JPH11157473A - Wall face traveling carriage and its traveling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a carriage main body to freely travel on a wall face by winding a wire on a pulley installed on the wall face, installing the carriage main body and a heavy bob on the wire, and reducing the apparent weight of the carriage main body with the heavy bob. SOLUTION: A carriage main body 1 is fitted to one end of a wire 5, and a heavy bob 6 is fitted to the other end of the wire 5. The rotary shaft of a carriage support pulley 4 may be fixed in parallel with or perpendicularly to a wall face 2, or it may be rotatably installed without being fixed. The carriage main body 1 is suspended from the wall face 2 by the wire 5, however the carriage main body 1 is applied with the horizontal force pressing it to the wall face 2 if the carriage main body 1 is suspended with the wire 5 kept diagonal on the wall face 2 side, thereby a normal rubber wheel may be used instead of a magnetized wheel 3. Of course the rubber wheel may be used concurrently with the magnetized wheel 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling vehicle that travels on a wall surface and a roof of a structure and a traveling method thereof.

[0002]

2. Description of the Related Art Hitherto, for example, in a high-temperature large-sized steel structure such as a hot blast stove of a blast furnace, there is a possibility that a crack caused by stress corrosion cracking or the like may occur in a welded portion thereof. Therefore,
The presence or absence of cracks was inspected using an ultrasonic flaw detector, and if a crack was found, it was necessary to repair the welded part.

Usually, such flaw detection of a welded portion of a large steel structure is carried out by first installing a scaffold at a high place on the large steel structure. Was removed and performed by an ultrasonic flaw detector.

[0004] However, the manual inspection method described above requires a great deal of time and cost for erection of a scaffold at a high place and inspection work. Then, the same problem was encountered in the partial repair work of the welded portion.

[0005] Therefore, a working device such as an ultrasonic flaw detector is mounted on a self-propelled unmanned traveling vehicle having magnetized wheels adsorbed on a steel wall surface, and the traveling vehicle is remotely operated.
It is conceivable to automatically detect the weld. According to this method, flaw detection can be performed in a short time and easily as compared with the case of manual operation, and can be performed at a low cost because there is no need to install a scaffold at a high place. In this case, a magnetized wheel or the like having a strong attraction force enough to allow the traveling vehicle to travel without falling from the wall surface is indispensable. Also, with the increase in the size of the working device to be mounted, a magnetized wheel having a stronger adsorption force has been required. Further, when the wall surface is a cylindrical wall surface, when the direction is changed on the cylindrical wall surface, some wheels are separated from the wall surface, so that a stronger suction force is required for the wheels.

Conventionally, techniques for increasing the attraction force of magnetized wheels of a traveling bogie are disclosed in Japanese Patent Laid-Open Nos.
-293688, JP-A-7-323701 and the like.

In the magnetized wheel, the outer diameter side of the disk-shaped iron plate fixed to both surfaces of the permanent magnet is formed to be thicker than the inner diameter side to prevent saturation of local magnetic flux, and thus to collect magnetic flux. The effect is improved to increase the attraction force.
In the magnetized wheel, a pair of magnetized wheels are magnetically connected by an axle, and the pair of wheels have different magnetic poles to increase the attraction force. The magnetized wheels are
Permanent magnets magnetized in a direction perpendicular to the attracting direction are disposed between a pair of wheels via a yoke such that the polarities of adjacent magnetic poles repel each other, thereby increasing the attracting force.

[0008]

However, according to the magnetized wheel described above, although the effect of increasing the attraction force appears, the weight of the traveling vehicle increases due to the structure that increases the attraction force. It is necessary to increase the attraction force. In addition, if rust or the like has adhered to the steel wall surface, the rust will adhere to the outer peripheral surface of the magnetized wheel, and as a result, the attraction force to the wall surface will be reduced, and the traveling vehicle will separate from the wall surface and travel will not be possible. There was a possibility that it would be possible.

