the attachment portion where the bolts and nuts 25 are installed. FIG. 8 is a front view showing a state in which the structure inspection robot 1 travels through an attachment portion where the bolts and nuts 25 are installed. As shown in FIGS. 7 and 8, the structure inspection robot 1 has two bolts in which the distance W1 between the pair of front wheels 3 and 3 is set to 2.3 times the installation distance d of the bolt nut 25. It is set to travel across the nut 25. The separation distance W1 between the front wheels 3 and 3 is the distance between the centers of the wheel bodies 31 in the width direction. The separation distance W1 between the front wheels 3 and 3 is the minimum distance between the adjustable front wheels 3 and 3. The distance between the front wheels 3 and 3 can be adjusted to a distance obtained by adding an integral multiple of the installation interval d of the bolt and nut 25 to this minimum value. Here, the minimum value of the separation distance of the front wheels 3 and 3 can be set between the minimum lower limit distance and the minimum upper limit distance. The minimum lower limit distance is the closest distance that can be arranged on both sides of the main body 2. The minimum upper limit distance is an integer that is larger than the minimum lower limit distance and that gives an integer multiple of the arrangement interval d of the bolt nut 25 closest to the minimum lower limit distance. This is a distance obtained by subtracting the diameter D of the bolt nut 25, the width w ₁ of the wheel body 31, and twice the width w ₂ at the top of the bolt nut 25 of the contact portion 32 from the distance multiplied by the arrangement interval d. Here, the diameter D of the bolt nut 25 refers to the diameter of the maximum diameter portion exposed on the surface of the steel member of the bolt nut 25. If the symbol shown in FIG. 8 is used, the minimum value of the separation distance between the front wheels 3 and 3 is 3d-Dw ₁ -2w ₂ from the minimum lower limit distance that is a distance that can be installed on both sides of the main body ₂ . It can be set up to the minimum upper limit distance. On the other hand, the separation distance W2 between the pair of rear wheels 4 and 4 is set to 1.8 times the installation interval d of the bolt nut 25 and is set so as to travel across the two bolt nuts 25. . The separation distance W2 between the rear wheels 4 and 4 is the minimum value of the distance between the rear wheels 4 and 4. The distance between the rear wheels 4 and 4 can be adjusted to a distance obtained by adding an integral multiple of the installation interval d of the bolt and nut 25 to this minimum value. The minimum value of the separation distance between the rear wheels 4 and 4 is also set in the same manner as the front wheels 3 and 3. That is, the minimum value of the separation distance between the rear wheels 4 and 4 is the minimum upper limit represented by 3d-Dw ₁ -2w ₂ from the minimum lower limit distance that is the closest distance that can be installed on both sides of the main body 2. Can be set up to a distance. In the present embodiment, the front wheel 3 and the rear wheel 4 are shifted in the width direction so as not to contact each other. Further, the difference between the separation distance W1 of the front wheels 3 and 3 and the separation distance W2 of the rear wheels 4 and 4 is set to be equal to or less than a value obtained by subtracting the diameter D of the bolt nut 25 from the installation interval d of the bolt nut 25. The front wheels 3 and 3 and the rear wheels 4 and 4 are set so as to travel between the same bolts and nuts 25 and 45.

  FIG. 9 is a plan view showing a case where the separation distance between the front wheels 3 and 3 of the structure inspection robot 1 is set to a separation distance W4 larger than the separation distance W1 of FIG. The separation distance W4 of the front wheels 3 and 3 in FIG. 9 is a distance obtained by adding twice the installation distance d of the bolt and nut 25 to the minimum value of the separation distance between the front wheels 3 and 3. On the other hand, the separation distance between the rear wheels 4 and 4 is the same as the separation distance W2 in FIG. 7, and the separation distance W4 between the front wheels 3 and 3 and the separation distance between the rear wheels 4 and 4 are: There is a difference of twice the installation interval d of the bolt and nut 25. By setting the separation distance between the front wheels 3 and 3 to a minimum value plus two times the installation interval d of the bolt nut 25, from the position between the bolt nut 25 passing when the minimum value is set. The front wheels 3 and 3 travel at positions between the bolts and nuts 25 adjacent to each other on the far side. Further, if the difference between the separation distance between the front wheels 3 and 3 and the separation distance between the rear wheels 4 and 4 is twice the installation distance d of the bolt nut 25, the front wheels 3 and 3 can pass between the bolt nuts 25. The rear wheels 4 and 4 can also pass between the bolt nuts 25 inside the bolt nuts 25 through which the front wheels 3 and 3 have passed.

  The contact portions 32 and 42 provided on the front wheel 3 and the rear wheel 4 of the traveling device are set so that the angles of the top portions in the direction perpendicular to the rotation axis correspond to bolts and nuts and rivets.

