JPH0334983B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an apparatus used for maintenance such as cleaning and painting girders on the back side of the floor of a structure such as a bridge.

[Conventional technology]

Currently, when cleaning and painting structures, a suspended scaffold is installed in front of the structure and maintenance work is carried out manually. Therefore, it is necessary to erect and remove scaffolding for each repainting work, which requires a lot of labor, time and money, and there is also the problem that human accidents associated with work at heights cannot be completely prevented. Ta.

[Purpose of the invention]

The present invention was made in view of the above circumstances, and it solves the problems of the prior art by simple and rational means, and makes it possible to move the entire device along the under-spar flange in an inchworm-like manner. It is an object of the present invention to provide a device that can perform continuous cleaning and painting, and also allows cleaning and painting maintenance to be performed by a robot device.

[Structure of the invention]

The configuration of the present invention that solves the problems of the prior art is as follows:
At the four corners of the horizontal framework, there are parallel 2
The main bogie is equipped with four pillars each equipped with a clamping mechanism that clamps the lower flanges of the girder separately, and the main bogie is equipped with guide rails on the upper and lower surfaces of opposing frame sides (beams) that are parallel to the girders. It has four columns equipped with a clamping mechanism to clamp the lower flange of the girder,
In addition, a framework is provided on which a carriage movable in a direction perpendicular to the longitudinal direction of the girder flange is mounted, and the framework is held at the top and bottom of the frame sides (beams) of the parent truck, and is attached to the top and bottom guide rails. Equipped with a child truck that can be moved along the frame side (beam) of the parent truck via matching wheels, and robotic devices such as painting and cleaning that can be mounted on the above-mentioned carriage, and can be expanded and contracted in the vertical direction. When the lifting device and the parent cart are clamped, the child cart moves on the parent cart,
The present invention is characterized by comprising a traveling device that moves only the parent truck when clamping the child truck.

〔Example〕

An embodiment of the present invention will be described with reference to the drawings.

Figure 1 is a partially cutaway front view, Figure 2 is a side view of the same as above, Figure 3 is a plan view of the same as above, Figure 4 is a sectional view showing the joint part of the parent and child carriages, and Figure 5 is the parent and child carriages. Fig. 6 is a partially cutaway front view of the main parts showing the relationship between the child truck and carriage, and Fig. 7 is a front view of the clamping device used by the parent and child carts. Figures 8a, 8b and 8c are explanatory diagrams showing inchworm-type movement of the entire device.

Reference numeral 1 denotes a frame composed of beams 1a and 1b having a box-shaped structure and having a rectangular planar shape, and at the four corners of the frame 1 are columns equipped with clamp devices 2, which will be described later. 3 is removably installed. The long side of this framework 1 is, for example, a bridge 4.
The main girder 5 is arranged in such a manner in the longitudinal direction of the main girder 5. Further, as shown in FIG. 4, guide rails 6a and 6b each having an isosceles triangular end surface shape are attached to the upper and lower surfaces of the long-side beam 1a constituting the framework 1, thereby forming the parent bogie A. This is what I did.

Next, the configuration of the child truck B that is mounted on the parent truck A and moves along the longitudinal direction of the parent truck A will be described. 7 is composed of beams 7a and 7b having a box-shaped structure, and The framework 7 has a rectangular planar shape, and as is clear from FIG. Both ends of the framework 7 are elongated so as to protrude outward to a greater extent than the framework 1 of the parent truck A.
A total of four pillars 9, two each having a clamping device 8, which will be described later, are coupled to the left and right middle portions of the long beam 7a constituting the framework 7. As is clear from FIGS. 1 and 2, the connection between each pillar 9 and the beam 7a is such that the beam 7a is fixed to the inner surface of the midway portion of the pillar 9. As shown in FIG. 4, wheels 10a and 10b that engage with the guide rails 6a and 6b are provided on the lower outer surface of each pillar 9, and the wheels 10a and 10b and the pillar 9 It is designed to hold the beam 7a of the truck A. Reference numeral 11 denotes a reinforcing agent whose upper surface is upwardly U-shaped and bridges between the longitudinal beams 7a constituting the framework 7 of the child truck B, and this reinforcing agent 11 prevents the framework 7 from deforming. Furthermore, as shown in FIG. 6, a guide rail 12 having an end face shape of an isosceles triangle is attached to the upper surface of the long beam 7a. The child truck B is configured as described above.