Accordingly, an object of the present invention is to reduce the apparent weight of a bogie so that a weight device can be mounted on the bogie main body without increasing the attraction force of the wheels, and the wall surface can be vertically and horizontally and diagonally. An object of the present invention is to provide a wall-mounted traveling trolley capable of traveling in any direction and a traveling method thereof. And even when there is a deposit such as rust on the wall surface, the vehicle can reliably travel on the wall surface, and the structure of the magnetized wheels for adsorbing the bogie main body to the wall surface can be simplified. By making it possible to reduce the weight of the bogie main body, furthermore, by suspending the bogie main body so that the pressing force against the wall surface is applied to the bogie main body,
It is also possible to eliminate the need for magnetized wheels.

[0010]

According to the first aspect of the present invention,
In the traveling method of the bogie main body capable of self-propelling on a wall surface, a wire is wound around a pulley installed on the wall surface, the bogie main body is installed at one end of the wire, and a weight is installed at the other end of the wire. Thus, it is characterized in that the apparent weight of the bogie main body is reduced by the weight of the weight, and the bogie main body travels on the wall surface.

According to a second aspect of the present invention, a bogie main body capable of self-propelling on a wall surface, a bogie supporting pulley attached to the wall surface, a wire wrapped around the bogie supporting pulley, and a weight are provided. And the bogie main body is attached to one end of the wire, and the weight is attached to the other end of the wire.

According to a third aspect of the present invention, the bogie main body includes:
It is characterized in that it has a magnetized wheel that is attracted to the wall surface. The invention according to claim 4 is characterized in that the bogie main body has a bogie pressing pulley with which the weight side of the wire engages, and the bogie pressing pulley is configured such that the weight side of the wire is a vertical line. And extending outward from the bogie main body to apply a pressing force to the wall surface to the bogie main body.

[0013] The invention according to claim 5 is characterized in that it has lifting means for lifting and lowering the bogie supporting pulley. The invention according to claim 6, wherein the bogie supporting pulley has a hard magnetic plate, and the hard magnetic plate is provided between the magnetized wheel and the wall surface so that the magnetized wheel is Is characterized by attenuating the attraction force to the wall surface.

The invention according to claim 7 is characterized in that the bogie supporting pulley has a wire braking function.

[0015]

The operation of the truck of the present invention will be described with reference to FIG. A wire is wrapped around a pulley installed on the wall, a bogie body with a weight R is installed at one end of the wire, and a weight with a weight W is installed at the other end, and the bogie side of the wire is inclined by an angle θ with respect to a vertical line. Assuming that the horizontal force F _H and the vertical direction force F _V applied to the wheel of the truck body is expressed by _{F H = W · sinθ F V} = W · cosθ-R. That is, the vertical force acting on the bogie is reduced by the weight of the weight multiplied by the cosine of the inclination angle of the wire. Therefore, when θ is small, the apparent weight of the bogie main body can be made substantially zero by making the total weight of the bogie main body after mounting the working device equal to the weight of the weight. Further, when W> R, the bogie receives a force to be lifted upward. Therefore, the weight device can be mounted on the bogie main body only by adjusting the weight of the weight. On the other hand, it is only necessary to maintain the magnetic force of the magnetized wheels to such an extent that the bogie main body can run without detaching from the wall surface, and accordingly, the structure of the magnetized wheels can be simplified and lightened. If the weight difference between the total weight of the bogie main body and the weight is small, even if the bogie main body separates from the wall surface, the bogie main body or the weight lifting / lowering speed is slow. Alternatively, the weight is gently hooked on the bogie supporting pulley and stopped. That is, there is no risk that the bogie main body or the weight collides with the ground by the wire serving as a lifeline.
Furthermore, if a bogie supporting wire is used as a bogie supporting wire, even if there is a weight difference between the bogie and the weight, if the bogie body is separated from the wall, the bogie slowly moves up and down. Or stop.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the wall traveling cart according to the present invention will be described in detail with reference to the drawings.