  FIG. 10 is a cross-sectional view showing the bolt nut 25 installed at the attachment portion. In the abutting portion, the bolt nut 25 is a bolt shaft portion of a bolt 26 inserted into a bolt hole penetrating the member to be joined 22 and the attachment plates 21 and 23 arranged on both front and back surfaces of the member to be joined 22. 26 b is fastened with a nut 28. The bolt nut 25 is a high-strength bolt. Washers 27 and 29 are provided between the bolt head 26a and the upper attachment plate 21 and between the nut 28 and the lower attachment plate 23, respectively. On the bolt head 26 a side of the bolt nut 25, the washer 27 has a maximum diameter in a state where the surface is in contact with the upper attachment plate 21 that becomes the running surface 20, while the upper end edge of the bolt head 26 a has an upper attachment It protrudes most from the surface of the plate 21. Further, on the nut 28 side of the bolt nut 25, the washer 29 exhibits a maximum diameter in a state where the surface is in contact with the lower attachment plate 23 whose surface is the running surface 20, and then the lower end edge of the nut 28 and the bolt shaft portion. The diameter of the lower edge of 26b decreases in this order. Further, the amount of protrusion from the surface of the lower attachment plate 23 increases in the order of the washer 29, the nut 28, and the bolt shaft portion 26b. By setting the contact portions 32 and 42 of the wheels 3 and 4 so as not to ride on the washers 27 and 29 and so as not to ride on the bolt shaft portion 26b in relation to the bolt nut 25, the bolt nut 25 can be avoided. Can drive. Therefore, considering the lines connecting the parts of the bolt nut 25 on the bolt head 26a side and the nut 28 side of the bolt nut 25, on the bolt head 26a side, the upper end edge of the washer 27, the upper end edge of the bolt 26, A line connecting the two forms an inclination angle of θ1 when viewed from the direction perpendicular to the axis of the bolt. On the other hand, on the nut 28 side, a line connecting the lower end edge of the washer 29 and the lower end edge of the nut 28 forms an inclination angle θ2 when viewed in the direction perpendicular to the axis of the bolt. On the nut 28 side, a line connecting the lower end edge of the nut 28 and the lower end edge of the bolt shaft portion 26b forms an inclination angle of θ3 when viewed from the direction perpendicular to the axis of the bolt. Here, in FIG. 10, the bolt head 26 a side is referred to as the upper side and the nut 28 side is referred to as the lower side with respect to the direction perpendicular to the direction in which the cross section of the bonded member 22 extends. Assuming the ISO metric thread standard M20, which is often used for the connecting part of the bridge, θ1 is 73 °, θ2 is 79 °, and θ3 is 59 °. Assuming M22, θ1 is 74 °, θ2 is 80 °, and θ3 is 55 °. Assuming M24, θ1 is 77 °, θ2 is 82 °, and θ3 is 56 °. Here, the extra length that is the length that the tip of the bolt shaft protrudes from the nut 28 is 10 mm for M20, 10 mm for M22, and 13 mm for M24. From these, in order to run through the contact portion using the high-strength bolt, the angle of the top portion of the contact portions 32 and 42 when viewed in the direction perpendicular to the rotation axis may be set to 59 ° or more and 73 ° or less.

  FIG. 11 is a cross-sectional view showing the torcia-type bolt and nut 50 installed at the attachment portion. At the abutting portion, the torcia-type bolt nut 50 is a bolt of a bolt 51 inserted through a bolt hole that penetrates the member to be joined 22 and the attachment plates 21 and 23 arranged on both front and back surfaces of the member 22 to be joined. The shaft portion 51 b is fastened with a nut 52. The torcia-type bolt nut 50 is tightened with a dedicated tool on the pin tail formed at the tip of the bolt shaft portion 51b in a state where the nut 52 is screwed onto the bolt shaft portion 51b of the bolt 51 to prevent the nut 52 from rotating. Is granted. When a pinning force is applied to the pin tail and a predetermined fastening force is exerted between the bolt 51 and the nut 52, the pin tail is broken and separated from the bolt shaft portion 51b. In this way, a predetermined fastening force is introduced between the bolt 51 and the nut 52. Since the bolt 51 of the torcia-type bolt nut 50 does not give a fastening force to the bolt head 51a, the bolt head 51a is a round head. A bolt head 51 a of the bolt 51 contacts the upper attachment plate 21, and a washer 53 is provided between the nut 52 and the lower attachment plate 23. On the bolt head 51a side of the torcia-type bolt nut 50, the bolt head 51a has the maximum diameter in a state where the surface is in contact with the attachment plate 21 that is the running surface 20, while the upper end edge of the bolt head 51a is attached to the bolt head 51a. It protrudes most from the surface of the contact plate 21. Further, on the nut 52 side of the torcia-type bolt nut 50, the washer 53 exhibits a maximum diameter in a state where the surface is in contact with the lower attachment plate 23 whose surface is the running surface 20, and then the lower end edge of the nut 52 and the bolt The diameter of the lower end edge of the shaft portion 51b decreases in this order. Further, the amount of protrusion from the surface of the lower attachment plate 23 increases in the order of the washer 53, the nut 52, and the bolt shaft portion 51b. By setting so that the contact portions 32 and 42 of the wheels 3 and 4 do not ride on the bolt head 51a or the washer 53 and do not ride on the bolt shaft portion 51b in the relationship with the Torcia bolt and nut 50. The vehicle can travel while avoiding the bolts and nuts 50. Then, when the line which connects between each part of the Torcia type bolt nut 50 in the bolt head 51a side of the Torsia type bolt nut 50 and the nut 52 side is examined, the line which touches the upper end edge of the bolt head 51a in the bolt head 51a side. However, it forms an inclination angle of θ4 in the direction perpendicular to the axis of the bolt. Note that the lower end edge portion of the bolt head 51a that is in contact with the upper attachment plate 21 is formed on a cylindrical surface over a predetermined height, and forms a right angle when viewed in the direction perpendicular to the axis of the bolt. On the other hand, on the nut 52 side, a line connecting the lower end edge of the washer 53 and the lower end edge of the nut 52 forms an inclination angle of θ5 when viewed in the direction perpendicular to the axis of the bolt. On the nut 52 side, a line connecting the lower end edge of the nut 52 and the lower end edge of the bolt shaft portion 51b forms an inclination angle of θ6 when viewed in the direction perpendicular to the axis of the bolt. Here, in FIG. 11, the bolt head 51 a side is referred to as the upper side and the nut 52 side is referred to as the lower side with respect to the direction perpendicular to the direction in which the cross section of the bonded member 22 extends. Assuming ISO metric thread standard M20, which is often used for the connecting part of the bridge, θ4 is 55 °, θ5 is 79 °, and θ6 is 58 °. Assuming M22, θ4 is 55 °, θ5 is 80 °, and θ6 is 58 °. Assuming M24, θ4 is 55 °, θ5 is 82 °, and θ6 is 59 °. Here, the extra length that is the length that the tip of the bolt shaft protrudes from the nut 52 is 9.5 mm for M20, 11 mm for M22, and 14 mm for M24. From these, in order to run through the contact portion using the Torcia-type bolt and nut 50, the angle of the apex of the contact portions 32 and 42 when viewed in the direction perpendicular to the rotation axis may be set to 59 ° or more and 79 ° or less.

