JPH01315505A - Traveling device for maintainance and inspection of plate girder - Google Patents

Abstract

PURPOSE:To obtain a safe traveling device by providing a traveling means, by which wheels are abutted on the lower horizontally projected parts of a main girder, at the ends of three sets of arms so as to be capable of being pushed, and pivotally holding a horizontal frame at the lower ends of the arms and enabling the arms to be laterally pushed to the main girder. CONSTITUTION:Carriages 20 having traveling devices are suspended on the lower horizontally projected parts 11 of the main girder 10 of a plate girder bridge so as to be capable of being traveled. The carriage 20 comprises three sets of arms 30 each of which is oscillatable around a horizontal shaft, and a horizontal frame 40. And, each set of the arm 30 has travel-driving devices 21, 23 (both not shown) at the end thereof, and a push-up means 70 (not shown) for pushing up these travel-driving devices 21, 23 along in the longitudinal direction of the arm 30. Between the horizontal frame 40 and the arms 30, a laterally pushing means 80 for oscillatably pushing the arms 30 in the direction of the main girder is provided. Thus, a traveling device to be used for the maintainance and inspection of a bridge that can be safely traveled independently of the shape of the girder can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a maintenance and inspection traveling device that travels on the main girder of a plate girder bridge in order to perform maintenance and inspection of the structure in the span of the plate girder bridge.

[Prior Art] In order to inspect or repair corrosion and cracks in bridge structures, scaffolding has traditionally been erected to allow access to the underside of deck slabs and main girders, or special vehicles have been used to extend scaffolding upward from the road surface. It was used.

[Problems to be Solved by the Invention] However, constructing scaffolding for maintenance and inspection over the entire length of the span requires a great deal of cost. Furthermore, carrying out the work using special vehicles on the road prevents traffic, imposes time constraints, and is expensive.

Furthermore, since a plate girder bridge has a structure in which main girders and reinforcing members are combined in a complicated manner, it is not possible to employ a device that simply runs using the main girders, for example.

The present invention has been made in order to solve the above-mentioned problems, and provides a means that eliminates the need for scaffolding over the entire length of the span and allows maintenance and inspection of bridge structures without blocking traffic using special vehicles. With the goal.

[Means for Solving the Problems] A traveling device for maintenance and inspection of a plate girder bridge according to the present invention that achieves the above object is configured to self-travel on the main girder of a plate girder bridge, A traveling device comprising at least three pairs of moving means mounted on the horizontal overhang of the main girder of a plate girder bridge, an arm connected to each of the moving means, and a frame suspended and supported by the arms. , wherein each of the arms is provided with push-up means for pushing up the moving means upward, and lateral push means for displacing each of the arms to the outside of the main girder, and each of the moving means and the arms are It can be displaced individually by the raising means and the lateral pushing means, and can travel while avoiding obstacles on the main girder. In a further preferred embodiment, the arm comprises a bendable arm, and the means for bending and driving the arms and the lateral pushing means for displacing the arms outwardly of the main spar are biased, and the moving means is moved to the side of the main spar. The vehicle is characterized by being movable both horizontally and downwardly, and by moving sideways and downwards with respect to the main girder, each moving means can avoid obstacles not only on the main girder but also in its vicinity. .

[Function] A TV camera or the like for maintenance and inspection is mounted on the frame, and monitoring work is performed using, for example, a TV camera while the moving means runs on the horizontal overhang of the main girder. During running, when one or a pair of moving means comes into contact with an obstacle on the main girder, such as a rib (reinforcing material) of the main girder, the moving means is pushed up by the push-up means provided on the arm, and then sideways. The arm is displaced outwardly by means of a pushing means. This allows the moving means to disengage from the main girder and avoid obstacles. The load of the traveling gear itself can be supported by the remaining moving means resting on the main girder. In order to support the load of the travel device with a means other than the one or one pair of moving means that is displaced, at least three pairs of moving means are required, including the one pair that is displaced. However, in the case of three pairs, the center of gravity of the traveling device must be in the middle, so in order to eliminate this restriction, it is preferable to have four or more pairs of moving devices, and two pairs of moving devices must be displaced at the same time. It is necessary to make the spacing between the moving means different from the spacing between the ribs, which are obstacles, so that there are no obstacles.