In FIG. 2 (side view showing the truck according to the second aspect of the present invention), reference numeral 1 denotes a truck main body. Various working devices such as a grinder device A and a flaw detection device B such as an ultrasonic flaw detection device can be mounted on the carriage body 1. The grinder device A is shown in FIG. 25 (a schematic perspective view showing the grinder device).
As shown in FIG. 24, there is a pair of grinders 7 that can reciprocate in the width direction of the bogie main body 1, and the flaw detector B is shown in FIG. 24 (a schematic perspective view showing the bogie main body on which the grinder device and the flaw detector are mounted). Thus, the pair of probes 8 that can reciprocate in the width direction of the bogie main body 1 are provided. The bogie main body 1 has a plurality of magnetized wheels 3 adsorbed on a steel wall surface 2,
By remote control, the wall 2 is vertically moved as shown in FIG.
As shown in FIG. 3 (a front view as viewed from the direction A in FIG. 2), the wall 2 is configured to be able to travel freely in the left-right direction and in the inclined direction. An outer peripheral friction member such as a rubber wheel may be separately attached to the magnetized wheel 3 in order to increase the frictional force with the wall surface 2. A caterpillar or the like may be used instead of the magnetized wheel 3.

Reference numeral 4 denotes a bogie supporting pulley mounted on the upper portion of the wall surface 2. When a chain is used as a rope body to be described later, a sprocket is used. Reference numeral 5 denotes a wire wound around the bogie supporting pulley 4. Wire 5
Is composed of a rope, a chain or a chain. Reference numeral 6 denotes a weight. The carriage body 1 is attached to one end of the wire 5, and the weight 6 is attached to the other end of the wire 5. The rotation axis of the bogie supporting pulley 4 may be fixed parallel or perpendicular to the wall surface 2. In addition, they may be installed so as to be freely rotatable without being fixed.

The bogie body 1 is connected to the wall 2 by wires 5.
For example, as shown by a two-dot chain line in FIG.
Is suspended, a horizontal force is applied to the carriage body 1 to press the carriage body 1 against the wall surface 2, so that a normal rubber wheel may be used instead of the magnetized wheel 3. Of course, you may use together with the magnetization wheel 3.

Further, as shown in FIG. 4 (a side view showing the truck according to the second aspect of the present invention installed on an inclined wall), even when the truck body 1 runs on the mountain-shaped inclined wall 2, 6
As shown in (the side view showing the truck according to the second aspect of the present invention, which is installed on a curved wall), even when the truck body 1 runs on the curved wall 2, the truck body 1 is pressed against the wall 2. Since a force acts, a normal rubber wheel may be used instead of the magnetized wheel 3. FIG. 5 shows two bogie supporting pulleys 4 provided at an interval, and a bogie main body 1 side wire 5A.
The bogie body 1 is spaced apart from the weight 6 side wire 5B.
And the weight 6 are prevented from interfering with each other.

As shown in FIG. 7 (a perspective view showing a roller-shaped weight in the truck of the present invention), if the weight 6 is formed in a roller shape, the weight 6 moves up and down while smoothly rotating on the wall surface 2. I do.

In order to detect flaws in the welded portion 9 of the wall surface 2 by the wall traveling truck of the present invention configured as described above, first, the bogie main body 1 is moved to the welded portion to be flawed.
Run on top. Next, the bogie main body 1 is caused to travel along the welding line while operating the grinder device A and the flaw detection device B. As a result, the paint on the flaw-detected portion is removed by the grinder device A, and subsequently, the flaw-detected device B is used for flaw detection on the flaw-detected portion.

As shown in FIG. 8 (a side view showing the truck of the present invention according to claim 2 having two truck supporting pulleys and a wire mounting arm pivotally attached to the back of the truck body), one end of the wire 5 and The carriage body 1 is connected to the wire setting arm 10
FIG. 9 is a side view showing a state in which the direction of the bogie body is changed by pivotally attaching one end of the wire setting arm 10 to the back surface of the bogie main body 1 (the surface opposite to the wheels 3). As shown in FIG. 10 and FIG. 10 (a front view as viewed from the direction A in FIG. 8), when the direction of the bogie main body 1 is changed, the wire 5A on the bogie main body 1 side does not interfere. In this case, FIG.
In the same manner as in the above case, two bogie support pulleys 4 are used, and these are mounted at intervals, and the bogie body 1 side wire 5
The distance between A and the weight 6 side wire 5B may be widened. Further, the pulley mounting member may be freely rotatable so that two bogie supporting pulleys 4 arranged in a direction perpendicular to the wall surface 2 are arranged in a direction parallel to the wall surface 2 as the bogie main body 1 is traversed.