  When the structure inspection robot 1 of the present embodiment enters the attachment portion, the front wheel 3 may come into contact with the bolts and nuts 25 arranged at predetermined intervals in the attachment portion. When the front wheel 3 comes into contact with the bolt nut 25, the contact portion 32 receives a reaction force from the bolt nut 25, and the traveling direction of the front wheel 3 is changed to a direction avoiding the bolt nut 25 by this reaction force, and the traveling direction of the traveling device is changed. Be changed. The contact portion 32 has an apex angle in a direction perpendicular to the rotation axis that is set to a predetermined angle according to the type of the bolt nut 25 used in the attachment portion. Therefore, the front wheel 3 is kept on the surface of the steel member without riding on the bolt and nut 25. By changing the traveling direction of the front wheel 3, contact of the rear wheel 4 with the bolt and nut 25 is avoided. Alternatively, even if the rear wheel 4 comes into contact with the bolt nut 25, the traveling direction of the rear wheel 4 is changed to a direction avoiding the bolt nut 25 due to the reaction force received by the contact portion 42 of the rear wheel 4 from the bolt nut 25. The traveling direction of the traveling device is changed. Further, the magnet 35 that exerts the attractive force to the steel members of the front wheel 3 and the rear wheel 4 is shielded by the shielding part 36 from the influence of the magnetism on the side of the wheel. It is possible to effectively prevent the inconvenience that 4 is pulled to the bolt and nut 25. Thereby, the structure inspection robot 1 can run through the attachment portion without causing the traveling device to be locked or climbed onto the bolt and nut 25. Therefore, the inspection can be performed by reaching the steel member ahead of the connecting portion of the bridge. Therefore, the structure inspection robot according to the present invention can reduce the portion of the bridge that cannot be reached compared to the conventional art, and can inspect the wider portion of the bridge than the conventional art.

  Moreover, since the structure inspection robot 1 of this embodiment is arrange | positioned so that the front wheel 3 and the rear wheel 4 may mutually overlap in the rotation-axis direction view, when longitudinally cutting steel members, such as a box girder, steel When the normal moves from the vertical surface of the manufactured member to the downward horizontal plane in which the normal line faces vertically downward, it is possible to prevent the main body 2 from coming into contact with the corner between the vertical surface and the downward horizontal plane. Accordingly, it is possible to prevent the inconvenience that the main body 2 comes into contact with the corner and the traveling stops, and the inconvenience that the wheels 3 and 4 are detached from the traveling surface 20 due to the contact with the corner of the main body 2. 1 can be effectively prevented from falling. Moreover, since the structure inspection robot 1 of this embodiment is arrange | positioned so that the front wheel 3 and the rear wheel 4 may mutually overlap in the rotating shaft direction view, both the front wheel 3 and the rear wheel 4 are steel members. When moving from the vertical plane to the downward horizontal plane, the contact point can always be formed on the vertical plane or the downward horizontal plane. Therefore, the inconvenience that the front wheels 3 and the rear wheels 4 are detached from the traveling surface 20 can be prevented, and the structure inspection robot 1 can be effectively prevented from falling.

  Further, the structure inspection robot 1 of the present embodiment is similar to the case of moving from the vertical plane of the steel member to the downward horizontal plane, and also when moving from the downward horizontal plane to the vertical plane, the downward horizontal plane and the vertical plane The inconvenience of the main body 2 coming into contact with the corner between the two can be prevented, and the structure inspection robot 1 can be prevented from falling. Further, the structure inspection robot 1 of the present embodiment is not limited to a vertical plane and a downward horizontal plane that form a right angle, but also when the main body 2 has two planes when passing through two planes that form a series of various angles. The inconvenience of falling in contact with the corners between them can be prevented.