Next, if the arm is a flexible arm such as a dogleg link, the arm is extended by the bending drive means and the moving means is pushed up, the moving means is removed from the main girder by the horizontal pushing means, and the arm is then moved by the bending drive means. Since the moving means is displaced downward by bending the main girder, it is possible to travel while avoiding obstacles such as reinforcing materials that are present on the sides of the main girder.

[Example] Embodiments of the present invention will be described below with reference to the drawings.

Embodiment 1 Figures 1 to 4 show an embodiment of the first maintenance/inspection traveling device of the present invention, and are mainly applied to the flange of the horizontal projecting portion 11 of the main girder (so-called single girder) 10 of a bridge. As a moving means that rests on the surface 11a, it consists of four pairs of carts 20, an arm 30 connected to each of the one cart 20, and a frame 40 supported by each arm 30, and the frame 4o has a structure for monitoring corrosion, cracks, etc. of the bridge, for example. A TV camera 50 is installed for this purpose.

The trolley 2o includes a running wheel 21 that actually rests on the flange surface 11a and runs there, a guide wheel 22 that comes into contact with the side surface of the horizontal extension 11 by the urging force of a retraction spring 60, and a wheel 21 for driving the running wheel 21. The running wheels 21 are supported by bearings provided on a chassis 24, and the driving force of the drive motor 23 is transmitted by a drive transmission system (not shown), for example, a combination of spur gears. The guide wheel 22 is also supported by a bearing provided on the chassis 24 and rotates following the movement of the running wheel 21. Between the pair of arms 30 corresponding to the pair of bogies 20, there is a
A retraction spring 60 is provided that pulls the paired arms 30 inwardly. Further, as shown in FIG. 2, the arm 3o is provided with a push-up means 70 for pushing the cart 20 upward, and between each arm 30 and the frame 40, each arm 30 is individually pushed outward and opened. Lateral pushing means 80 is provided for this purpose.

In this embodiment, the push-up means 70 consists of a push-up solenoid 70 housed within the main body of the arm 30, and the chassis 24 of the truck 20 is fixed to the tip of the operating shaft 71 of the solenoid 70.

By driving the solenoid 70, the entire truck 20 can be pushed upward.

In this embodiment, the lateral pushing means 80 uses a lateral pushing cylinder such as an air cylinder.
It is attached between the convex portion 41 at the center of. Then, the push-up solenoid 70 operates with the truck 20 being pushed upward, and the arm 3o can be pushed outward.

The push-up solenoid 70 and the horizontal push cylinder 80 are each connected to a connection line (not shown), and these are connected to the drive motor 23. Together with the connection line of the surveillance camera 50, it is connected as a cable to an operation unit and a power source on the ground.

The movement of the running wheels 21 by the drive motor 23 and the image of the surveillance camera 50 are monitored by the operation section, and the operation of the operation section drives the push-up solenoside 70 and lateral push cylinder 80 for each truck 2o. The trolleys 20 can be operated individually.

Next, the operation of the traveling device of this embodiment having the above configuration will be explained.

In a normal running state, each running wheel 21 is driven by the drive motor 23 and runs on the flange surface 11a of the main girder 10 while inspection work using the monitoring camera 50 or the like is performed. For example, if the first pair of traveling wheels 21 comes into contact with the ribs 12 of the main girder 10, the traveling device will not be able to proceed. Here, which traveling wheel 21 has stopped is monitored by the operation section on the ground, so the operation section
The push-up solenoid 70 is driven to raise the truck 20 above the flange surface 11a, and the lateral push cylinder 80 is driven to displace the truck 20 outward from the flange. As a result, the traveling device can move forward again, and the traveling device moves while supporting the load of the traveling device with a truck other than the displaced truck, and passes through the rib 12.

After passing the rib 12, when the drive of the horizontal push cylinder 80 is released, the arm 30 is pulled back toward the center by the spring force of the retraction spring 60. Next, when the push-up solenoid 70 is released, the built-in spring moves the cart 20.
is placed on the flange surface 11a again and becomes able to travel.

