JPS61122313A - Automatic painting mount apparatus of bridge - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a bridge automatic painting suspension system that performs maintenance such as cleaning and repainting of steel bridges, and inspections such as visual checks.

[Background of the invention]

In the current process of cleaning and repainting steel bridges, suspended scaffolding is installed over the entire span of the bridge, and the sides and bottom surfaces of these scaffolds are covered with sheets, etc., and the entire area is cured before cleaning and repainting. etc. are being carried out.

[Conventional technology]

For this reason, scaffolding needs to be erected every time repainting or cleaning is done.
Scaffolding must be removed, which requires a lot of labor and expense, requires a long time, and is extremely inefficient.In addition, human accidents associated with working at heights cannot be completely prevented. There was a problem.

In addition, in order to solve such problems, a support arm 17 that is extendable and rotatable is installed on a traveling bogie 16 installed on the shoulder of a steel bridge as shown in FIG. 171C, this support arm 17 rotates outward of the steel bridge, and is provided with a vertical rod 18 that can be raised and lowered from the tip extended outward of the steel bridge, and at the lower end of this vertical rod 18 is provided with a horizontal angle of at least 180 degrees. A robot device with a paint tool is attached to an articulated beam (not shown) that is rotatably pivoted.
A new device has been developed. According to this device, a horizontally articulated boom can be rotated to cover a wide range of areas in a fixed position.
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Installing a large traveling bogie on the steel bridge deck for a long period of time has the problem of obstructing traffic, and as the second maintenance inspection progresses, the support arm of the lamp post that can be planted in the ground Since the progress of the device is blocked by hitting a sign post, etc., the device is collected onto the trolley 16 each time, the truck 16 is moved to a position that avoids lamp posts and sign posts, and the device is moved again. There are problems such as the complexity of equipment that must be installed and the length of time required for construction.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and specifically aims to improve maintenance and inspection efficiency by providing nine vertical suspension members that can be freely attached to and detached from the ground cover of a steel bridge. , and a plurality of replacement formwork bodies having horizontal guide rails in the longitudinal direction of the steel bridge at the bottom, and a movable robot that is removably suspended from the bridge between the guide rails of the frame bodies. By mounting the device and constructing it with a horizontal beam, we solved the problems of the conventional technology and successfully avoided traffic obstructions such as lamp posts and signposts by blocking the top surface of the floor slab with running carts. This project aims to improve the efficiency of maintenance and inspection of steel bridges.

〔Example〕

Embodiments of the invention will be described in detail with reference to the drawings.

Figure 1 is a partially cutaway straight view of the working state, Figure 2 is a side view of the same as above, and Figure 3 is a front view of the robot device. Floor slab 1. Ground cover 1a, height s2. 0 composed of k such as main digit 3
Reference numeral 4 denotes a vertical hanging member 9, which has a locking portion 4a that is engaged with the ground cover 1aK at its upper end and is extendable and retractable by a fluid cylinder mechanism 5, a pinion, a rack mechanism, etc. 4, as is clear from FIG. It is connected to the upper surface of a guide rail 6 having a length equal to the distance therebetween. The guide rail 6 is made of machined steel as shown in FIG.

The lower part 7 of the main girder 3 is located at the bottom of each of the vertical hanging members 4.
It includes a hook portion 7a that engages with the inner edge of the flange 3a, and
A locking rod 7 that moves horizontally by a fluid cylinder mechanism, a pinion, a rack mechanism (not shown), etc. is provided, and the upper surface of the locking rod 7 is provided with an outer edge of the flange 3a of the lower portion 7. A removable stopper 8 is provided on the upper surface so as to be movable in the axial direction of the locking rod 7, and the hook portion 7a and the stopper 8 prevent the vertical hanging member 4 from swinging. 9 is a guide rail 6 of the frame B suspended from the left and right ground coverings 1a. A self-propelled horizontal beam is movably suspended between the bridges, and on the upper surface of both ends of the horizontal beam 9 are mounted on the lower part 7 of the guide rail 6 made of the above-mentioned shaped steel, and ,
Rolling wheels 9a are provided to sandwich the web of the guide rail 6.02 The horizontal beam 9 is extendable and retractable.
Alternatively, it may be configured to be foldable so that it can be made smaller during transportation.

A robot device C as shown in FIG. 3 is movably mounted on the top of the horizontal beam 9.

Next, the above robot device C will be explained with reference to FIG.
The arm 0 has a cylindrical structure with one end fixed or tiltable on a base plate 11 running on a horizontal beam 9, and the arm 10 has a rotatable telescopic arm 12 having a rod structure. It is possible to connect. Also, this telescopic arm 1
Link arms 13 and 14 having a multi-jointed link structure are connected to the outer ends of the arms 2 so as to be tiltable and rotatable. At the tip of the most advanced link arm 14, a keren tool with an oscillating structure, a paint spray gun, or a spray gun/I/15 is attached, and the robot device C operates as described above. 〇Also, the movement and positioning control of this robot device C can be performed manually or fully automatically, and in the case of fully automatic, the entire linear coordinate data of the steel bridge, bridge girder member data, or design drawings are used. Positioning control is performed by software that creates command data that is directly read from a computer.

Next, the above-mentioned apparatus of the present invention, specifically, the work of setting the frame B and the horizontal beam on the steel bridge A and replacing them will be explained.