  Furthermore, since the structure inspection robot 1 of the present embodiment is arranged so that the front wheel 3 and the rear wheel 4 overlap each other when viewed in the direction of the rotation axis, a plate-shaped steel member protruding in the horizontal direction is attached to the surface. It can run toward the back. Specifically, when the structure inspection robot 1 moves from the upper surface to the end surface of the plate-shaped steel member, the state in which the rear wheel 4 is in contact with the upper surface is maintained when the front wheel 3 moves from the upper surface to the end surface. . Subsequently, when the rear wheel 4 moves from the upper side surface to the end surface, the state in which the front wheel 3 is in contact with the end surface is maintained. Thereafter, when the structure inspection robot 1 moves from the end surface of the plate-shaped steel member to the lower side surface, when the front wheel 3 moves from the end surface to the lower side surface, the state in which the rear wheel 4 is in contact with the end surface is maintained. Subsequently, when the rear wheel 4 moves from the end surface to the lower side surface, the state in which the front wheel 3 is in contact with the lower side surface is maintained. When this structure inspection robot 1 passes through the corner between the upper surface and the end surface and the corner between the end surface and the lower surface, the front wheel 3 and the rear wheel 4 overlap in the direction of the rotation axis. In addition, since the main body 2 is disposed on the side farther from the running surface 20 than the overlapping portion, inconvenience of the main body 2 coming into contact with the corner portion is prevented. Therefore, the inconvenience that the front wheels 3 and the rear wheels 4 are detached from the traveling surface 20 can be prevented, and the structure inspection robot 1 can be effectively prevented from falling.

  As described above, the structure inspection robot 1 of the present embodiment can travel without falling between the vertical surface of the steel member and the downward horizontal surface, and the upper side surface and the lower side surface of the plate-shaped steel member. You can drive without falling between. Therefore, the lower part of the bridge superstructure as shown in FIG. 12 can travel without falling. That is, as indicated by the traveling path of T, the deck plate 61 faces downward in the vertical direction, and moves to one surface of the web 62a of the cross beam 62 perpendicular to the bottom surface of the deck plate 61. It moves to the flange 62b extended in the horizontal direction of the lower end of the girder 62, moves to the other surface of the web 62a via the lower surface of this flange 62b, and can move to the lower surface of the deck plate 61 connected to this web 62a. In the traveling path T, the front wheel 3 and the rear wheel 4 are corner portions at a so-called corner portion that forms 90 ° as between the lower surface of the deck plate 61 and the surface of the web 62a of the cross beam 62. Since it touches both surfaces when reaching the point, it can easily pass through the corner. Therefore, it can reach a wider area of the bridge than before and can be inspected. Although FIG. 12 shows a state in which the structure inspection robot 1 travels longitudinally in the direction of the bridge axis of the bridge, it can also travel across the direction perpendicular to the bridge axis of the bridge. When the structure inspection robot 1 crosses the bridge, it falls on the corner of the corner formed between the deck plate 61 and the box girder and the corner of the corner formed at the lower end of the box girder. It is possible to travel while preventing this. Further, it is possible to travel while preventing the falling corner portion formed between the deck plate 61 and the I-girder and the plate-like flange at the lower end of the I-girder. Further, in the bridge superstructure, there are attachment portions in the cross beam 62, the box girder as the main girder, and the I girder, but the contact portions 32 provided on the front wheel 3 and the rear wheel 4 of the traveling device, By 42, the engagement part can be prevented from being locked onto and lifted onto the bolt nut 25, and the attachment part can be run through. Accordingly, it is possible to inspect each part by reaching a position ahead of the attachment part of the cross beam 62 or the main girder. Therefore, it is possible to inspect a wider area of the bridge than before.

  FIG. 13 is a plan view showing a state in which the structure inspection robot 102 of the second embodiment travels through the attachment portion, and FIG. 14 shows the structure inspection robot 102 of the second embodiment that travels through the attachment portion. It is a front view which shows the mode of the wheels 3 and 4. FIG. The In the second embodiment, the same components as those in the first embodiment are referred to by the same reference numerals as those in the first embodiment, and detailed description thereof is omitted.

  The structure inspection robot 102 of the second embodiment includes a pair of front wheels 3 and 3, a single rear wheel 4, and a main body 2 on which an inspection device 5 is mounted. The main body 2 is provided with a geared motor 11 and a motor driver 12 that drive the front wheels 3 and 3 and the rear wheel 4, a receiver 13, a main controller 14, and a battery 15. In FIG. 13, the geared motor 11, the motor driver 12, the receiver 13, the main controller 14, and the battery 15 are not shown. This structure inspection robot 102 is provided with contact portions 32 similar to those in the first embodiment on the inner side in the width direction of the pair of front wheels 3. On the other hand, the contact portion 32 is not provided outside the pair of front wheels 3 in the width direction, and the wheel body 31 is exposed. Further, contact portions 42 are provided on both sides of one rear wheel 4. The pair of front wheels 3 and 3 are formed such that the separation distance W3 can be adjusted in the same manner as in the first embodiment.

  According to the structure inspection robot 102 of the second embodiment, it is only necessary to adjust the position of the front wheel 3 relative to the drive shaft 7 when traveling through the attachment portion. Specifically, if the separation distance W3 of the pair of front wheels 3 is set to a width that can travel across even-numbered bolt nuts 25, 25,..., The rear wheel 4 is bolt nuts 25, It is possible to travel between the centers of the 25 without being interfered by the bolts and nuts 25. In FIG. 13, the separation distance W <b> 3 between the pair of front wheels 3 is set to a width across the two bolts and nuts 25. Thereby, one rear wheel 4 can be run in the center between the two bolt nuts 25 without being interfered by the bolt nuts 25. Further, since the structure inspection robot 102 of the second embodiment has the contact portion 32 inside the width direction of the front wheel 3, even if the front wheel 3 contacts the bolt nut 25 of the attachment portion, the contact portion 32 is not a bolt. A reaction force is received from the nut 25, and the traveling direction of the front wheel 3 is changed to a direction avoiding the bolt nut 25 by this reaction force. Therefore, the front wheel 3 can continue to travel while being attracted to the surface of the steel member without being locked to the bolt and nut 25 or riding up. By changing the traveling direction of the front wheel 3, it is possible to avoid contact of the rear wheel 4 with the bolt and nut 25. Alternatively, even if the rear wheel 4 contacts the bolt nut 25, the contact portions 42 on both sides of the rear wheel 4 receive a reaction force from the bolt nut 25, and this reaction force causes the traveling direction of the rear wheel 4 to change the bolt nut 25. Changed to avoid. As a result, the structure inspection robot 102 can run through the attachment portion without causing the travel device to be locked or climbed onto the bolt and nut 25. In the structure inspection robot 102 of the second embodiment, the contact portion 32 is provided on the inner side in the width direction of the front wheel 3 and the contact portion 32 is not provided on the outer side in the width direction. Can be relatively small.

  FIG. 15 is a transverse sectional view showing the wheels of the structure inspection robot of the third embodiment, and FIG. 16 is a longitudinal sectional view showing the wheels of the structure inspection robot of the third embodiment. The structure inspection robot of the third embodiment is different from the structure inspection robot of the first embodiment in the structure of the wheel body. In the present embodiment, the same components as those in the first embodiment are referred to by the same reference numerals as those in the first embodiment, and detailed description thereof is omitted.

  In the structure inspection robot according to the third embodiment, the wheel main body 131 of the wheel 130 is fixed to the outer peripheral surface at an angle of 45 ° around the central axis of the hub 6 and the hub 2 as shown in FIG. The spokes 113, 113, 113,... As eight radial members, and a suction unit 114 that is swingably connected to the tip of each spoke 113 is configured. The attracting unit 114 is formed by a substantially cylindrical casing 115 and a magnet 116 as a magnetic part accommodated in a tip portion of the casing 115. The casing 115 has an opening at the entire front end, and a cylindrical magnet 116 is fitted in the opening, and the end surface of the magnet 116 faces the outer diameter side of the wheel 130 as an attracting surface. The casing 115 is made of a ferromagnetic material, is formed so as to cover a portion other than the end face in the radial direction of the magnet 116, and functions as a shielding portion that limits the direction of the magnetic force of the magnet 116 to the outer side in the radial direction. . In the base end portion of the casing 115, a connection opening that opens to the end surface is formed, and the tip end portion of the spoke 113 is inserted into the connection opening. A casing 115 is pivotally supported by a swing shaft 117 provided at the tip of the spoke 113 so as to be swingable. A contact member 119 formed by bending a member on the end surface of the casing 115 is formed in the vicinity of the swing shaft 117 so as to continue to the edge of the connection opening of the casing 115. The contact member 119 is disposed with respect to the connection opening on the rear side of the rotation direction of the wheel 130 indicated by the arrow R in FIG. 15, that is, the rotation direction of the spoke 113. The connection opening extends from a position continuous with the contact member 119 toward the front side in the rotation direction of the spoke 113. When the suction unit 114 swings around the swing shaft 117 at the tip end portion of the spoke 113, when the central axis of the magnet 116 coincides with the central axis of the spoke 113 and forms 0 °, the contact member 119 of the spoke 113 It is formed so as to contact the side surface. On the other hand, when the central axis of the magnet 116 forms an angle of 22.5 ° with respect to the central axis of the spoke 113, the edge of the connecting opening opposite to the abutting member 119 is in contact with the abutting member 119 of the spoke 113. It forms so that it may contact | abut to the side surface on the opposite side to the contact side. As described above, the swing range of the suction unit 114 is determined between the angle at which the contact member 119 contacts the spoke 113 and the angle at which the edge of the connection opening opposite to the contact member 119 contacts the spoke 113. It has been.

  In the wheel 130 of the structure inspection robot according to the third embodiment, contact portions 32 are attached to both sides of the wheel body 131 in the width direction. The contact portion 32 is formed in a conical shape having an open bottom surface, and a cylindrical column 32b along the central axis is formed inside. In the contact portion 32, a conical contact surface 32a of a contact portion body made of metal is provided with a coating made of PTFE. An end portion on the bottom surface side of the support column 32 b is connected to an end surface of the hub 6, and the contact portion 32 is fixed to the wheel body 131. The drive shaft 7 is inserted through the support column 32b of the contact portion 32 on the inspection robot body side.

  Since the wheel 130 of the structure inspection robot according to the third embodiment supports the suction unit 114 including the magnet 116 that is attracted to the steel member by the tips of the eight spokes 113, 113, 113,. One of the magnets 116 is always attracted to the surface of the steel member. Thereby, even if there is an obstacle such as a step due to a joint on the traveling surface 20 of the structure inspection robot, the spokes 113 and 113 adjacent to each other can get over the obstacle.