Even if not only the first running wheel 21 but also other running wheels 21 come into contact with the rib 12, the vehicle can move while avoiding the rib 12 in the same manner. In this case, even if any pair of traveling wheels comes off the flange surface 11a, the remaining three pairs of carts support the load of the entire traveling device, and moreover, the driven wheels 22 sandwich the sides of the horizontally extending portion 11. Therefore, it is possible to always run stably on the flange surface 11a.

Embodiment 2 FIGS. 5 to 8 show an embodiment of the second maintenance/inspection traveling device of the present invention, which mainly moves by riding on the flange surface 11a of the horizontally extending portion 11 of the main girder 10 of the bridge. Four pairs of carts 20 as means, and two dogleg-shaped arms 30' connected to each of the carts 20.

It consists of a frame 40 supported by each arm 30', and the frame 40 includes a surveillance camera 5° and a camera 5.
0 moving mechanism 90 is mounted. Components having the same configuration as those in the first embodiment are given the same numbers.

The truck 20 has an oblique side for connecting the arm 30' to the chassis 24, and has almost the same structure as the first embodiment except that the drive motor 23 for driving the running wheels 21 is provided inside. has.

The arm 30' has two bendable doglegged links 301.
．． 302, the coupling portion 301a of the doglegged links 301 and 302 is connected to each other by a connecting link 303, and bends as a unit to form a parallelogram link structure with one bogie 20, so that the bogie 20 can be tilted. You can move it without moving it. doglegged link 301
．． A frame 40 is suspended from the lower end of 302 . A vertical push cylinder 70' is provided on the doglegged link 301, sandwiching the connecting portion 301a. The vertical push cylinder 70' pushes up the upper link of the doglegged link 301 to push up the cart 20 connected to the doglegged links 301 and 302, and bends the arm 30 by pulling down the upper link. It is a flexible excitation means that can be used. Joint portion 3 of doglegged link 301
A lateral pushing cylinder 80 is provided between 01a and the central convex portion 41 of the frame 40 as a lateral pushing means for pushing the arm 30' outward laterally. Horizontal push cylinder 8° is arm 30'
It has the function of pushing horizontally outward.

The arm 30' can be bent and displaced by the vertical pushing cylinder 70' and the horizontal pushing cylinder 80, which are the bending means, and thereby the carriage 20 connected to the arm 30' can be moved outward from the horizontal extension part 11 and It can be moved downward.

An air cylinder or the like can be used for both the vertical push cylinder 70' and the horizontal push cylinder 8o, and these are connected to an operation section on the ground by a connection line (not shown) as in the first embodiment, and the operation section controls each bogie 2. It is operated in degrees.

Further, one end of a connecting link 304 is connected to the vicinity of the lower end of the doglegged link 301 of No. 1, and the other end of the connecting link 304 is connected to the other end of the connecting link 304 of the pair of doglegged links 301 and a pin 305. The pin 305 is slidably moved within a long groove 42 provided in the central convex portion 41 of the frame 40.

As the connecting link 304 opens and closes the doglegged links 301 and 302, the pin 305 moves up and down within the long groove 42, thereby regulating the bending of the doglegged link 301. In addition, the upper link of the doglegged link 301 and the frame 40
A spring 60' is tensioned between the protrusion 41 and the arm 60' to return the arm to its original position after being displaced.

The camera 50 is mounted on a pipe rack 91. Support part 92, motor 9
3 and a chain 94. That is, the camera 5o is installed on a pipe rack 91, and the pipe rack 91 is moved up and down by a motor drive gear provided in a support section 92 to drive the camera 5o up and down. Further, the support portion 92 is horizontally driven by a chain 94 that is moved left and right by a motor 93.

Therefore, the camera 50 can be moved to a desired position on the frame 40. The movement of these cameras 50 and the images are also motorized by the operation section.

Next, the operation of the traveling device of this embodiment having the above configuration will be explained.

