JP6676285B2 - Exterior wall inspection equipment - Google Patents

Description

  The present invention relates to an outer wall inspection device.

  Patent Document 1 discloses a conventional outer wall inspection device. The outer wall inspection device includes two wire ropes, two winches for winding and sending out each wire rope one by one, and an inspection device main body connected to each wire rope. The inspection device main body is equipped with a photographing device such as a CCD camera. In this outer wall inspection device, two winches are mounted on the roof of a building at an interval, and the inspection device body is suspended from a wire rope. The outer wall inspection device can control each winch to wind and send out the wire rope, and can move the inspection device main body on a two-dimensional plane to a desired position.

JP-A-2005-54430

  However, the outer wall inspection device of Patent Document 1 can only move the inspection device main body on a two-dimensional plane along the surface of the outer wall of the building. For this reason, in this outer wall inspection device, it may be difficult to bring the inspection device main body close to the surface of the outer wall. For example, in a building where the outer wall surface has irregularities, the inspection apparatus main body cannot be brought close to the outer wall surface of the recessed portion, and the outer wall inspection may not be performed properly.

  The present invention has been made in view of the above-mentioned conventional circumstances, and a problem to be solved is to provide an outer wall inspection device capable of appropriately performing an inspection of an outer wall by bringing an inspection device main body close to a surface of the outer wall. And

The outer wall inspection device of the present invention is an outer wall inspection device for inspecting an outer wall of a building,
Four or more wire ropes,
A plurality of winches attached to the building and winding and feeding the wire ropes one by one;
A first opening located on the outer wall side in a state where the winch is attached to the building and hung on the wire rope, and is connected to the first opening; A propulsion device that has a main body having a second opening opened outside the first opening, and is housed in the main body, sucks air from the first opening, and exhausts air from the second opening. And a moving device that approaches an outer wall surface of the building by aerodynamic propulsion generated by exhausting air from the second opening ,
A computer that controls winding and feeding of each wire rope of each winch,
Equipped with a,
The computer controls each of the winches in a centralized synchronous manner, winds the wire rope, moves the moving device to a desired position on a two-dimensional plane, and controls a desired surface of the outer wall of the building. The moving device approaches the surface of the outer wall of the building by aerodynamic propulsion generated by exhausting air from the second opening,
If the wind is strong, the propulsion device, draws air from the second opening, characterized that you exhaust air from the first opening.

  For this reason, the outer wall controls each winch to take up and send out the wire rope, and after moving the moving device on which the inspection device main body is mounted on a two-dimensional plane, the aerodynamics of the moving device are used. The main body of the inspection device attached to the moving device can be brought closer to the surface of the outer wall of the building by a proper propulsive force. Therefore, this outer wall inspection device can perform inspection by reliably bringing the inspection device main body close to the surface of the outer wall of the building.

  Therefore, the outer wall inspection device of the present invention can properly inspect the outer wall by bringing the inspection device main body close to the surface of the outer wall.

1 is a schematic diagram illustrating an outer wall inspection device according to a first embodiment. Fig. 3 shows a winch of Example 1, (A) is a plan view, and (B) is a side view. It is the schematic which shows the state which inspects the outer wall of a bridge using the outer wall inspection apparatus of Example 1 and Reference Example 1 . FIG. 4 is a perspective view showing a first procedure for arranging the outer wall inspection device of the first embodiment on a lower surface of a bridge. It is a perspective view which shows the 2nd procedure of arrange | positioning the outer wall inspection apparatus of Example 1 on the lower surface of a bridge. It is a perspective view which shows an example of the 3rd procedure of arrange | positioning the outer wall inspection apparatus of Example 1 under the bridge. It is a perspective view which shows the other example of the 3rd procedure of arrange | positioning the outer wall inspection apparatus of Example 1 on the lower surface of a bridge. It is a perspective view which shows the 4th procedure of arrange | positioning the outer wall inspection apparatus of Example 1 under the bridge. It is a perspective view which shows the 5th procedure of arrange | positioning the outer wall inspection apparatus of Example 1 on the lower surface of a bridge. It is the schematic which shows the length of each wire rope when the outer wall inspection apparatus of Example 1 is arrange | positioned on the lower surface of a bridge. It is a perspective view showing the state where the outer wall inspection device of Example 1 was arranged at the side of the bridge. It is the schematic which shows the state which inspects the outer wall of a bridge using the outer wall inspection apparatus of the reference example 1 . It is the schematic which shows the length of each wire rope when the outer wall inspection apparatus of the reference example 1 is arrange | positioned on the surface of a pier. FIG. 9 is a perspective view illustrating a main part of an outer wall inspection device according to a second embodiment. FIG. 7 is a schematic sectional view showing a main part of an outer wall inspection device of Reference Example 2 . It is sectional drawing which shows the principal part of the outer wall inspection device of the reference example 3 . 7A and 7B are main views of an outer wall inspection device of Reference Example 4 , in which FIG. 7A is a perspective view and FIG. 7B is a side view. FIGS. 6A and 6B show another example of a winch, in which FIG. 6A is a plan view and FIG.

