JP6836751B2 - Cable-stayed bridge cable inspection device - Google Patents

Description

The present invention relates to a cable-stayed bridge cable inspection device.

Cable-stayed bridges are mainly a bridge girder that connects the opposite banks, a single or multiple bridge girders that support the required halfway position of the bridge girder, a high and strong main tower that can withstand compression and bending, and an upper end. Multiple positions connected to different positions in the height direction of the left and right side surfaces of the tower, stretched like diagonal strings, and the lower end connected to each part of multiple locations between the shore of the bridge girder and the main tower It is equipped with a book cable.

After construction of a cable-stayed bridge, it is important to regularly inspect the cables, perform maintenance as necessary, extend the life of the cables, and ensure the safety of the bridge. For this reason, it is necessary to properly carry out visual inspection of cables for cable-stayed bridges. In this case, it is necessary to avoid as much as possible because it has a great impact on society to perform a visual inspection of a plurality of cables for a long time by closing the bridge at the inspection site. Many cable-stayed bridges have been constructed in various places, and there are many cable-stayed bridges that are expected to be subject to visual inspection in the future.

Therefore, a method has been proposed in which the work of visual inspection of a cable can be efficiently performed without closing the bridge (see, for example, Patent Documents 1 and 2).

The inspection device disclosed in Patent Document 1 includes a rectangular parallelepiped frame member having a passage through which a cable is passed and elongated in the cable direction, a traveling support means that travels in contact with the cable, and the inside of the frame member. It is provided at a position surrounding the cable in the middle of the longitudinal direction, and is provided with a plurality of photographing means for photographing the cable. The traveling support means includes two pairs of traveling rollers for holding the cable, a pressing roller, a motor, a battery, and the like, and these are provided at the upper position and the lower position in the cable inclination direction inside the frame member, respectively, and a pair of each. The traveling roller abuts on the outer surface of the left and right positions on the upper surface side of the cable, the pressing roller abuts on the cable on the opposite side of the pair of traveling rollers, and the motor is driven by remote control to rotate the traveling roller with respect to the cable. It is configured to run. Therefore, this inspection device is a mechanism that self-propells and climbs the cable from the lower end to the upper end and continuously photographs the outer peripheral surface of the cable by a plurality of photographing means.

Images taken continuously on the outer peripheral surface of the cable by a plurality of photographing means are displayed on a display device installed on the bridge girder so that the inspector can visually confirm them in real time. Here, if the inspection device climbs the cable with a spiral twist, image editing is required, so it is not possible to perform visual confirmation in real time.

Therefore, in this inspection device, in order to prevent the cable from climbing with a twist, the weight is placed on the lower surface of the frame member so as to correspond to the position directly below the cable. , Or a configuration attached to the lower surface via a string-like object.

Next, the cable inspection device disclosed in Patent Document 2 includes a cylindrical frame that surrounds the cable and is long in the cable direction, and drive wheels that are attached to the frame and run in contact with the left and right positions on the upper surface side of the cable. A driven wheel that is attached to the frame and runs in contact with the lower surface side of the cable, an urging means that presses the driven wheel against the peripheral surface of the cable, a center of gravity deflecting means that biases the entire center of gravity toward the driven wheel side, and a frame. It is provided with a plurality of image pickup devices provided so as to surround the cable from the upper end surface of the cable so as to project upward in the cable direction.

This cable inspection device is provided with a steering mechanism for steering the drive wheels so that the cable is not twisted and climbed.

Japanese Patent No. 5717246 Japanese Patent No. 5955101

However, in the inspection device disclosed in Patent Document 1, a cable stretched diagonally passes through a frame member long in the cable direction in a state of being curved with a large radius of curvature instead of a straight line. In this state, when multiple traveling rollers holding the cable have long spans at the upper and lower positions in the cable inclination direction inside the frame member and the contact direction with the cable is different, and when they are swallowed by crosswinds. Due to the difference in contact pressure of the drive wheels with respect to the cable at both ends, a moment is generated in the plane including the curved surface of the cable in the same direction as the curved surface in the curved direction, and this moment is located at the upper position in the cable tilt direction. In addition, there is a problem that an uneven contact pressure is generated between a plurality of traveling rollers in contact with the left and right positions of the upper surface of the cable at the lower position, causing twisting and climbing.

On the other hand, in the inspection device disclosed in Patent Document 1, the frame member is such that the weight for preventing the cable from climbing with twisting corresponds to the position directly below the cable. Since it is configured on the lower surface or is attached to the lower surface of the frame member via a string-like object, the weight causes a center-of-gravity action equivalent to that of a roly-poly toy and twists. Since it is intended to be corrected, there is a problem that a large correction moment does not occur unless the twist becomes large. Further, in the case where the frame member is attached to the lower surface via a string-like object, the weight is blown by the wind when the wind is even a little strong, and the cable is positively twisted. Therefore, there is a problem that it is very difficult to visually confirm the image of the cable photographed by a plurality of photographing means in such a situation.

Next, in the cable inspection device disclosed in Patent Document 2, similarly to the inspection device disclosed in Patent Document 1, a moment in the plane including the curved surface of the cable in the same direction as the bending direction of the curved surface. There was a problem that this moment caused twisting and caused climbing.