The frame B is suspended from the ground using a tow truck or the like, and fixed to the steel bridge A by the hook portion 7a of the locking rod 7 and the stopper 8. Further, as described above, the horizontal beam 9 is a vertical rod that is raised and lowered by a pinion rack mechanism 18a or the like at the tip of a rotatable and extendable support arm 17 that is mounted on a traveling trolley 16 that travels and is installed on the shoulder of the steel bridge A. 18
A rotary part 20 is provided at the lower end of this vertical rod 18 to be rotated by a gear mechanism 9 or the like, and this rotary part 2
0 is removably attached to one end of the horizontal beam 9. Moreover, the upper part of the vertical rod 18 is
Rotating portion 17a formed at the tip of the support arm 17
It is movable relative to K.

To explain how the horizontal beam 9 of the present invention is recovered from the frame B of the replacement type attached to the steel bridge A, one end of the reduced or folded horizontal beam 9 is attached to the vertical rod 18. The material bound to the rotating part 20 is loaded onto the traveling trolley 16 and transported to the site. and support arm 17
t-extend upward and rotate it outward by about 90 degrees to position the beams on the outside of the steel bridge A. Fully rotate the rotating part 17a of the support arm 17 to move the vertical rod 18 as shown in the figure. The vertical rod 18t is lowered in a vertical position as shown.

Next, the gear mechanism 19 provided at the lower end of the vertical rod 18 rotates the rotating part 20 approximately 90 times to move the horizontal beam 9 to the steel bridge A.
At the same time, the horizontal beam 9 is extended, and the wheels 9a provided at both ends of the horizontal beam 9 are aligned with the ends of the guide rails 6 of the frame B that have already been installed.

When the position is suitable, guide this wheel 9a and tighten it.
-6 to 5 [1-・"Hirazu-"1 both plan 1'-''.

After suspending the bridge between them and fixing a stopper (not shown) to the end of the guide rail 6, the end of the horizontal beam 9 and the rotating part 20 of the vertical rod 18 are released, and the vertical wand 18. Return the support arm 17 onto the traveling trolley 16 in the reverse procedure to the above.0 The traveling trolley 16 that has been erected will leave the site.0 Also, when removing the horizontal beam 9 of the present invention, the traveling trolley 16f: recovery After installing it at the site, connecting the vertical rod rotating part rotating part 20 to one end of the horizontal beam 9, and removing the roller 9a from the guide rail 6 while supporting it, perform the installation procedure in reverse order to the above installation procedure. In the above explanation, the horizontal beam 9 of the present invention is carried in and out by a running cart 16. You can also leave it there.

In this case, the horizontal beam 9 does not need to have a structure that can be expanded, contracted, or folded. Also, although not particularly shown in the apparatus of the present invention, rust, dust, and dirt during cleaning, It is natural to install equipment to prevent mist from scattering.
Additionally, the horizontal beam will be equipped with a two-hand walkway theater wrap, etc., which is safe and necessary for equipment, such as visual checks by workers before and after automated work.

[For production]

Next, the operation of the present invention will be explained. As shown in FIG. 2, at least two or more frames B are set on the left and right ground coverings 1a using a tow truck or the like, and both guide rails 6 are butted against each other. As shown by the arrow in Fig. 2, the horizontal beam 9 is not moved before cleaning or painting work is performed
When the horizontal beam moves from the guide rail 6 on the right side of the paper to the guide rail 6 on the left side, the frame body B on the right side becomes obsolete. In this state, the tow truck is introduced onto the steel bridge A, and while the used frame body Bt is restrained to the tow truck, this frame body B and the main girder 3 are unlocked, and the frame body Btl- is removed.
Attach the removed frame B to the lower side of the left side frame B. If there are two or more open frames B, it goes without saying that there will be some lag when replacing the used frame B. It is.

In addition, if there is a lamp post or sign post on the ground cover 1a, or an extra space is created between the frames 8, and a gap is created between adjacent frames 8, use a tow truck or the like to remove this gap. An auxiliary rail (not shown) is attached to the auxiliary rail (not shown).

〔effect〕

As described above, according to the present invention, the ground cover of a steel bridge is utilized, a plurality of frames are continuously provided along the ground cover, and the horizontal beam is moved along the guide rail of the frame. Maintenance and inspection work can be carried out continuously, and since the used frame is transferred to the lower side of the work, there is no break in the work, and there is no need to block the floor slab with a tow truck or the like other than during this replacement work. There is no such thing, so it has the characteristic that it does not obstruct traffic.

In addition, it has excellent features such as being able to easily avoid lamp posts and sign posts on the ground, and improving the efficiency of maintenance and inspection work with simple equipment and operation.

[Brief explanation of the drawing]

1 is a partially cutaway front view, FIG. 2 is a side view of the same, and FIG. 3 is a front view of the robot device. 4... Vertical suspension 9 materials, 5... Fluid cylinder mechanism, 6...
... Guide rail, 7 ... Locking rod, 7a ... Hook portion, 8 ... Stopper, 9 ... Horizontal beam, 9a ...
・Rotary wheels, B... Replacement formwork body, C... Robot device. Patent applicant: Kanto Regional Construction Bureau, Ministry of Construction, Kawasaki Heavy Industries, Ltd. Figure 2 λ (City City) Figure 3

Claims (1)

[Scope of Claims] (a) A plurality of stacks comprising vertical suspension members that are removably suspended from the ground of a steel bridge, and having guide rails horizontally extending in the longitudinal direction of the steel bridge at the bottom. (b) a horizontal beam removably suspended from the bridge between the guide rails of the frame suspended on the left and right sides of the ground cover, and equipped with a movable robot device; This automatic bridge painting suspension system is characterized in that maintenance and inspection are performed continuously by transferring the worked frame to the lower side of the work.