  In this structure inspection robot, when traveling on a downward horizontal plane in which the normal line of the steel member faces vertically downward, as shown in FIG. 15, the two adsorption units 114A and 114B simultaneously contact the downward horizontal plane. Hereinafter, the suction unit 114 and the constituent parts of the suction unit 114 will be described by adding a subscript A when positioned in the front side of the traveling direction F and adding a subscript B when positioned in the rear side of the traveling direction F. To do. The two adsorption units 114A and 114B in contact with the downward horizontal plane are such that the acting magnetic force acting on the downward horizontal plane from the magnet 116A of the front adsorption unit 114A located on the front side in the traveling direction F is located on the rear side in the traveling direction F. It becomes larger than the acting magnetic force which acts on the downward horizontal plane from the magnet 116B of the rear side adsorption unit 114B.

  Specifically, the front suction unit 114A can swing toward the downward horizontal plane when contacting the downward horizontal plane, and thus swings around the swing axis 117A by the magnetic force of the magnet 116A, and the suction surface of the magnet 116A. However, they are in close contact with the downward horizontal plane at a substantially zero inclination angle. On the other hand, the rear side adsorption unit 114B is adsorbed by itself on the downward horizontal plane before the front side adsorption unit 114A contacts the downward horizontal plane. When the adsorption unit 114 serving as the rear adsorption unit 114B is adsorbed to the downward horizontal plane alone, the central axis of the magnet 116 coincides with the central axis of the spoke 113 and the abutting member 119 contacts the side surface of the spoke 113. From the time of contact, it is impossible to swing toward the rear side in the rotation direction. Thus, the suction unit 114 including the magnet 116 has a reference angle of 0 ° with respect to the central axis of the spoke 113. The adsorption unit 114 that has become unable to swing toward the rear side in the rotation direction is rotated together with the spoke 113, whereby the inclination angle α of the magnet 116 with respect to the downward horizontal plane gradually increases. As shown in FIG. 1, when the front adsorption unit 114A comes into contact with the downward horizontal plane, the adsorption surface of the magnet 116B of the rear adsorption unit 114B has an inclination angle α of about 22.5 ° with respect to the downward horizontal plane. Is made. As a result, the front adsorption unit 114A is attracted to the downward horizontal plane by 100% acting magnetic force of the magnet 116A, while the rear adsorption unit 114B is attracted to the downward horizontal plane by 8% acting magnetic force of the magnet 116B.

  Subsequently, even if the wheel 130 further rotates from the state of FIG. 15 and the spokes 113, 113, 113... Rotate and the rear suction unit 114B is detached from the downward horizontal plane, the front suction unit 114A is The adsorption surface of the magnet 116A remains in close contact with the downward horizontal plane. Therefore, before and after the rear-side attracting unit 114B is detached, the entire attracting force of the wheel 130 only decreases from 108% acting magnetic force of the magnet 116 to 100% acting magnetic force. As a result, the wheel 130 can be less likely to be detached from the downward horizontal plane due to an applied load, and the structure inspection robot can be effectively prevented from falling.

  Further, when the rear adsorption unit 114B is detached, the adsorption surface of the magnet 116B has an inclination angle α of about 22.5 ° with respect to the downward horizontal plane, and the acting magnetic force on the downward horizontal plane is about 8%. The rear suction unit 114B can be detached from the downward horizontal plane with a small torque. As described above, the wheel 130 of the structure inspection robot of the present embodiment obtains 100% of the working magnetic force by the front suction unit 114A and prevents the fall without increasing the magnetic force of the magnet 116 as compared with the conventional one. Since the acting magnetic force of the side adsorption unit 114B is reduced to 8%, there is no need to increase the torque required for driving. Therefore, according to the wheel 130 of the present embodiment, the structure inspection robot can be prevented from falling without increasing the size of the drive source or the battery.

  Further, the wheel 130 of the structure inspection robot according to the present embodiment has the contact portions 32 on both sides in the width direction of the wheel main body 131 when traveling on the attachment portion of the steel member. Even if the wheel 130 comes into contact, the traveling direction of the wheel 130 can be changed to the direction avoiding the bolt nut 25 by the reaction force received by the contact portion 32 from the bolt nut 25. Therefore, the wheel 130 can rotate while keeping the state adsorbed on the surface of the steel member without riding on the bolt nut 25. In addition, the magnet 116 that exerts an attractive force to the steel member of the wheel 130 is shielded by the casing 115 from the influence of the magnetism on the side of the wheel, so that the wheel 130 is attracted to the bolt nut 25 by the magnet 116. Can be effectively prevented. Thereby, the structure inspection robot can run through the attachment portion without causing the traveling device to be locked or climbed onto the bolt and nut 25. Therefore, the inspection can be performed by reaching the steel member ahead of the connecting portion of the bridge. Therefore, the structure inspection robot according to the present invention can reduce the portion of the bridge that cannot be reached compared to the conventional art, and can inspect the wider portion of the bridge than the conventional art.

  FIG. 17 is a plan view showing the structure inspection robot 103 according to the fourth embodiment. The structure inspection robot 103 according to the fourth embodiment differs from the structure inspection robot according to the first embodiment in the arrangement positions of the front wheels 3 and the rear wheels 4. In the fourth embodiment, the same components as those in the first embodiment are referred to by the same reference numerals as those in the first embodiment, and detailed description thereof is omitted.