Further, a steering mechanism for steering the drive wheels by rotating at least one or both of the drive wheels traveling in contact with the left and right positions on the upper surface side of the cable around the steering shaft is required. As described in the embodiment, the steering mechanism is composed of, for example, a steering motor, a swing arm, a steering link, and an interlocking link, so that the number of parts is large and it is difficult to assemble and miniaturize. Become. Then, it is necessary to detect the direction and amount of twisting by the sensor and drive and control the steering motor based on the signal of the sensor, and there is a problem that control becomes difficult when the driving wheels are worn. ..

In the inspection device disclosed in Patent Document 1 and the cable inspection device disclosed in Patent Document 2, how to attach the cable to the cable is not considered at all.

The present invention has been made to solve the above-mentioned problems. First, it is difficult for a moment in the same direction as the bending direction of the curved surface to occur in the plane including the curved surface of the cable, and the cable is twisted. It is an object of the present invention to provide a cable inspection device for a cable-stayed bridge that can climb a cable without occurring.

In order to achieve the above object, the cable-stayed bridge cable inspection device according to the present invention has a frame through which the cable-stayed bridge cable, which is an object to be inspected, is inserted in the center, and the cable supported internally by the frame. Two pairs of drive wheels that are rotatably mounted in the axial direction of the cable at the left and right positions on the upper surface side of the upper position in the inclination direction and the left and right positions on the upper surface side of the lower position in the inclination direction, and the inner side of the frame. A driven wheel that is supported by a cable-stayed bridge and is mounted on a pair of the drive wheels so as to be able to roll in the axial direction of the cable by pressing the cable at a position sandwiching the cable, and internally supported by the frame. The drive means for driving the two pairs of drive wheels so as to travel in the axial direction of the cable, and the surface of the cable when the two pairs of drive wheels are arranged inside the frame and travel. A cable-stayed bridge cable inspection device including a plurality of photographing means for photographing, a control unit arranged inside the frame and controlling the driving means and the photographing means based on a remote operation signal, and a battery. In, the frame is composed of at least one of a frame body and a panel body, and defines a cubic space having a size that does not interfere with other adjacent cables at a position in the vicinity of the cable-stayed bridge of the cable. The cable of the cable-stayed bridge, which is the object to be inspected, is inserted through the center of the cubic space, and the equipment in the frame has four ridges of the cubic space at positions up, down, left and right on the cable. Occasionally, the center of gravity of the entire device is arranged so as to be vertically downward from the cable and at a position separated by a required dimension.

According to the above configuration, the frame defines a cubic space having a size that does not interfere with other adjacent cables at a position near the cable-stayed bridge of the cable, so that the axial length of the cable of the frame is conventional. Since it is much shorter than the thing, the problem as in Patent Document 1 described in paragraph number 0011 does not occur. That is, the diagonally stretched cable runs substantially in a straight line in the frame that is short in the cable direction, and the cables of the two pairs of drive wheels holding the cables are located at the upper position and the lower position in the inclination direction. Since the separation distance is short, the contact direction with respect to the cable is the same, and the contact pressure of the drive wheels with respect to the cable does not differ at both ends even if swallowed by a crosswind, the curved surface in the plane including the curved surface of the cable. Since a moment in the same direction as the bending direction of the cable is unlikely to occur and an uneven contact pressure is not generated between the two pairs of drive wheels, the cable can be climbed without twisting.

In the testing apparatus of the cable-stayed bridge cable according to the present invention, the frame, the four-way a test object at a position corresponding to the edge of the lower position is stayed bridge cables of the edges from under the cubic space it can be configured to include a frame body having an opening Hairikomeru to the position of the center, a lid for closing the opening of the frame body.

According to the above configuration, the frame has an opening and a lid that opens and closes the opening so that the cable passing through the center position in the frame can be guided from below to the center position in the frame. A divided configuration can be provided.

According to the above configuration, the two pairs of drive wheels come into contact with each other so as to straddle the upper position in the inclined direction and the lower position in the inclined direction of the cable. After that, when the opening is closed with the lid, the driven wheels provided on the lid are in a state of pressing the cable, and there is no risk that the two pairs of drive wheels will come off from the state of straddling the cable, and autonomous driving is possible. Become in a state.

In the cable-stayed bridge cable inspection device according to the present invention, one end of the lid is connected to one side of the opening of the frame body by a hinge, the other end can be opened and closed with respect to the opening, and the other end is openable. It can be configured to be connected to the other side of the opening of the frame body by a connecting tool.

According to the above configuration, by opening and closing the lid, the cable can be relatively taken in and out through the opening provided in the frame body.

In the cable-stayed bridge cable inspection device according to the present invention, the lid is separably provided with respect to the frame body, and is connected to the edge portions on both sides of the opening with a connecting tool in a state where the opening is closed. Can be configured as

According to the above configuration, by attaching and detaching the lid, the cable can be relatively taken in and out through the opening provided in the frame body.

In the testing apparatus of the cable-stayed bridge cable according to the present invention, the frame body includes a first angle member having a long side and a short side as viewed in the axial direction of said cable, said first angle member and symmetrical It has a second angle member of the shape, and the long side side edge portion of the first angle member and the long side side edge portion of the second angle member are located above the cable. The lid is connected by a hinge so as to form a ridge, and is unlockably locked so that the long side portions of the first and second angle members are held at a right angle. It is composed of a third angle member having two short sides when viewed in the axial direction of the cable, and the end edge of the short side of one of the third angle members is the end of the short side of the second angle member. It can be configured to be connected to the edge by a hinge so that the edge of the other short side of the third angle member is leasably connected to the edge of the short side of the first angle member.