As shown in FIG. 11 (a side view showing the truck according to the fifth aspect of the present invention), a lifting means 11 for lifting and lowering the truck supporting pulley 4 together with the truck body 1 and the weight 6 may be provided. As the elevating means 11, for example, a winch is used to raise and lower the wire 12 fixed to the bogie supporting pulley 4, thereby lowering the bogie supporting pulley 4. If the lifting means 11 is provided, the carriage main body 1 can be transported to the work start position in a short time.

Referring to FIG. 12 to FIG.
The method for flaw detection of the welded portion 9 by the cart according to the present invention provided with No. 1 will be described below. In this case, the weight of the weight 6 is slightly heavier than the weight of the bogie main body 1.

First, FIG. 12 (a side view showing the truck according to the fifth aspect of the present invention, wherein the truck body and the weight are suspended from the ground).
As shown in FIG. 13, from the state where the bogie main body 1 and the weight 6 are placed on the ground, as shown in FIG. 13 (a side view showing the bogie of the invention in which the bogie supporting pulley is lifted), the bogie is moved by the lifting means 11. The support pulley 4 is raised. Next, as shown in FIG. 14 (a side view showing the truck of the invention in which the bogie main body and the weight are lifted together with the bogie supporting pulley), the bogie supporting pulley 4 is moved together with the bogie main body 1 and the weight 6 to the flaw detection position. To raise. In this state, the bogie main body 1 is not adsorbed on the wall surface 2. Next, as shown in FIG. 15 (a side view showing a state in which the lifted bogie main body is adsorbed on the wall surface in the bogie of the invention), the bogie main body 1 is adsorbed on the wall surface 2, and thereafter,
Start inspection work. At this time, the bogie main body 1 is run from top to bottom. During this traveling, the paint on the flaw detection portion may be removed by the grinder device A, or the flaw detection device B may be used for flaw detection of the flaw detection portion. Further, after descending a predetermined distance, the traversing may be started to start the flaw detection work. Then, when the flaw detection of the welded portion 9 is completed, as shown in FIG. 16 (a side view showing the bogie of the present invention in which the bogie main body is run below the wall surface), the bogie supporting pulley 4 is moved by the elevating means 11.
Is lowered until it comes into contact with the bogie main body 1. As a result, the weight of the weight 6 is applied to the bogie body 1,
The bogie main body 1 is easily detached from the wall surface 2, and the flaw detection operation is completed.

As shown in FIG. 17 (a side view showing the cart according to the sixth aspect of the present invention, wherein the hard magnetic plate for detaching the bogie main body from the wall surface is suspended from the bogie supporting pulley). As another means for detaching from the trolley 2, a hard magnetic plate 13 such as a rubber plate may be suspended from the carriage supporting pulley 4 by a wire 14. In this case, as shown in FIG. 18 (a side view showing the truck of the invention in which the hard magnetic plate is interposed between the wall surface and the bogie main body), the hard magnetic plate 12 is
Then, if the bogie main body 1 is placed on the hard magnetic plate 12, the attraction force of the magnetized wheels 3 is attenuated, so that the bogie main body 1 is easily separated from the wall surface 2.

In order for the hard magnetic plate 12 to contact the wall surface 2,
A rope 17 or the like may be fixed to a lower portion of the hard magnetic plate 12, and the hard magnetic plate 12 may be brought into contact with the wall surface 2 by operating the rope from the ground. To ensure that the hard magnetic plate 12 abuts against the wall surface 2, the hard magnetic plate 12 may be slightly magnetized.

As shown in FIG. 19 (a perspective view showing a bogie supporting pulley having a hard magnetic plate and two pulleys in the bogie of the invention), two bogie supporting pulleys 4 are used, and these are used as pulley mounting members 15. The magnetically hard plate 13 is suspended from the pulley mounting member 15 by two wires 14. If the pulley mounting member 15 is hung so as to be arranged in parallel with the wall surface 2, the hard magnetic plate 1
The carriage body 1 can be easily climbed on the carriage 3.

Although the method of recovering the bogie main body 1 from the wall surface 2 and collecting it on the ground has been described above, the bogie main body 1 may travel on the wall surface 2 and reach the ground. As shown in FIG. 20 (a side view showing the truck according to the fourth aspect of the present invention), the bogie main body 1 is provided with a bogie pressing pulley 16 with which the weight 6 side wire 5B is engaged. Is extended outwardly of the bogie main body 1 by an angle (θ) with respect to the vertical line, so that the bogie main body 1 can be given a pressing force against the wall surface 2. Thereby, the attraction force of the magnetized wheel 3 can be reduced correspondingly, and in some cases, a normal rubber wheel can be used.

As shown in FIG. 21 (a side view showing the bogie of the invention having two bogie supporting pulleys and a wire setting arm and a bogie pressing pulley pivotally mounted on the back of the bogie body), a bogie pressing bogie is shown in FIG. Even when 16 is provided,
If one end of the wire 5 and the bogie main body 1 are connected via a wire setting arm 10 and one end of the wire mounting arm 10 is pivotally mounted on the back surface of the bogie main body 1 (the surface opposite to the wheels 3), When the direction of the carriage body 1 is changed, the wire 5A on the carriage body 1 does not interfere.

The bogie pressing pulley 16 is also provided at the end of the wire setting arm 10 even when the pulley 16
As shown in FIG. 0, two bogie support pulleys 4 may be used at intervals.

As shown in FIG. 22 (a side view showing the truck of the present invention installed on the overhanging wall surface when the carriage pushing pulley 16 is provided), the carriage body 1 runs on the overhanging wall surface 2. Even if the wire 5
Angle (α) of the weight 6 on the side of the bogie body 1 of the wire 5
By selecting the side inclination angle (β) and the weights of the bogie main body 1 and the weight 6, a pressing force can be applied to the bogie main body 1 from the weight 6 side wire 5.

In FIG. 22, the force F _H for pressing the bogie main body 1 is represented by F _H = W · sin β−R sin α. Here, when β ≒ α, if W> R, a pressing force acts on the bogie body 1, and if W と き> R, β> α
Then, a pressing force acts on the carriage body 1.

As shown in FIG. 23 (a front view showing the truck of the fifth aspect having a bogie-pressing pulley), even when the bogie-pressing pulley 16 is provided, the lifting / lowering means 11 can be used.
Can be provided.

In the above description, the bogie supporting pulley 4 is installed on the wall surface 2 in any case, but it may be installed on the roof of a structure, or may be lifted from the ground by a crane or the like. Further, a fixing rod may be used instead of the pulley, and a wire or the like may be slid on the peripheral surface of the rod. Furthermore, although the flaw detection device has been described as an example of a mounting device on the bogie main body, the present invention is not limited to this. For example, a cleaning device, a drying device, a welding device, or the like may be used. Of course, it may be possible.

[0037]

As described above, according to the present invention, a wire is wrapped around a pulley installed on a wall, a bogie main body is installed at one end of the wire, and a weight is installed at the other end, and thus the weight is installed. By reducing the apparent weight of the bogie main body by the weight, the following useful effects are obtained. The weight device can be mounted on the bogie main body, and
It can travel freely on the wall surface in up, down, left, right and oblique directions. Even when there is a deposit such as rust on the wall surface, the vehicle can reliably travel on the wall surface. Since the structure of the magnetized wheels for adsorbing the bogie main body to the wall surface can be simplified, the weight of the bogie main body can be reduced.

Further, the bogie main body can be hung so that a pressing force is applied to the wall surface. In this case, a magnetized wheel having a weak attraction force or a non-magnetized wheel is used. it can.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of the operation of the present invention.

FIG. 2 is a side view showing the cart according to the second aspect of the present invention.

FIG. 3 is a front view in the direction A in FIG. 2;

FIG. 4 is a side view showing the truck of the invention according to claim 2, which is installed on an inclined wall surface.

FIG. 5 is a side view showing a case where two bogie supporting pulleys are provided at an interval in FIG.

FIG. 6 is a side view showing the cart according to claim 2 installed on a curved wall surface.

FIG. 7 is a perspective view showing a roller-shaped weight in the wall traveling vehicle of the present invention.