  A preferred embodiment of the present invention will be described.

Moving device of the present invention may have a cylindrical skirt portion having a continuous flexible peripheral portion of the front Symbol first opening. In this case, when the moving device approaches the surface of the outer wall and the peripheral edge of the skirt abuts against the surface of the outer wall, the skirt has flexibility, and the skirt is adapted to the shape of the surface of the outer wall. Deformation can reduce the gap between the outer wall surface and the skirt. In this state, the amount of air flowing into the main body from the first opening by the propulsion device decreases, and the air in the main body is exhausted from the second opening, so that a slight pressure difference occurs inside and outside the main body. Due to this pressure difference, the moving device is attracted to the surface of the outer wall within a range that does not hinder movement of the moving device, and the outer wall inspection device can be stabilized.

  The moving device of the present invention may have a flat fin inclined with respect to the air flow so as to move in one direction by the air flow generated by the aerodynamic propulsion. In this case, the moving device can be moved to a desired position with a simple structure without loosening the wire rope.

Next, Embodiments 1 and 2 and Embodiments 1 to 4 that embody the outer wall inspection device of the present invention will be described with reference to the drawings.

<Example 1>
As shown in FIG. 1, the outer wall inspection device according to the first embodiment includes four wire ropes 10, four winches 30, a moving device 50, and an inspection device main body 70. Each winch 30 winds and feeds the four wire ropes 10 one by one. The control of the winding and unwinding of the wire rope 10 of each winch 30 is controlled centrally and synchronously using a computer. As shown in FIGS. 3 to 9, each winch 30 has a fixed base 31, a winch body 33, and an arm 35. Each winch 30 mounts and fixes a fixing base 31 on the upper surface of the bridge 1 which is a building. Two winches 30 are provided at both ends in the width direction of the bridge 1 at predetermined intervals in the direction in which the bridge 1 extends. It can be mounted empty.

  As shown in FIGS. 2A and 2B, the winch main body 33 includes a support portion 41, a reel 42 for winding and sending out the wire rope 10, a coupling 43, a speed reducer 44, a motor 45, and a rotary encoder. 46. The support portion 41 has a connecting portion 41A extending from the fixed base 31 and a supporting portion main body 41B attached to a tip of the connecting portion 41A. The support portion main body 41B includes a first support portion 41C extending in a direction orthogonal to the connection portion 41A, two reel support portions 41D and one sheet extending from the first support portion 41C in a direction opposite to the connection portion 41A. And the motor support portion 41E. Each of the reel support portions 41D and the motor support portions 41E have a flat plate shape, and opposing surfaces extend in parallel.

  The reel 42 is disposed between the two reel supporting portions 41D, and the rotating shaft portions 42A extending at both ends of the reel 42 pass through the through holes provided in each reel supporting portion 41D. It is rotatably supported by a built-in bearing 47. The motor 45 is connected to the speed reducer 44. In the speed reducer 44, the rotating shaft 44A passes through a through hole provided in the motor support 41E, and is fixed to the motor support 41E. Thus, the motor 45 is supported by the motor support 41E via the speed reducer 44. The speed reducer 44 reduces the rotation speed of the motor 45. The rotary encoder 46 is connected to a surface of the motor 45 opposite to the surface to which the speed reducer 44 is connected. The rotary encoder 46 controls the rotation speed and the like of the motor 45 by a signal sent from a control device (not shown). The rotating shaft 44A extending from the speed reducer 44 and the rotating shaft 42A extending from one of the reels 42 are connected by a coupling 43 arranged between the reel supporting portion 41D and the motor supporting portion 41E.