  In the structure inspection robot 103 according to the fourth embodiment, the front wheels 3 and the rear wheels 4 are arranged apart from each other when viewed in the direction of the rotation axis. The front wheel 3 and the rear wheel 4 are disposed at the same position in the width direction, which is the extending direction of the drive shafts 7 and 9. That is, the front wheel 3 and the rear wheel 4 are arranged so as to draw the same locus when the traveling device goes straight. According to the structure inspection robot 103 of the fourth embodiment, the front wheel 3 and the rear wheel 4 follow the same straight path even when the arrangement interval d of the bolts and nuts 25 is narrow when traveling through the attachment portion. Can run. Accordingly, the traveling surface 20 between the bolts and nuts 25 can travel without being locked or riding on the bolts and nuts 25, and the attachment portion can be broken.

  FIG. 18 is a plan view showing the structure inspection robot 104 of the fifth embodiment. The structure inspection robot 104 according to the fifth embodiment includes two main bodies 201 and 202. The two main bodies 201 and 202 are provided with a pair of front wheels 3 and 3 and a pair of rear wheels 4 and 4, respectively. It has been. In the fifth embodiment, the same components as those in the first embodiment are referred to by the same reference numerals as those in the first embodiment, and detailed description thereof is omitted. In the structure inspection robot 104 of the fifth embodiment, two front wheels 3 and 3 are provided on both sides in the traveling direction of the first main body 201. The front wheels 3 and 3 are provided with conical contact portions 32 and 32 on both sides in the width direction. The rear wheels 4 and 4 are provided with conical contact portions 42 and 42 on both sides in the width direction. The first main body 201 includes a base 210 that is wide in the traveling direction, a gear motor 11 that is mounted on the base 210 and drives the front wheels 3 via the drive shaft 7, a motor driver 12, a receiver 13, A main controller 14 is provided. Two rear wheels 4 and 4 are provided on both sides of the traveling direction of the second main body 202. The second main body 202 includes a base body 211 that is wide in the traveling direction, a gear motor 11 that is mounted on the base body 211 and drives the rear wheel 4 via the drive shaft 9, a motor driver 12, and a battery 15. . In FIG. 18, the geared motor 11, the motor driver 12, the receiver 13, the main controller 14, and the battery 15 are not shown. The first main body 201 and the second main body 202 are connected by an elastic member 213. In the structure inspection robot 104 according to the fifth embodiment, the front wheel 3 and the rear wheel 4 are arranged so as to overlap each other when viewed in the rotation axis direction. Further, the first main body 201 having the front wheel 3 and the second main body 202 having the rear wheel 4 are connected by an elastic member 213. As a result, the structure inspection robot 104 can perform rolling in which the first main body 201 and the second main body 202 individually rotate about an axis that faces the traveling direction. Therefore, when the traveling surface 20 has uneven unevenness, the first main body 201 and the second main body 202 can be individually rolled, so that the traveling of the structure inspection robot 104 can be stabilized. Further, when either of the first main body 201 and the second main body 202 undergoes relative displacement in the traveling direction due to unevenness of the traveling surface 20, the urging force in the forward direction is generated by the elastic force of the elastic member 213. Therefore, the running performance of the structure inspection robot 104 can be improved. Further, since the contact portions 32 and 42 are provided on both sides of the front wheel 3 and on both sides of the rear wheel 4, it is possible to effectively prevent the bolt nut 25 from being locked or climbed when traveling through the attachment portion. . Therefore, it is possible to prevent the inconvenience that the traveling of the structure inspection robot 104 is hindered by the attachment portion, and it is possible to inspect a wider range of the bridge than before.

  FIG. 19 is a plan view showing the structure inspection robot 105 according to the sixth embodiment, and FIG. 20 is a side view of the structure inspection robot 105. In the structure inspection robot 105 of the sixth embodiment, auxiliary wheels 203 and 204 are provided on the first main body 201 and the second main body 202 of the structure inspection robot 104 of the fifth embodiment, respectively. In the sixth embodiment, the same components as those in the fifth embodiment are referred to by the same reference numerals as those in the fifth embodiment, and detailed description thereof is omitted. In FIG. 20, only the wheels are illustrated among the components of the structure inspection robot 105 of the sixth embodiment. In the structure inspection robot 105 of the sixth embodiment, a first auxiliary wheel 203 is provided on the opposite side of the first main body 201 to the side connected to the elastic member 213, and the second main body 202 is elastic. A second auxiliary wheel 204 is provided on the side opposite to the side connected to the member 213. The first auxiliary wheel 203 is rotatably supported by a support arm 205 provided so as to protrude from the first main body 201. The first auxiliary wheel 203 is provided with a magnetic part on the outer diameter side, and rotates by being attracted to a ferromagnetic member of the structure. Conical contact portions 232 and 232 are provided on both sides of the first auxiliary wheel 203 in the width direction. The first auxiliary wheel 203 is a driven wheel to which no driving force is input. The second auxiliary wheel 204 is rotatably supported by a support arm 206 that protrudes from the second main body 202. The second auxiliary wheel 204 is provided with a magnetic part on the outer diameter side, and rotates by being attracted to a ferromagnetic member of the structure. Conical contact portions 242 and 242 are provided on both sides of the second auxiliary wheel 204 in the width direction. The second auxiliary wheel 204 is a driven wheel to which no driving force is input. The structure inspection robot according to the sixth embodiment supports the first main body 201 at three points in plan view by supporting the first main body 201 with the first auxiliary wheel 203 having a magnetic part and the pair of front wheels 3. . Further, the second main body 202 is supported at three points in plan view by supporting the second main body 202 with the second auxiliary wheel 204 having a magnetic part and the pair of rear wheels 4. Thus, since the first main body 201 and the second main body 202 are supported at three points in plan view, the stability of the structure inspection robot 105 during travel can be further improved. Further, in the first main body 201 or the second main body 202, the reaction force of the torque when the driving force is input to the pair of front wheels 3 or the rear wheels 4 is separated from the direction perpendicular to the axis and has a magnetic part. Since it can be supported by the first or second auxiliary wheel 203, 204, rotation due to the reaction of the driving torque of the first or second main body 201, 202 can be prevented. In addition, first or second auxiliary wheels 203 and 204 are provided at the forefront portion in the traveling direction and are located at the approximate center in the width direction of the traveling device. The first or second auxiliary wheels 203 and 204 are contact portions. Therefore, when the structure inspection robot 105 travels along the bridge attachment portion, the bolts and nuts 25 can be effectively avoided.