According to the above configuration, the frame body and the lid can be deployed in a state of being connected so as to largely expose the inner surface side, and in the deployed state, two pairs of drive wheels, two driven wheels, a drive means, A shooting means, a control unit, a battery, etc. can be attached. Therefore, it is easy to install and wire the equipment, and it is easy to replace the drive wheels and perform other maintenance.

In the cable-stayed bridge cable inspection device according to the present invention, a driven wheel is provided on the lid, and the driven wheel does not interfere with the cable when the cable is passed through the opening to the insertion position when the lid is open. When the lid is closed, the cable at the insertion position that comes into contact with the two pairs of drive wheels can be pressed from below.

According to the above configuration, the cable can be guided so as not to interfere with the driven wheel and the photographing means, can be positioned at the center position in the frame, and there is no risk of damaging the cable when it is attached to or detached from the cable.

In the testing apparatus of the cable stayed bridge according to the present invention, among the four sides of the crest of the frame, the outer surface portion corresponding to the left and right edges, be configured to have a block mounting portion for mounting the outer counterweight Can be done.

According to the above configuration, when the cable inspection device for the inclined bridge is used many times, either of the two pairs of drive wheels traveling across the cable at the upper position A in the inclined direction and the lower position B in the inclined direction is greatly worn. As a result, the worn drive wheel has a shorter wheel circumference at the contact point with the cable, so when the drive wheel at the right position in the traveling direction is worn, the right-hand winding is twisted and the cable is climbed. In addition, when the drive wheel on the left side in the travel direction is worn, the left-handed twist occurs and the cable is climbed. First, the drive wheel on the right side in the travel direction and the drive wheel on the left side Twist can be eliminated by adjusting and controlling the number of rotations with the control unit, and when the twist cannot be eliminated, an external counter weight is attached to the block mounting portion provided on the ridge on the opposite side of the twist direction. By doing so, it can be resolved and emergency treatment can be taken.

According to the present invention, firstly, a cable-stayed cable can be climbed without twisting because a moment in the same direction as the bending direction of the curved surface is unlikely to occur in the plane including the curved surface of the cable. An inspection device for bridge cables can be provided.

It is a schematic diagram which shows the intermediate state of the inspection work by the inspection device of the cable of a cable-stayed bridge. It is a front view of the cable-stayed bridge cable inspection apparatus in the middle of the inspection work which concerns on 1st Embodiment of this invention. FIG. 5 is an end view of the cable-stayed bridge cable inspection device shown in FIG. 2 as viewed from above in the axial direction of the cable. FIG. 3 is an end view of the cable-stayed bridge cable inspection device shown in FIG. 3 with the end face panel body removed. FIG. 5 is a front view of the cable-stayed bridge cable inspection device shown in FIG. 2 when the panel body and the end face panel body are removed. With respect to the frame body and the lid body constituting the frame of the cable-stayed bridge cable inspection device of the first embodiment, the panel body and the end face panel body constituting the frame body and the lid body are removed, and the frame body is removed. It is a perspective view which shows the schematic frame structure of a lid body and a lid body. FIG. 6 is an end view showing a state in which the lid is opened and attached to and detached from the cable with respect to the frame structure of the frame body and the lid shown in FIG. FIG. 6 is an end view showing a state in which the lid is closed and the cable is held by the wheels with respect to the frame structure of the frame body and the lid shown in FIG. FIG. 5 is an end view showing a state in which a panel body and an end face panel body are attached to the frame structure of the frame body and the lid body in the state shown in FIG. 7. It is an end view from above in the axial direction of the cable when the cable-stayed bridge cable inspection device of the first embodiment is near the upper end of the cable, and by showing the positional relationship with the adjacent cable. It is a figure which shows the dimensional relationship of the frame which does not interfere with an adjacent cable. FIG. 5 is an end view of a cable-stayed bridge cable inspection device according to a second embodiment of the present invention, which is held by the cable and viewed from above in the axial direction of the cable. It is a development view of the cable inspection apparatus of the cable-stayed bridge which concerns on the 2nd Embodiment of this invention.

Next, an embodiment according to the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a schematic view of a cable-stayed bridge. The cable-stayed bridge K has a bridge girder H connecting the opposite banks, a main tower T provided to support the required intermediate position of the bridge girder H, and each upper end is different in the height direction of the left and right side surfaces of the main tower T in the bridge girder direction. A plurality of cables W connected to each of a plurality of positions, stretched like a cable-stayed string, and each lower end connected to a side surface portion of the bridge girder H at a plurality of locations between the shore of the bridge girder H and the main tower T. It has.

The cable-stayed bridge cable inspection device 1 according to the present embodiment is attached to a state in which the cable W is held by a plurality of wheels, the wheels are driven by remote control, and a plurality of photographing means perform the peripheral surface of the cable W. It is used for continuously shooting, wirelessly transmitting the shot video to the remote control unit S installed on the bridge girder H side, observing it with the monitor M, and inspecting whether the surface of the cable W is damaged.

As shown in FIGS. 2 to 5, the cable-stayed bridge cable inspection device 1 according to the present embodiment has a frame 10 through which the cable-stayed bridge cable W, which is an inspection target, is inserted in the center, and a frame 10. Two pairs of drive wheels 51, 52, 53, 54 provided inside, two driven wheels 61, 62 provided on opposite sides of each pair of drive wheels with respect to the cable W, control motors 63, 64 which are drive means, It includes video cameras 71, 72, 73, 74, a control unit 80, a battery 81, and an internal counter weight 82, which are four shooting means. The details will be described below.

As shown in FIGS. 4, 7, and 9, the frame 10 has an opening through which the cable W can enter from the lower position to the central position at a position corresponding to the lower ridge E of the four ridges C, D, E, and F. The frame main body 12 having the 13 and the lid 14 for closing the opening 13 of the frame main body 12 are included.

As shown in FIGS. 2 to 8, each of the frame body 12 and the lid 14 constituting the frame 10 includes a frame body described below and a panel body covered with the frame body.

As shown in FIGS. 6 to 8, the frame body 20 constituting the frame body 12 includes two end frame portions 21 and 22 integrally formed in a house shape with two long side portions and two short side portions. , The corners of the two end frame portions 21 and 22 and the five beam portions 23 to 27 that are brought into contact with each other so as to connect the ends are provided, and the beam portions are formed from the outside of the end frame portions 21 and 22. It is assembled by connecting with bolts (not shown) in the axial direction of.

As shown in FIGS. 2 to 4, the panel body 28 is covered on each of the four outer surfaces of the frame body 20 constituting the frame body 12 and connected at right angles to each other, and the end faces on both end faces of the frame body 20. The panel body 29 is covered. As shown in FIG. 3, the end face panel body 29 has four more squares with respect to the shape of three squares obtained by dividing the square having the long side as one side into four squares and cutting out one square. It is a shape cut from the center by drawing an arc having a radius R that does not interfere with the cable W. Therefore, the frame body 12 is composed of the frame body 20, the panel body 28, and the end face panel body 29.

In addition, the frame body 20 appropriately has members for supporting the above-mentioned equipments 51 to 54, 61 to 64, 71 to 74, 80 to 82. In FIG. 4, for example, the drive wheels 51, 52, 53, 54, the brackets 83, 84 for supporting the control motors 63, 64, and the bracket 85 for supporting the driven wheels 61, 62 are provided. Further, the driven wheels 61 and 62 are attached to the bracket 85 in a state of being urged upward by a spring (not shown), whereby the lower surface of the cable W is pressed when the lid 14 is closed. There is.

Further, as shown in FIGS. 6 to 8, the framework 30 constituting the lid 14 has two end frame portions 31 and 32 composed of two angle-shaped short side portions and two end frame portions at both ends. It has three beam portions 33 to 35 that are in contact with each other so as to connect the corner portions of 31 and 32 and the ends, and is a bolt (not shown) from the outside of the end frame portions 31 and 32 in the axial direction of the beam portion. It is assembled by being connected. As shown in FIGS. 2 to 4, two panel bodies 36 are covered on each of the two outer surfaces connected at right angles to the frame body 30 constituting the lid body 14, and end faces on both end faces of the frame body 30. The panel body 37 is covered. As shown in FIG. 3, the end face panel body 37 divides the square having the long side portion as one side into four squares, and the cable is further formed from the center of the four squares with respect to the rectangle for the one square. It is a shape cut out by drawing an arc having a radius R that does not interfere with W.

Therefore, the lid body 14 is composed of the frame body 30, the panel body 36, and the end face panel body 37. Therefore, in order to attach the inspection device 1 to the cable W, as shown in FIG. 4, the lid 14 is opened, the opening 13 of the frame body 12 is opened, and the inspection device 1 is lowered from the upper position of the cable W. The drive wheels 51, 52, 53, 54 are seated on the cable W, the lid 14 is closed, and the driven wheels 61, 62 are brought into contact with the cable W. As shown in FIGS. 4 and 9, when the lid 14 is opened and the cable W is positioned at the center of the frame body 12 through the opening 13, the inspection device 1 is lowered from the upper position of the cable W. , The cable W is relatively moved as shown by the arrow Y so that the cable W does not interfere with the driven wheels 61 and 62 on the way.

As shown in FIGS. 4 and 5, the framework supports the equipment 51 to 54, 61 to 64, 71 to 74, 80 to 82. The panel body 36 and the end face panel body 37 are effective in reducing wind resistance and suppressing twisting due to crosswinds during traveling. The frame bodies 20, 30 and the panel bodies 28, 36 and the end face panel body 37 may be made of metal, plastic, or ceramic. The frame body 12 and the lid 14 do not have to have the panel bodies 28 and 36.

FIG. 10 is an end view of the cable W viewed from above in the axial direction when the inspection device 1 is near the upper end of the cable W, and interferes with the adjacent cable W by showing the positional relationship with the adjacent cable. It is a figure which shows the dimensional relationship of the frame which does not. As shown in FIG. 10, the frame 10 defines a cubic space having a size that does not interfere with other adjacent cables W at a position near the cable-stayed bridge K of the cable W, and the center of the cubic space is the object to be inspected. The cable W of the cable-stayed bridge K is inserted. Assuming that the axial distance between adjacent cables is L1, the radius L2 of the cylindrical surface passing through the four ridges C, D, E, and F of the inspection device 1 is set to a dimension that is, for example, about 10 mm to 30 mm smaller than L1. This prevents the frame 10 from interfering with the adjacent cable W. Therefore, the dimension L3 on one side of the cable of the frame 10 when viewed in the axial direction is set to be approximately 1.4 times that of L2.