  As shown in FIGS. 3 to 9, the arm 35 has a cylindrical shape having a predetermined length, and is rotatably attached to the winch main body 33. The arm 35 has the wire rope 10 coming out of the reel 42 inserted therein.

  As shown in FIG. 1, the moving device 50 has a main body 51 and a propulsion device 53 housed in the main body 51. The main body 51 has a substantially square shape with corners in a plan view, and has a certain vertical width (the vertical direction is the vertical direction in FIG. 1; the same applies hereinafter). That is, in the main body 51, the first opening 51A located on the upper side and the second opening 51B located on the lower side communicate with each other, and are opened in the vertical direction. The main body 51 has a first opening 51A located on the lower surface side of the bridge 1 and a second opening having a second opening in a state where each winch 30 is attached to the bridge 1 or the like and the moving device 50 is hung on the wire rope 10. It is located below one opening 51A.

  The propulsion device 53 has four propellers 53A and a control unit 54 that controls these propellers 53A. The control unit 54 includes a control device that controls the rotation speed and the like of each propeller 53A and a power supply device that drives the motor 45 and the like of each propeller 53A in a cubic case having a vertical dimension smaller than the vertical dimension of the main body 51. It is stored. The control unit 54 is disposed at the center of the main body 51 by four connecting members 55 extending from the outer surfaces of the four corners of the case to the inner surfaces of the four corners of the main body 51. The four propellers 53A have a motor 53B for rotating the propellers 53A mounted substantially at the center of each connecting member 55. Each of the four propellers 53A is formed in such a size that its rotation locus does not interfere with the inner surface of the main body 51 and the outer surface of the controller 54. In the moving device 50, four wire ropes 10 are connected to the outer surfaces of the four corners of the main body 51 via coil springs 11.

  When each propeller 53A rotates, the moving device 50 sucks air from the first opening 51A of the main body 51 and exhausts air from the second opening 51B. For this reason, when each propeller 53A rotates in a state where each winch 30 is attached to the bridge 1 and the moving device 50 is hung on the wire rope 10, the moving device 50 is moved to the lower surface of the bridge 1 by aerodynamic propulsion. Can be approached. At this time, in the outer wall inspection device, since the four wire ropes 10 are connected to the main body 51 via the coil spring 11, excessive tension is prevented from being generated in each wire rope 10. Further, since this outer wall inspection device is connected to four wire ropes 10, even if one wire rope 10 is cut, it is possible to prevent a fall.

  The inspection device main body 70 has a manipulator 71 extending from the lower surface of the case of the control unit 54 of the propulsion device 53 and a 73 attached to the tip of the manipulator 71. The manipulator 71 is provided with a joint part 71A which is bendable at an intermediate part. The CCD camera 73 faces upward and receives a signal from the control unit 54 to photograph the lower surface of the bridge 1.

  In the outer wall inspection device having such a configuration, as shown in FIG. 3, four winches 30 are attached to the upper surface of the bridge 1, and the moving device 50 is suspended by the four wire ropes 10. Then, the propellers 53A of the moving device 50 are rotated to bring the moving device 50 close to the lower surface of the bridge 1 (the surface of the outer wall of the building) by aerodynamic propulsive force and to adsorb with a weak suction force. Thus, the CCD camera 73 of the inspection apparatus main body 70 can be photographed by approaching the lower surface of the bridge 1 to inspect the lower surface of the bridge 1.

Next, a procedure for inspecting the bridge 1 as a building using the outer wall inspection apparatus will be described.
First, as shown in FIG. 4, the fixing base 31 of the four winches 30 is attached to the inside of the handrail 1A of the bridge 1. These four winches 30 are attached at predetermined intervals in the direction in which the bridge 1 extends, two on each side of the bridge 1 in the width direction. At this time, a predetermined range S under the bridge 1 is set as an off-limits zone.

  Next, as shown in FIG. 5, the arm 35 of each winch 30 is rotated so as to extend in the vertical direction, and two arms extending from the two winches 30 attached to one side of the bridge 1 in the width direction. The wire rope 10 is connected to an adjacent corner of the main body 51 of the moving device 50 via the coil spring 11.

  Next, as shown in FIG. 6, the two wire ropes 10 connected to the main body 51 of the moving device 50 are sent out from each winch 30, and each propeller 53A of the moving device 50 is driven by a remote controller (not shown). Flying to the other side in the width direction of the bridge 1, capturing the moving device 50 on the other side in the width direction of the bridge 1, and extending from the two winches 30 attached to the other side in the width direction of the bridge 1. The wire rope 10 is connected to the main body 51 of the moving device 50 at the remaining corners via the coil spring 11.

  When a work space can be secured under the bridge 1, as shown in FIG. 7, the wire rope 10 is hung down from each of the four winches 30 attached to the bridge 1, and The four wire ropes 10 may be connected to the respective corners of the main body 51 of the moving device 50 via the coil springs 11 in the work space.

  Next, as shown in FIG. 8, the respective winches 30 are intensively controlled synchronously using a computer, the wire rope 10 of each winch 30 is wound, and the moving device 50 is moved to a desired position on a two-dimensional plane. To the position you want. At this time, when the wind is strong or the like, the propeller 53A is rotated in the opposite direction to generate an aerodynamic thrust downward, and each winch 30 winds the wire rope 10 while applying tension to the wire rope 10. It may be. During this operation, since the moving device 50 is connected to the four wire ropes 10, even if one to three wire ropes 10 are cut, the moving device 50 does not fall.

  Next, as shown in FIG. 9, the propeller 53A of the moving device 50 is driven to rotate while the respective winches 30 are intensively controlled synchronously using a computer, and the moving device is driven by the aerodynamic propulsion force. 50 is brought closer to the lower surface of the bridge 1. When the moving device 50 is pressed against the lower surface of the bridge 1, the moving device 50 is attracted to the lower surface of the bridge 1 with a weak suction force within a range that does not hinder movement. In this state, the CCD camera 73 is also approaching the lower surface of the bridge 1, and the lower surface of the bridge 1 can be photographed from a position close to the lower surface of the bridge 1 to check for cracks or the like.

As shown in FIG. 10, the lengths l ₁ , l ₂ , l ₃ , l of the four wire ropes 10 when the moving device 50 is arranged at a desired position (x, y) on the lower surface of the bridge 1. ₄ can be obtained by the following equations 1 to 4. Here, x is a position coordinate in the direction in which the bridge 1 extends, and y is a position coordinate in the width direction of the bridge 1. W is the distance between the ends of the arm portions 35 from which the wire ropes 10 of the two winches 30 arranged on both sides of the bridge 1 are drawn out (the width dimension of the bridge 1). L is the distance between the distal ends of the arm portions 35 of the two winches 30 arranged along the direction in which the bridge 1 extends with the wire rope 10 pulled out.

  Further, as shown in FIG. 11, the moving device 50 sends out the wire rope 10 from the four winches 30 and causes the wire rope 10 to be attracted to the vertical surface of the bridge 1 with a small suction amount, and the vertical surface of the bridge 1 is moved by the CCD camera 73. It is possible to photograph and inspect the vertical plane of the bridge 1.

  As described above, the outer wall inspection apparatus includes four wire ropes 10, four winches 30 attached to the bridge 1, and winds and unwinds the wire ropes 10 one by one. In a state where the winch 30 is attached to the bridge 1 and hung on the wire rope 10, the moving device 50 moves closer to the lower surface of the bridge 1 by aerodynamic propulsive force generated by the rotation of the propeller 53A. An inspection apparatus main body 70 having a CCD camera 73 attached to the apparatus 50 is provided.