As shown in FIG. 5, a motor 13 with a reduction gear is mounted below the part of the reinforcing agent 11.
A pinion 14 provided on this motor 13 connects to a crack 15 provided inside the long beam 1a of the parent truck A.
By driving the motor 13, the child car B can be moved relative to the parent car A, and the parent car A can be moved relative to the child car B.

As shown in FIG. 6, wheels 17 of a carriage 16 are engaged with guide rails 12 attached to the beam 7a of the framework 7 constituting the child truck B. As shown in FIG. As shown in FIG. 1, this carriage 16 is equipped with an elevating device 18 having a cylinder structure that expands and contracts in the vertical direction.Furthermore, at the upper end of the elevating device 18, a robot painting device 19 and a robot cleaning device (not shown) are installed. ) is attached in a removable and replaceable manner. 20 is a cable carrier associated with the robotic device.

Next, with reference to FIG. 7, the structure of the clamp devices 2, 8 attached to the pillars 3, 9 of the parent truck A and the child truck B will be explained. As shown in the figure, this clamping device clamps the lower flange 5a of the main girder 5 from both inside and outside directions, and
is suspended and supported from the main girder 5, and both clamp devices 2 and 8 are constructed with the same structure.

A mounting plate 21 having a plate surface perpendicular to the longitudinal axis direction of the main girder 5 is attached to the upper ends of the pillars 3 and 9, and a hydraulic cylinder 22 is vertically installed along the plate surface of this mounting plate 21. ing. The rod end of the hydraulic cylinder 22 is commonly pivotally supported by the inner ends of the two link levers 23, and the lower part is connected to the mounting plate 2 at the outer ends of both link levers 23.
1, and the front shape? The lower end of the mark-shaped arm 24 is pivotally supported.

As is clear from FIG. 7, both arms 24 are arranged so that their bent bosom parts face each other, and clamp parts 24a are formed at the upper ends of each arm.
As shown in the figure, the clamp portion 24a abuts and locks on the upper surface of the lower flange 5a, and when opened outward as shown by the temporary line, the clamp portion 24a touches the upper surface of the lower flange 5a.
It is arranged so that it is separated outward from the edge of the main girder 5, so that splice plates etc. provided on the main girder 5 can be avoided. Reference numeral 25 denotes a lifting prevention rod whose lower end is pivotally supported at a relatively lower portion of the opposing arm 24 and whose portions slightly lower than the upper end are connected to each other with pins.
However, when the clamping action shown by the solid line in Fig. 7 occurs,
It is pressed against the lower surface of the lower flange 5a to prevent the entire body from floating up.

Further, when the axes of the two link levers 23 are in a horizontal state as shown in FIG. 7, a sufficient clamping effect can be obtained. By lowering it, the clamping device can be placed in a self-locking state, and the clamping effect will not be released even if the oil pressure of the cylinder 22 decreases.
It is designed to ensure safety.

[Effect]

Next, the operation will be explained based on the above-mentioned embodiment. The clamping devices 2 of the pillars 3 provided at the four corners of the parent bogie A are clamped to the lower flange 5a of the main girder 5, and this parent bogie A is fixed to the main girder 5.
The clamping device 8 of the pillar 9 provided on the child truck B is made free. In other words, the child truck B is allowed to move freely relative to the parent truck A.

In this state, while driving the motor 13, there is a means for moving the slave truck B in the longitudinal direction of the parent truck A using the pinion 14 and rack 15 structure, and a means for moving the carriage 16 mounted on the frame 7 of the slave truck B. Cleaning and painting maintenance of the main girder 5 is carried out by appropriately combining the means.

When the maintenance work on the main girder 5 in the area where the parent bogie A is set is completed, the child bogie B is moved in the direction of movement of the parent bogie A as shown in FIG. The child carriage B is clamped to the lower flange 5a of the main girder 5, and at the same time,
The clamping action of the clamping device 2 of the parent truck A that has been clamped until now is released. By this release, the entire load of the parent truck A is transferred to the child truck B by the holding action of both wheels 10a and 10b, and then the parent truck A is moved in the direction of the arrow by a traveling device consisting of a motor 13, a pinion 14, and a rack 15. Move to the state shown in Figure B. Next, as shown in figure c, the parent truck A
The parent bogie A is clamped to the lower flange 5a of the main girder by the clamp device 2, and the child bogie B is
The clamping device 8 is released, and the now free child truck B is moved in the direction of the arrow. Then, the state shown in Fig. a is set again, and these operations are repeated in sequence to transfer the entire device to the inchworm type, the device is set at a new work site, and maintenance work is repeated as described above.

Furthermore, the movement and positioning of the entire device of the present invention can be performed manually or automatically. In the case of automatic operation, the coordinate data of the entire structure, member data, or direct reading command data from a blueprint etc. is created. The work is controlled by software.

〔effect〕

According to the configuration of the present invention, the following effects can be obtained.

(a) At least a wide area corresponding to the framework of the parent truck, by means of moving the child truck along the longitudinal direction of the frame of the parent truck and means of moving the carriage along the longitudinal direction of the framework of the child truck, either alone or in combination. Maintenance work can be carried out on these structures.

(b) The entire device can be moved in an inchworm-like manner by combining the clamping means for the structure of the clamping device provided on the parent truck and the child truck, and the clamp release means.

[Brief explanation of drawings]

Figure 1 is a partially cutaway front view, Figure 2 is a side view of the same as above, Figure 3 is a plan view of the same as above, Figure 4 is a sectional view showing the joint part of the parent and child carriages, and Figure 5 is the parent and child carriages. Fig. 6 is a partially cutaway front view of the main parts showing the relationship between the child truck and carriage, and Fig. 7 is a front view of the clamping device used for the parent and child carts. Figures 8a, 8b and 8c are explanatory diagrams showing inchworm-type movement of the entire device. A... Parent trolley, B... Child trolley, 1... Framework, 1
a...Beam, 2...Clamp device, 3...Column,
4... Bridge, 5... Main girder, 6a, 6b... Guide rail, 7... Frame, 7a... Beam, 8... Clamp device, 9... Column, 10a, 10b... Wheel,
11... Reinforcer, 12... Guide rail, 13...
Motor, 14...Pinion, 15...Rack, 1
6... Carriage, 17... Wheel, 18... Lifting device, 19... Robot painting device, 20... Cable carrier, 21... Mounting plate, 22... Hydraulic cylinder, 23... Link lever, 24... ...Arm, 24a...clamp part, 25...lifting prevention rod, 25a...pressing part.

Claims (1)

[Claims] 1 (a) Four pillars are provided at the four corners of the horizontal framework, each equipped with a clamping mechanism for separately clamping the two parallel girder lower flanges that make up the structure, and the above-mentioned girder and A main bogie with guide rails provided on the upper and lower surfaces of the parallel opposing frame sides (beams), and (b) four pillars equipped with clamp mechanisms for clamping both of the girder lower flanges, and a girder. A framework equipped with a carriage movable in a direction perpendicular to the longitudinal direction of the flange is provided, the framework is held at the upper and lower sides of the frame side (beam) of the parent truck, and wheels are fitted to the upper and lower guide rails. (c) A sub-carriage that is movable along the frame side (beat) of the parent cart via the carriage; (c) Equipped with robotic devices such as painting and kerating that can be mounted on the above-mentioned carriage, and that is expandable and retractable in the vertical direction. Automatic painting maintenance for bridges, etc., comprising: a lifting device; and (d) a traveling device that moves a child bogie on the parent bogie when the parent bogie is clamped, and moves only the parent bogie when the child bogie is clamped. Device.