In the present application, the cubic space means that the inspection device 1 has a square outer shape when viewed from the axial direction of the cable W, and the inspection device 1 is viewed from a direction perpendicular to the axis of the cable W. This refers to a case where the length of the inspection device 1 is equal to or substantially equivalent to one side of the square.

As shown in FIGS. 3, 4, and 7, one end of the lid 14 is connected to one side of the opening 13 of the frame body 12 by a hinge 41, and the other end can be opened and closed with respect to the opening 13. The other end is configured to be in contact with a receiving portion provided on the other side of the opening 13 of the frame body 12 and to be connected by the connecting portion 42. As a result, by opening and closing the lid body 14, the cable can be relatively taken in and out through the opening 13 provided in the frame main body 12.

The connecting portion 42 can adopt a known structure that can be connected and dissociated, such as a screw coupling and a locking mechanism. In this embodiment, in the connecting portion 42, the outer contact portion 42a extending from the lid body 14 and the inner contact portion 42b extending from the frame body 12 are overlapped when the lid body 14 is closed, and the bolt 43 is hit on the outside. A structure is adopted in which the bolt is passed through the bolt through hole of the contact portion 42a and then screwed into the screw hole provided in the inner contact portion 42b.

The lid body 14 is not configured to be connected to the frame body 12 by a hinge 41, but is separately provided, and in a state where the opening is closed, both side portions of the lid body 14 are provided at both end edges of the opening. It may be configured to be connected to the portion with a connecting tool. In this case, by attaching and detaching the lid 14, the cable can be relatively taken in and out through the opening 13 provided in the frame body 12.

As shown in FIGS. 3, 4, and 9, among the four ridges C, D, E, and F of the frame 10, the external counterweight 45 is attached to the outer surface portion corresponding to the left and right ridges D and F. It can be configured to have a block mounting portion 44. The block mounting portion 44 and the external counterweight 45 may be configured to be firmly fixed so as to be dissociable.

In FIG. 9, a plate-shaped locking portion attached to the external counterweight 45 is inserted between the upper and lower plate portions constituting the block mounting portion 44, and the bolt 46 is the upper side constituting the block mounting portion 44. After being passed through the bolt through hole provided in the plate portion of the above and the bolt through hole provided in the plate-shaped locking portion of the external counterweight 45, it is provided in the lower plate portion constituting the block mounting portion 44. A structure that is screwed into the screw hole is adopted. The external counterweight 45 is not attached from the beginning, but is attached to the block attachment portion 44 on the side where the twist can be eliminated when the twist occurs and the vehicle travels. The size and weight of the external counterweight 45 are set so as to eliminate the twist of the inspection device 1 during the ascending movement.

Next, the equipment 51 to 54, 61 to 64, 71 to 74, 80 to 82 housed in the frame 10 will be described.

As shown in FIGS. 4 and 5, the cable W is inserted through the center position of the cubic space through the frame 10 which defines the cubic space and has cable through holes at both ends so as not to interfere with the cable W. , Equipment 51-54, 61-64, 71-74, 80-82 are housed in the frame 10.

As shown in FIGS. 2 to 5, the two pairs of drive wheels 51, 52, 53, 54 are pivotally supported by brackets (unsigned) provided from the frame body 20 on the inner side of the frame 10. Drive wheels 51 and 52 provided at the left and right positions on the upper surface side of the cable W when viewed above the tilt direction of the cable W and at the position A above the tilt direction of the cable W, and at the position B below the tilt direction of the cable W and at the cable W. The drive wheels 53 and 54 provided at the left and right positions on the upper surface side of the cable W when viewed upward in the inclination direction of the cable W are in contact with the upper surface portion of the cable W at each position and can roll in the axial direction of the cable W. It is provided in.

Further, as shown in FIGS. 2 to 5, the lid 14 has a driven wheel that pushes the cable W upward on the opposite side of the drive wheel 51 and 52 on the inclined direction of the cable W on the opposite side of the cable W. 61 is provided, and a driven wheel 62 that pushes the cable W upward is provided on the side opposite to the cable W with respect to the drive wheels 53 and 54 on the lower side in the inclination direction of the cable W. The driven wheels 61 and 62 are supported internally by the frame 10, and the cable W is pressed at a position sandwiching the cable W of each pair of drive wheels 51, 52, 53, 54 to rotate in the axial direction of the cable W. It is in contact with the movement. The driven wheels 61 and 62 are supported so as not to interfere with the cable W when the cable W is passed through the opening 13 to the insertion position when the lid 14 is open, and when the lid 14 is closed, the driven wheels 61 and 62 are supported. It can be configured to press the cable W at the insertion position in contact with the pair of drive wheels 51, 52, 53, 54 from below.

As shown in FIGS. 2 to 5, the control motors 63 and 64 are supported by the frame body 20 on the inner side of the frame 10. Above the cable W, the two drive wheels 51 and 53 on the right side when viewed upward in the inclination direction of the cable W are connected by a rotation transmission mechanism (not shown) so as to rotate in the same direction, and the control motor 63 on the same right side. It is designed to be driven by. Similarly, the two drive wheels 52, 54 on the left side are connected so as to rotate in the same direction and by a rotation transmission mechanism (not shown), and are the same together with the drive wheels 51, 53 by the same control motor 63 on the left side. It is designed to be driven in the direction.