  For this reason, the outer wall inspection device controls each winch 30 to take up and send out the wire rope 10, and after moving the moving device 50 on which the inspection device main body 70 is attached on a two-dimensional plane, By driving the propeller 53A of the moving device 50, the CCD camera 73 of the inspection device main body 70 attached to the moving device 50 can be brought closer to the lower surface of the bridge 1 or the like. Therefore, the outer wall inspection apparatus can inspect the CCD camera 73 of the inspection apparatus main body 70 by reliably approaching the lower surface of the bridge 1 or the like.

  Therefore, the outer wall inspection device of the first embodiment can properly inspect the bridge 1 by reliably bringing the CCD camera 73 of the inspection device main body 70 close to the lower surface of the bridge 1 or the like.

  In addition, the outer wall inspection device can push the moving device 50 against the lower surface of the bridge 1 or the like by the aerodynamic propulsive force generated by the rotation of the propeller 53A of the moving device 50 and cause the moving device 50 to be adsorbed with a weak suction force. In addition, downsizing and cost reduction can be achieved. Further, in this outer wall inspection device, since the moving device 50 is connected by the four wire ropes 10, it is hardly affected by wind and can be prevented from falling.

< Reference Example 1 >
As shown in FIGS. 3, 12 and 13, the outer wall inspection device of Reference Example 1 has a moving device 50 connected to two wire ropes 10 wound and fed by a pair of winches 30, and a pier 2. Is different from the first embodiment. The other configuration is the same as that of the first embodiment. The illustration of the inspection apparatus main body 70 is omitted.

  As shown in FIG. 12, this outer wall inspection device is configured such that a pair of winches 30 is attached to both ends of the bridge 1 one by one in the width direction, or a pair of winches 30 are fixed on the same side of the bridge 1 in the width direction. Installed at intervals.

  In this outer wall inspection device, two winches 30 are attached to the upper surface of the bridge 1, and the moving device 50 is suspended by two wire ropes 10. Then, the propellers 53A of the moving device 50 are rotated, and the moving device 50 is brought closer to the side surface (the surface of the outer wall of the building) of the pier 2 by aerodynamic propulsion, and is attracted by a weak suction force. Thus, the CCD camera 73 of the inspection apparatus main body 70 (not shown) can be photographed by approaching the lower surface of the pier 2 to inspect the pier.

As shown in FIG. 13, a pair of winches 30 is attached to each of the two ends of the bridge 1 in the width direction, and two winches 30 are arranged at desired positions (x, y) on the side surface of the pier 2. The lengths l ₁ and l ₂ of the wire rope 10 can be obtained by the following Expressions 5 and 6. Here, x is a position coordinate in the width direction of the pier 2, and y is a position coordinate downward from the upper end of the pier 2. W is the distance between the ends of the arm portions 35 from which the wire ropes 10 of the two winches 30 arranged on both sides of the bridge 1 are drawn out (the width dimension of the bridge 1).

  As described above, the outer wall inspection apparatus includes two wire ropes 10, two winches 30 attached to the bridge 1, and winds and unwinds the wire ropes 10 one by one. In the state where the winch 30 is attached to the bridge 1 and hung on the wire rope 10, the moving device 50 moves closer to the side surface of the pier 2 by aerodynamic propulsion generated by the rotation of the propeller 53 </ b> A. An inspection apparatus main body 70 having a CCD camera 73 attached to the apparatus 50 is provided.

  For this reason, the outer wall inspection device controls each winch 30 to take up and send out the wire rope 10, and after moving the moving device 50 on which the inspection device main body 70 is attached on a two-dimensional plane, By driving the propeller 53A of the moving device 50, the CCD camera 73 of the inspection device main body 70 attached to the moving device 50 can be brought closer to the side surface of the pier 2. Therefore, this outer wall inspection apparatus can inspect the CCD camera 73 of the inspection apparatus main body 70 by reliably approaching the side surface of the pier 2.

Therefore, the outer wall inspection device of Reference Example 1 can properly inspect the pier 2 by reliably bringing the CCD camera 73 of the inspection device main body 70 close to the side surface of the pier 2.

  Further, the outer wall inspection device can push the moving device 50 against the lower surface of the bridge 1 or the like with a weak suction force by the aerodynamic propulsive force generated by the rotation of the propeller 53A of the moving device 50. The size and the price can be reduced. Further, in this outer wall inspection device, since the moving device 50 is connected by the two wire ropes 10, it is hardly affected by the wind, and can be prevented from falling.

<Example 2 >
As shown in FIG. 14, the outer wall inspection device according to the second embodiment has four points, that is, the main body 151 of the moving device 150 having a circular shape in a plan view, and the upper end of the main body 151 of the moving device 150 at the same interval. The point that four casters 160 are attached, the propulsion device 153 is one propeller 153A, the point that the wire rope 10 is connected to the main body 151 of the moving device 150 without a coil spring, the inspection device main body 170 is different from the first embodiment in that it has two CCD cameras 73. The other configuration is the same as that of the first embodiment.

  When the wheels 160A of the four casters 160 abut against the lower surface of the bridge 1 and rotate, the moving device 150 is pressed against the lower surface of the bridge 1 by the aerodynamic propulsive force generated by the rotation of the propeller 153A. The moving device 150 can be moved along the lower surface of the bridge 1 and the like. One propeller 153A has a motor 153B arranged at the center of the main body 151, and is formed in such a size that its rotation locus does not interfere with the inner surface of the main body 151. The two CCD cameras 73 are attached upward to the tip of a rod-shaped attachment member 171 extending outward from the outer surface on the opposite side of the main body 151.

  The outer wall inspection apparatus controls each winch 30 to take up and send out the wire rope 10, and moves the moving apparatus 150 on which the inspection apparatus main body 170 is attached on a two-dimensional plane. By driving the propeller 153A of 150, the CCD camera 73 of the inspection apparatus main body 170 attached to the moving device 150 can be brought closer to the lower surface of the bridge 1 or the like. Therefore, the outer wall inspection apparatus can inspect the CCD camera 73 of the inspection apparatus main body 170 by reliably approaching the lower surface of the bridge 1 or the like.

Therefore, the outer wall inspection device of the second embodiment can also properly inspect the bridge 1 by reliably bringing the CCD camera 73 of the inspection device main body 170 close to the lower surface of the bridge 1 or the like.

< Reference Example 2 >
The outer wall inspection device of Reference Example 2 differs from Reference Example 1 in that the propulsion device 253 is a single propeller 253A as shown in FIG. Other configurations are the same as in Reference Example 1, the same configuration will be denoted by the same reference numerals, and detailed description thereof will be omitted. The illustration of the inspection apparatus main body 70 is omitted.

  One propeller 253A has a motor 253B arranged at the center of main body 251 and is formed in such a size that its rotation trajectory does not interfere with the inner surface of main body 251 of moving device 250. This outer wall inspection device controls each winch 30 to take up and send out the wire rope 10, and moves the moving device 250 on which the inspection device main body 70 is attached on a two-dimensional plane. By driving the propeller 253A of 250, the CCD camera 73 of the inspection device main body 70 attached to the moving device 250 can be brought closer to the side surface of the pier 2. Therefore, this outer wall inspection apparatus can inspect the CCD camera 73 of the inspection apparatus main body 70 by reliably approaching the side surface of the pier 2.

Therefore, the outer wall inspection device of Reference Example 2 can also properly inspect the pier 2 by reliably bringing the CCD camera 73 of the inspection device main body 70 close to the side surface of the pier 2.

< Reference Example 3 >
As shown in FIG. 16, the outer wall inspection device of Reference Example 3 has a shape of the main body 351 of the moving device 350, and the moving device 350 has a flexible tubular shape that is continuous with the peripheral portion of the first opening 351 </ b> A of the main body 351. that it has a skirt portion 380, and that the caster 360 is mounted is different from the reference example 2, the other structure is the same as in reference example 2, the same configurations are denoted by the same reference numerals Detailed description is omitted. The illustration of the inspection apparatus main body 70 is omitted.

  The main body 351 has a first opening 351A located on the side surface side of the pier 2 and a second opening 351B communicating with the first opening 351A and opening outside the first opening 351A. The opening area of the first opening 351A is larger than that of the second opening 351B. The main body 351 includes a cylindrical first side surface 351C forming a first opening 351A, a cylindrical second side surface 351D forming a second opening 351B, a first side surface 351C, and a second side surface 351D. And a connecting surface 351 </ b> E positioned parallel to the side surface of the pier 2.

  One propeller 353A is arranged in the second side surface part 351D. In the propeller 353A, the motor 353B is arranged at the center position of the second opening 351B, and has a size such that its rotation locus does not interfere with the inner surface of the second side surface portion 351D.

  When the moving device 350 approaches the side surface of the pier 2 and the peripheral edge of the tip of the skirt portion 380 contacts the side surface of the pier 2, the skirt portion 380 has flexibility. The skirt portion 380 is deformed in accordance with the uneven shape of the side surface of the portion 2, and the gap between the side surface of the pier portion 2 and the skirt portion 380 can be reduced. In this state, as the propeller 353A rotates, the amount of air flowing into the main body 351 from the first opening 351A decreases, and the air in the main body 351 is exhausted from the second opening 351B. A slight pressure difference occurs between inside and outside. Due to this pressure difference, the moving device 350 is attracted to the side surface of the pier 2 within a range that does not hinder the movement of the moving device 350, and the outer wall inspection device can be stabilized.

  The caster 360 is attached to the inner peripheral surface of the first opening 351A, and the outer peripheral surface of the wheel 360A is disposed slightly inside the distal end surface of the skirt 380. When the wheels 360A of the casters 360 rotate by contacting the side surfaces of the pier 2, the moving device 350 causes the skirt portion 380 to move the skirts 380 by the aerodynamic propulsive force due to the rotation of the propeller 353A and a slight pressure difference. The moving device 350 can be moved along the side surface of the pier 2 while being in contact with the side surface of the bridge pier 2.

  The outer wall inspection device controls each winch 30 to take up and send out the wire rope 10, and moves the moving device 350 on which the inspection device main body 70 is attached on a two-dimensional plane. By driving the propeller 353A of 350, the CCD camera 73 of the inspection device main body 70 attached to the moving device 350 can be brought closer to the side surface of the pier 2. Therefore, this outer wall inspection apparatus can inspect the CCD camera 73 of the inspection apparatus main body 70 by reliably approaching the side surface of the pier 2.

Therefore, the outer wall inspection device of Reference Example 3 can properly inspect the pier 2 by reliably bringing the CCD camera 73 of the inspection device main body 70 close to the side surface of the pier 2.

< Reference Example 4 >
The outer wall inspection device of Reference Example 4 differs from Reference Example 1 in that a moving device 450 has a flat fin 400 as shown in FIGS. Other configuration is the same as in Reference Example 1, the same configuration will not be described in detail with the same reference numerals. The illustration of the inspection apparatus main body 70 is omitted.

  The fin 400 has a rectangular shape that is long in the left-right direction (the left-right direction is the left-right direction in FIG. 17A). The fin 400 has a bar-shaped mounting portion extending outward along the long side of one end of the parallel short side, and has a second opening at the upper and lower central portion of the facing surface of the main body 451 of the moving device 450 which extends in the vertical direction. It is attached through a through hole provided on the 51B side (the vertical direction is the vertical direction in FIG. 17). In other words, the fins 400 are attached obliquely upward from the upper and lower central portions of the second opening 51B of the main body 451 to the outside of the second opening 51B. When the propeller 53A rotates while being suspended from the two wire ropes 10 via the coil spring 11, the propeller 53A is sucked from the first opening 51A, and the air discharged from the second opening 51B hits the fin 400, and the moving device 450 is connected to the pier. Aerodynamic propulsion acts so as to move obliquely downward toward the side surface of the part 2. For this reason, this outer wall inspection apparatus can move the moving device 450 to a desired position with a simple structure without the wire rope 10 being loosened.

  The outer wall inspection device controls each winch 30 to take up and send out the wire rope 10, and moves the moving device 50 on which the inspection device main body 70 is attached on a two-dimensional plane. By driving the propeller 53 </ b> A of 50, the CCD camera 73 of the inspection device main body 70 attached to the moving device 50 can be brought closer to the side surface of the pier 2. Therefore, this outer wall inspection apparatus can inspect the CCD camera 73 of the inspection apparatus main body 70 by reliably approaching the side surface of the pier 2.