  In the fifth and sixth embodiments, the two main bodies 201 and 203 are connected by the elastic member 213. However, three or more main bodies may be provided and the main bodies may be connected by the elastic member.

  In the above embodiment, the contact portions 32, 42, 232, and 242 have a conical shape, and the contact portion 132 has a truncated cone shape. However, contact portions having other shapes may be used. For example, as shown in a modification of FIG. 21, curved contact portions 332 having a curved radial cross section of the contact surface 332 a may be provided on the front wheel 3 on both sides in the width direction of the wheel body 31. Further, the curved contact portion 332 may be installed only on one side in the width direction of the wheel 3. The curved contact portion may be installed on the rear wheel 4.

  Moreover, in the said embodiment, although the magnets 35 and 35 as a magnetic force part of the wheels 3 and 4 were adsorb | sucking and drive | worked by the steel member as a ferromagnetic member, they adsorb | sucked and drive | worked by the other ferromagnetic member. Also good.

  In the above embodiment, the case where the structure inspection robots 1, 102, 103, 104, and 105 are used for inspection of a bridge has been described. The structure inspection robot of the present invention can be used for inspection of other structures. Moreover, in the said embodiment, although the structure inspection robot 1,102,103,104,105 ran through the attachment part in which the bolt nut 25 as a protrusion member was arranged, the ferromagnetic member which has another protrusion member Can be run without being locked or riding on the protruding member.

DESCRIPTION OF SYMBOLS 1,102,103,104,105 Structure inspection robot 2,201,202 Main body 3 Front wheel 4 Rear wheel 5 Inspection device 7,9 Drive shaft 10 Base 11 Geared motor 12 Motor driver 13 Receiver 14 Main controller 20 Running surface 25 Bolt nut 31, 41, 131 Wheel body 32, 42, 132, 232, 242 Contact part 35, 116 Magnet 36 Shield part

Claims (8)

A main body on which a structure inspection device is mounted;
A structure inspection robot comprising a traveling device that moves the main body along the ferromagnetic member by rotating the wheel by attracting the wheel to the ferromagnetic member of the structure with a magnetic force,
The structure has a mutual connection part of ferromagnetic members in which protruding members are arranged in a matrix,
The running device, possess on the side of the wheel, the contact portion whose traveling direction is changed by contact with the protruding member protruding from the running surface,
The wheels of the traveling device are provided on the outer diameter side to generate a magnetic force, and a shield that shields the influence of the magnetism from the magnetic force portion to the side of the wheel and prevents it from being drawn to the protruding member. structure inspection robot, characterized in that it comprises a part. The structure inspection robot according to claim 1,
The structure inspection robot according to claim 1, wherein a surface of the contact portion of the wheel of the traveling device is formed in a conical shape or a truncated cone shape. The structure inspection robot according to claim 1,
The structure inspection robot according to claim 1, wherein the wheel contact portion of the traveling device has a curved surface. The structure inspection robot according to claim 1,
The structure inspection robot according to claim 1, wherein the wheel contact portion of the traveling device is formed of a material having a static friction coefficient of 0.5 or less. The structure inspection robot according to claim 1,
The structure inspection robot, wherein the contact portion is provided on one side in the thickness direction of the wheel and on different sides of a plurality of wheels on the same axis. The structure inspection robot according to claim 2,
The above structure is a bridge,
The structural inspection is characterized in that the contour of the surface of the contact portion is formed so as to form an angle of 59 ° or more and 79 ° or less with respect to the rotation shaft when the wheel rotation shaft is viewed at right angles. robot. The structure inspection robot according to claim 1,
In the traveling device, the wheels adjacent to each other in the traveling direction are disposed so that the rotation paths of the magnetic portions intersect each other when viewed in the rotational axis direction, and are disposed at different positions in the extending direction of the rotational shaft. A structure inspection robot characterized by The structure inspection robot according to claim 1,
A plurality of the main bodies are provided.
Each of the main bodies is provided with a pair of wheels arranged coaxially,
A structure inspection robot, wherein the plurality of main bodies are connected by an elastic body.

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