The four video cameras 71, 72, 73, 74 are on the four sides of the frame 10 so that the distance from the cable W can be maximized and more than a quarter of the peripheral surface portion of the cable W in the circumferential direction can be captured. Arranged so as to correspond to the inside of the ridges C, D, E, and F, when the two pairs of drive wheels 51, 52, 53, and 54 travel, the peripheral surface of the cable W is continuously photographed and photographed. The image data is sent to the control unit 80.

The control unit 80 is arranged inside the frame 10 and controls the control motors 63, 64 and the video cameras 71, 72, 73, 74 based on the remote control signal of the remote control unit S shown in FIG.

The control unit 80 drives and controls the control motors 63 and 64 by individually sending control signals to the control motors 63 and 64 via a motor driver (not shown) provided for each control motor. .. The control unit 80 inputs a signal from a twist detection sensor (not shown) arranged inside the frame 10 and corrects the control signal sent to the control motors 63 and 64 to prevent twist running.

The control unit 80 sends a shooting start signal and a shooting stop signal to the video cameras 71, 72, 73, 74 in conjunction with the running start and running stop of the control motors 63, 64. In addition, the image signal sent during shooting is wirelessly transmitted to the remote control unit S. The remote control unit S corrects the images of the four video cameras 71, 72, 73, and 74 to be superimposed on the unfolded state of the peripheral surface of the cable W, and makes a correction on the monitor M based on the image signal on the peripheral surface of the cable W. The image is displayed.

The control unit 80 receives a signal from a sensor for measuring the mileage equipped in the inspection device 1 and transmits the signal to the remote control unit S. As a result, the remote control unit S can confirm the mileage position of the inspection device 1.

The battery 81 is wired and connected to the control motors 63, 64, a motor driver (not shown), the video cameras 71, 72, 73, 74, the control unit 80, and the like so as to supply necessary power.

The equipment 51 to 54, 61 to 64, 71 to 74, 80 to 82 in the frame 10 is when the four ridges C, D, E, and F parallel to the cable W are located vertically and horizontally on the cable W. In addition, it is assumed that the center of gravity of the entire device is arranged so as to be vertically downward from the cable W and at a position separated by a required dimension. As described above, the internal counterweight 82 has a necessary weight and is provided at an appropriate position so that the center of gravity of the entire device is located vertically below the cable W.

Next, the operation of the cable-stayed bridge cable inspection device 1 according to the present embodiment configured as described above will be described.

Two pairs of drive wheels 51, 52, 53, 54 in the frame 10 straddle the left and right positions of two axial positions of the cable W, and the driven wheels on the lower side of each pair of drive wheels 51, 52, 53, 54. When 61, 62 presses the cable W, each pair of drive wheels 51, 52, 53, 54 straddling the cable W engages with the cable W so as not to come off, and a cubic space is defined. The structure is such that the four ridges C, D, E, and F parallel to the cable W are independently maintained in the vertical and horizontal positions on the cable W by the action of gravity, and the contact pressure is secured by the driven wheels 61 and 62. The two pairs of drive wheels 51, 52, 53, 54 are driven by the drive means 63, 64 and can travel upward in the axial direction of the cable W.

In particular, since the frame 10 defines a cubic space having a size that does not interfere with other adjacent cables W at a position near the cable-stayed bridge K of the cable W, the axial length of the cable W of the frame 10 is increased. Since it is much shorter than the conventional one, the problem as in Patent Document 1 described in paragraph number 0011 does not occur. That is, the diagonally stretched cable W passes through the frame 10 short in the cable W direction in a substantially straight line, and the two pairs of drive wheels 51, 52, 53, 54 holding the cable W. The separation distance between the upper position and the lower position in the inclination direction of the cable W is short, the contact direction with respect to the cable W is the same, and the contact pressure of the drive wheels 51, 52, 53, 54 with respect to the cable W at both ends even if swallowed by a crosswind. Is not different, so that a moment in the same direction as the bending direction of the curved surface is unlikely to occur in the plane including the curved surface of the cable W, and the two pairs of drive wheels 51, 52, 53, 54 are non-uniform. Since no contact pressure is generated, the cable W can be climbed without twisting.

A frame body 12 having an opening 13 and a lid 14 for opening and closing the opening 13 of the frame 10 so that the cable W passing through the center position in the frame 10 can be guided from below to the center position in the frame 10 with respect to the frame 10. And, it is possible to provide a configuration divided into two.

The lid 14 is opened to open the opening 13, the opening 13 is opposed to the cable W, the frame body 12 is positioned directly above the cable W and is tilted according to the inclination of the cable W, and the cable W is inside the opening 13. The frame body 12 is lowered with respect to the cable W so as to enter the cable W. As a result, the two pairs of drive wheels 51, 52, 53, 54 come into contact with each other so as to straddle the cable W at the upper position A in the inclination direction and the lower position B in the inclination direction. After that, when the opening 13 is closed by the lid 14, the driven wheels 61 and 62 provided on the lid 14 are in a state of pressing the cable W, and the two pairs of drive wheels 51, 52, 53 and 54 are connected to the cable W. There is no risk of derailing from the straddling state, and it will be in a state where autonomous driving is possible.

Cable W passing through the center position in the frame 10 from below with respect to the frame 10 to the center position in the frame 10 Equipment inside the frame 10 51-54, 61-64, 71-74, 80-82, especially driven It can be guided so as not to interfere with the wheels 61, 62 and the video cameras 71, 72, 73, 74, and there is no risk of damaging the cable W when it is attached to or detached from the cable W.

By opening and closing the lid 14, the cable W can be relatively taken in and out through the opening 13 provided in the frame body 12.

When the cable inspection device 1 of the slanted bridge is used many times, one of the two pairs of drive wheels 51, 52, 53, 54 traveling across the cable W at the upper position A in the inclination direction and the lower position B in the inclination direction The worn drive wheels 51, 52, 53, 54 are greatly worn, and the wheel circumference of the contact portion with respect to the cable W is shortened, so that the drive wheels 51, 52, 53, 54 located on the right side in the traveling direction are worn. When the right-handed twist occurs and the cable W is climbed, and when the drive wheels 51, 52, 53, 54 located on the left side in the traveling direction are worn, the left-handed twist occurs and the cable W is climbed. First of all, the control unit 80 adjusts and controls the rotation speeds of the drive wheels 51, 52, 53, 54 on the right side in the traveling direction and the drive wheels 51, 52, 53, 54 on the left side. By doing so, the twist can be eliminated, and when the twist cannot be eliminated, the external counter weight 45 can be attached to the block attachment portion 44 provided on the ridge D or F on the opposite side of the twist direction. It can be resolved and emergency treatment can be taken.

[Second Embodiment]
As shown in FIGS. 11 and 12, the cable-stayed bridge cable inspection device 1A according to the present embodiment has the same components as the cable-stayed bridge cable inspection device 1 according to the first embodiment. Have.

The cable-stayed bridge cable inspection device 1A according to the present embodiment includes a frame 10A through which the cable-stayed bridge cable W, which is an inspection target, is inserted in the center, and two pairs of drive wheels 51 and 52 as equipment. , 53, 54, two driven wheels 61, 62, two control motors 63, 64, four video cameras 71, 72, 73, 74, a control unit 80, a battery 81, and an internal counterweight 82. ..

In the cable-stayed bridge cable inspection device 1A according to the present embodiment, the configuration of the frame 10A is different from the configuration of the frame 10 of the cable-stayed bridge cable inspection device 1 according to the first embodiment. ..

In the frame 10A, the frame body 12A and the lid 14A are both formed of a thick angle member that does not require a frame and are connected by a hinge 41. Further, the frame body 12A has two angles composed of a panel body. The structure is such that the members 12a and 12b are connected by a hinge 47.

The frame body 12A and the lid 14A do not include a framework, but consist of a panel body, and define a cubic space having a size that does not interfere with other adjacent cables at a position near the cable-stayed bridge of the cable W. , The cable W of the cable-stayed bridge, which is the object to be inspected, is inserted through the center of the cubic space.

The frame body 12A has a first angle member 12a having a long side and a short side halved of the long side when viewed in the axial direction of the cable W, and a second angle member 12a symmetrical with the first angle member 12a. It has an angle member 12b, and the side edge portion on the long side side of the first angle member 12a and the side edge portion on the long side side of the second angle member 12b form a ridge C at an upper position of the cable W. The first and second angle members 12a and 12b are connected to the hinge 47 and are leasably locked so that the long side portions of the first and second angle members 12a and 12b are held at right angles. Although not shown, the block mounting portion 44 of the cable-stayed bridge cable inspection device 1 and the external counterweight 45 are also provided in the first embodiment.

The lid body 14A is composed of a third angle member composed of a panel body having two short sides having substantially the same width as the short side of the first angle member 12a when viewed in the axial direction of the cable W, and one short side thereof. The edge of the side is connected to the edge of the short side of the second angle member 12b by a hinge 41, and the edge of the other short side is released from the edge of the short side of the first angle member 12a. It is connected as possible.

In short, in the frame 10A of the cable-stayed bridge cable inspection device 1A according to the present embodiment, the frame body 12A and the lid 14A are both formed of a thick angle member that does not require a framework and are connected by a hinge 41. Further, the frame body 12A has a structure in which two angle members 12a and 12b are connected by a hinge 47.

The angle members 12a and 12b have end face panel bodies 29A on both sides that do not interfere with the cable W at both ends in the cable direction. Further, the lid body 14A has end face panel bodies 37A that do not interfere with the cable W at both ends in the cable direction.

The above-mentioned equipment is arranged so that the center of gravity of the entire device is vertically and downwardly separated from the cable by a required dimension when the four ridges of the cubic space are located in the vertical and horizontal positions on the cable. It should be noted that the reference numerals given in FIGS. 11 and 12, which are not described, are the same as those in the first embodiment.

The operation and effect of the cable-stayed bridge cable inspection device 1A according to the present embodiment will be described.

In the cable-stayed bridge cable inspection device 1A according to the present embodiment, the frame 10A defines a cubic space having a size that does not interfere with other adjacent cables at a position near the cable-stayed bridge of the cable W. Since the cable-stayed bridge cable W, which is the object to be inspected, is inserted through the center of the cubic space, the cable-stayed bridge cable inspection device 1 according to the first embodiment is described in paragraph No. 0059, It has the same action and effect as described in 0060.