Therefore, the outer wall inspection device of Reference Example 4 can also properly inspect the pier 2 by reliably bringing the CCD camera 73 of the inspection device body 70 close to the side surface of the pier 2.

The present invention is not limited to the first and second embodiments described with reference to the above description and the drawings. For example, the following embodiments are also included in the technical scope of the present invention.
(1) In the first embodiment and the first to fourth embodiments , the wire rope is connected to the main body of the moving device via the coil spring. However, the wire rope is directly connected to the main body of the moving device without using the coil spring. May be.
(2) In the first and second embodiments, four wire ropes are connected to the main body of the moving device. However, the present invention is not limited to four wires, and if the main body of the moving device is connected to three or more wire ropes. Good.
(3) In Examples 1 and 2, and Reference Examples 1 to 4 , the inspection device body is a CCD camera, but the inspection device may be any device that inspects an outer wall such as a hammer inspection device or an ultrasonic inspection device. .
(4) In the first and second embodiments and the first to fourth embodiments, the bridge is inspected by the outer wall inspection device. However, the inspection can be performed on the outer wall of a building such as a building.

(5) The winch main body 133 may have a structure as shown in FIGS. Specifically, in the winch main body 133, the rotation axis of the reel 42 is connected to the rotation axis of the motor 45 controlled by the rotary encoder 46 via the coupling 43. The motor 45 is torque-controlled, and a constant torque is always applied in the winding direction in order to keep the winding force of the wire rope 10 wound on the reel 42 constant. The winch body 133 includes a driving roller 141, an idle roller 142, a coupling 143 that connects a rotation axis of the driving roller 141 and a rotation axis of the reduction gear 144, a reduction gear 144, a motor 145 capable of controlling a rotation angle, And a brake 146. Note that the brake 146 need not be provided. The winding and unwinding of the wire rope 10 is performed by sandwiching the idle roller 142 with a drive roller 141 connected to a motor 145 for controlling a rotation angle via a reduction gear 144 and a coupling 143.

1,2 ... building (1 ... bridge, 2 ... pier)
DESCRIPTION OF SYMBOLS 10 ... Wire rope 30 ... Winch 50, 150, 250, 350, 450 ... Moving device 51, 151, 251, 351, 451 ... Main body part 51A, 351A ... 1st opening 51B, 351B ... 2nd opening 53A, 153A, 253A , 353A ... Propeller (propulsion device)
70: inspection apparatus body 380: skirt part 400: fin

Claims (3)

An outer wall inspection device for inspecting an outer wall of a building,
Four or more wire ropes,
A plurality of winches attached to the building and winding and feeding the wire ropes one by one;
A first opening located on the outer wall side in a state where the winch is attached to the building and hung on the wire rope, and is connected to the first opening; A propulsion device that has a main body having a second opening opened outside the first opening, and is housed in the main body, sucks air from the first opening, and exhausts air from the second opening. And a moving device that approaches an outer wall surface of the building by aerodynamic propulsion generated by exhausting air from the second opening ,
An inspection device body attached to the moving device;
A computer that controls winding and feeding of each wire rope of each winch,
Equipped with a,
The computer controls each of the winches in a centralized synchronous manner, winds the wire rope, moves the moving device to a desired position on a two-dimensional plane, and controls a desired surface of the outer wall of the building. The moving device approaches the surface of the outer wall of the building by aerodynamic propulsion generated by exhausting air from the second opening,
If the wind is strong, the propulsion device, the air sucked from the second opening, an outer wall inspection device, characterized that you exhaust air from the first opening. The moving device ,
A cylindrical skirt portion having a continuous flexible peripheral portion of the front Symbol first opening,
The outer wall inspection device according to claim 1, further comprising: The moving device,
3. The fin according to claim 1, wherein the fin has a flat fin inclined with respect to the air flow so as to move in one direction due to the air flow generated by the aerodynamic propulsion. Exterior wall inspection equipment.

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