FIG. 8 is a side view showing the invention bogie according to claim 2, which has two bogie supporting pulleys and a wire installation arm pivotally attached to the back surface of the bogie main body.

FIG. 9 is a side view showing a state where the direction of the bogie main body is changed in FIG.

FIG. 10 is a front view in the direction A of FIG. 8;

FIG. 11 is a side view showing the cart according to the fifth aspect of the present invention.

FIG. 12 is a side view showing the invention bogie according to claim 5, wherein the bogie main body and the weight are suspended from the ground.

FIG. 13 is a side view showing the invention bogie according to claim 5, wherein the bogie supporting pulley is lifted.

FIG. 14 is a side view showing the cart according to claim 5, wherein the cart main body and the weight are lifted together with the cart supporting pulley.

FIG. 15 is a side view showing a state where the suspended bogie main body is adsorbed on a wall surface in the bogie according to the fifth aspect of the present invention.

FIG. 16 is a side view showing the invention bogie according to claim 5, wherein the bogie main body is run below the wall surface.

FIG. 17 is a side view showing the invention bogie according to claim 6, wherein a hard magnetic plate for detaching the bogie main body from the wall surface is suspended from the bogie supporting pulley.

FIG. 18 is a side view showing the invention bogie according to claim 6, wherein a hard magnetic plate is interposed between the wall surface and the bogie main body.

FIG. 19 is a perspective view showing a bogie supporting pulley having a hard magnetic plate and two pulleys in the bogie according to claim 6;

FIG. 20 is a side view showing the cart according to the fourth aspect of the present invention.

FIG. 21 is a side view showing the invention bogie according to claim 4, which has two bogie supporting pulleys and a wire installation arm and a bogie pressing pulley which are pivotally mounted on the back of the bogie main body.

FIG. 22 is a side view showing the cart according to claim 4 installed on an overhanging wall surface.

FIG. 23 is a front view showing the truck of the invention according to claim 5, which has a pulley for pushing the truck.

FIG. 24 is a schematic perspective view showing a bogie main body on which the grinder device and the flaw detection device are mounted.

FIG. 25 is a schematic perspective view showing a grinder device.

[Explanation of symbols]

 1: bogie body 2: wall surface 3: magnetized wheel 4: bogie supporting pulley 5: wire 6: weight 7: grinder 8: probe 9: welded part 10: wire setting arm 11: elevating means 12: wire 13: Non-magnetic plate 14: Wire 15: Pulley mounting member 16: Pulley for pushing trolley 17: Rope

Claims (7)

[Claims] 1. A traveling method of a bogie main body capable of self-propelling on a wall surface, wherein a wire is wound around a pulley installed on the wall surface, the bogie main body is installed at one end of the wire, and the other end of the wire A method for traveling on a wall traveling vehicle, comprising: installing a weight, and thus reducing the apparent weight of the vehicle body by the weight of the weight, and causing the vehicle body to travel on the wall surface. 2. A bogie main body having a bogie main body capable of self-propelling on a wall surface, a bogie supporting pulley attached to the wall surface, a wire wound around the bogie supporting pulley, and a weight. Is mounted on one end of the wire, and the weight is mounted on the other end of the wire. 3. The cart according to claim 2, wherein the cart body has magnetized wheels that are attracted to the wall. 4. The bogie main body has a bogie pressing pulley with which the weight side of the wire engages, and the bogie pressing pulley moves the wire on the weight side with respect to a vertical line with the bogie. The wall-mounted traveling trolley according to claim 2 or 3, wherein the trolley main body is extended outwardly of the main body to apply a pressing force to the wall surface. 5. The wall traveling vehicle according to claim 2, further comprising an elevating means for elevating and lowering the bogie supporting pulley. 6. The bogie-supporting pulley has a hard magnetic plate, and the hard magnetic plate is provided between the magnetized wheel and the wall surface so that the hard magnetic plate is disposed between the magnetized wheel and the wall surface. The wall traveling vehicle according to any one of claims 3 to 5, wherein an attraction force to the wall is attenuated. 7. The wall traveling trolley according to claim 2, wherein the trolley supporting pulley has a wire braking function.