As an action and effect peculiar to the cable-stayed bridge cable inspection device 1A according to the present embodiment, as shown in FIG. 12, a state in which the frame body 12A and the lid 14A are connected so as to largely expose the inner surface side. It is mentioned that the same equipment as the cable-stayed bridge cable inspection device 1 according to the first embodiment can be attached to the frame body 12A and the lid 14A in the deployed state. Be done. Therefore, in the inspection device 1A, it is easy to install and wire the equipment, and it is easy to replace the drive wheels 51, 52, 53, 54 and perform other maintenance.

When the frame body 12A is assembled with the lid 14A, the equipment is housed in the frame body 12A in the same arrangement as in the first embodiment. When the lid 14A is opened, the cable W is inserted into the center position of the frame body 12A, and the lid 14A is closed, the two pairs of driving wheels 51, 52, 53, 54 and the two driven wheels 61, 62 are connected to the cable. The structure for holding W is the same as in the case of the first embodiment. Further, a block mounting portion 44 is provided.

As described above, according to the present invention, firstly, the inspection device does not easily generate a moment in the plane including the curved surface of the cable in the same direction as the curved surface of the cable, and does not cause twisting. It has the effect of being able to climb cables, and is useful as a cable inspection device for cable-stayed bridges.

1,1A Cable-stayed bridge cable inspection device 10,10A Frame 12,12A Frame body 12a, 12b Angle member (panel body)
13 Opening 14, 14A Lid body 20, 30 Frame body 28, 36 Panel body 41, 47 Hinge 42 Connecting part 44 Block mounting part 45 Internal counterweight 51, 52, 53, 54 Drive wheels (equipment)
61, 62 Driven wheels (equipment)
63, 64 Control motor (drive means; equipment)
71, 72, 73, 74 Shooting means (equipment)
80 Control unit (equipment)
81 Battery (equipment)
82 Internal counterweight A Slope upper position B Slope lower position C, D, E, F Ridge K Cable-stayed bridge W cable

Claims (7)

In the center, the frame through which the cable of the cable-stayed bridge, which is the object to be inspected, is inserted, and
It is supported internally by the frame and is rotatably mounted in the axial direction of the cable at the left and right positions on the upper surface side of the cable in the upper position in the inclination direction and the left and right positions on the upper surface side in the lower position in the inclination direction. With a pair of drive wheels,
A driven wheel that is internally supported by the frame and is placed at a position sandwiching the cable of the driving wheels of each pair so as to be able to roll in the axial direction of the cable by pressing the cable.
A drive means that is internally supported by the frame and drives the two pairs of drive wheels so as to travel in the axial direction of the cable.
A plurality of photographing means arranged inside the frame and photographing the surface of the cable when the two pairs of driving wheels travel.
A control unit arranged inside the frame and controlling the driving means and the photographing means based on a remote control signal.
In the cable inspection device of the cable-stayed bridge equipped with a battery,
The frame is
A cube space consisting of at least one of a frame body and a panel body and having a size that does not interfere with other adjacent cables is defined at a position near the cable-stayed bridge of the cable, and the center of the cube space is inspected. It is configured so that the cable of the cable-stayed bridge, which is the object, is inserted.
The equipment in the frame is arranged so that the center of gravity of the entire device is vertically downward from the cable by a required dimension when the four ridges of the cubic space are located in the vertical and horizontal positions of the cable. An inspection device for cable-stayed bridge cables, which is characterized by being installed. The frame includes a frame body having an opening Hairikomeru from cable below the cable-stayed bridge is the inspection object at a position corresponding to the edge of the lower position of said four-way ridge to the position of the center of the cubic space , cable-stayed bridge inspection apparatus cable according to claim 1, characterized in that it is configured to include a lid for closing the opening of the frame body. One end of the lid is hinged to one side of the opening of the frame body, the other end is openable and closable with respect to the opening, and the other end is with the other side of the opening of the frame body. The cable-stayed bridge cable inspection device according to claim 2, wherein the cables are configured to be connected by a connecting tool. The lid is separably provided with respect to the frame body, and is configured to be connected to the edge portions on both sides of the opening with connecting tools in a state where the opening is closed. The cable-stayed bridge cable inspection device according to claim 2. The frame body includes a first angle member having a long side and a short side as viewed in the axial direction of the cable, and a second angle members of the first angle member and symmetrical, the first The long side side edge portion of the angle member and the long side side edge portion of the second angle member are connected by a hinge so as to form a ridge at an upper position of the cable, and the first The long side portion of the first and second angle members is unlockably locked so as to be held at a right angle.
The lid is composed of a third angle member having two short sides when viewed in the axial direction of the cable, and the edge of one of the short sides of the third angle member is the second angle member. It is connected to the edge of the short side by a hinge, and the edge of the other short side of the third angle member is detachably connected to the edge of the short side of the first angle member. The cable-stayed bridge cable inspection device according to claim 2, wherein the cable-stayed bridge is provided. The driven wheel is provided on the lid body, and the driven wheel is provided.
The driven wheels are supported so as not to interfere with the cable when the cable is passed through the opening to the insertion position when the lid is open, and the two pairs are supported when the lid is closed. The cable-stayed bridge cable inspection device according to any one of claims 2 to 5, wherein the cable at the insertion position that comes into contact with the drive wheel of the cable-stayed bridge is pressed from below. .. Among edges of the four sides of the frame, the outer surface portion corresponding to the left and right edges, of any one of claims 1 to 6, characterized in that it has a block mounting portion for mounting the outer counterweight The cable-stayed bridge cable inspection device according to the claims.

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