Normal running conditions are exactly the same as in the first embodiment, and if any one pair of running wheels 21 comes into contact with an obstacle on the main girder 10 during running, the movement of the bogie 2o is monitored. The vertical push cylinder 70' of the running wheel 21 that comes into contact with the operation part
is driven to raise the truck 20 from the flange surface 11a, and in this state, the horizontal push cylinder 80 is driven to raise the truck 20.
is displaced to the side of the flange. If the obstacle is the rib 12 of the main girder 10, the rib 12 can be avoided and the traveling device can move forward, but if the obstacle is a reinforcing girder that juts out laterally as shown in FIG. 13, the obstacle cannot be avoided simply by displacing the cart 20 to the side.

Therefore, when the drive of the horizontal push cylinder 80 is released and the upper link of the doglegged link 301 is pulled down by the vertical push cylinder 70', the arm 30' is bent at the connecting portion 301, and the carriage 20 connected to the arm 30' is is displaced below the horizontal overhang 11, thereby avoiding the reinforcing material.

Here, since the truck 20 is supported by the links 301 and 302, it does not tilt. Further, since there is the connecting link 304, the doglegged link 301 is held without being bent more than necessary.

After passing the obstacle, when the vertical push cylinder 70' is driven to extend the arm 30' and the horizontal push cylinder 80 is released, the arm 30' is pulled back toward the center by the spring force of the retraction spring 60, and then the arm 30' is pulled back toward the center. When the driving of the vertical push cylinder 70' is released, the bogie 20 is placed on the flange surface 11a again by the spring force of the retraction spring 60, and the driven wheels 22 engage the sides of the horizontal extension 11, allowing the bogie 20 to travel five times.

Note that the structure for applying a load to the traveling device when one pair or one of the carts 20 is removed from the horizontal projecting portion 11 is completely the same as in the first embodiment.

In this way, in this embodiment, the arm is configured to be bent as well as displaced laterally, so it is possible to run while avoiding not only the ribs of the main girder but also various obstacles that exist in the vicinity. .

[Effects of the Invention] As is clear from the above embodiments, the maintenance/inspection traveling device of the present invention can travel by using the main girder of the plate girder, and can reliably handle the load. It is possible to avoid various obstacles that come into contact with the main girder while supporting it, so it is possible to avoid setting up scaffolding on the road as before,
Alternatively, maintenance and inspection of the bridge can be carried out at any time without the need for special vehicles on the road and without blocking traffic.

Further, since all operations of the traveling device and inspection equipment can be performed from the operation section on the ground, maintenance and inspection work can be performed safely and unattended.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an embodiment of the first maintenance/inspection traveling device of the present invention, FIGS. 2 and 3 are a front view of the same embodiment, FIG. 4 is a side view thereof, and FIGS. FIG. 6 is a front view of a second embodiment of the traveling device for maintenance and inspection of the present invention, FIG. 7 is a side view of the same embodiment, and FIG. 8 is a diagram showing the main parts of a plate girder bridge. 10...Main girder 11...Horizontal overhang 20...Dolly (transportation means) 30...Arm 30'...・Flexible arm 301, 302... doglegged link 40...
... Frame 70 ... Pushing up means 70' ... Up and down pushing means (bending drive means) 80.
・・・・・・Lateral push agent Patent attorney Moritani -Yu

Claims (1)

[Claims] 1. At least three pairs of moving means mounted on the horizontal overhang of the main girder of a plate girder bridge, an arm connected to each of the moving means, and a frame suspended and supported by the arms. The traveling device is characterized in that each of the arms includes push-up means for pushing the moving means upward, and lateral push means for displacing the arms outward from the main girder. A traveling device for maintenance and inspection of plate girder bridges. 2. Consists of at least three pairs of moving means that rest on the horizontal overhang of the main girder of the plate girder bridge, bendable arms connected to each of the moving means, and a frame suspended and supported by the arms. The traveling device includes means for bending and driving each of the arms and lateral pushing means for displacing each of the arms to the outside of the main girder, and the moving means can be moved outward and below the main girder. A traveling device for maintenance and inspection of plate girder bridges, which is characterized by: