JPS62265068A - Steep slop and perpendicular self-propelling device - 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] [Technical Field of the Invention] The present invention relates to a self-propelled vehicle that travels up and down a steeply sloped pipe such as a penstock for a hydroelectric power plant, a steeply sloped tunnel, a general slope, stairs, etc. The present invention relates to devices, and in particular to steep slope/vertical surface self-propelled devices having a rope handling mechanism for handling a lifeline provided for safety measures inside a steep slope pipe or on a slope.

[Technical Background and Problems of the Invention] Conventionally, inspections of the inside of penstocks for hydroelectric power plants have been carried out by sampling inspections of the flat section, or in rare cases, by a person wearing a lifeline due to the steep slope of the penstock. . However, it is not possible to perform complete inspections through sampling inspections, and since manual work is extremely dangerous and difficult to do freely, maintenance and inspection work can be carried out unmanned and equipped with various work robots on self-propelled equipment. It is desired to develop a device that can perform this. Such devices are required not only for penstocks for hydroelectric power plants, but also for steep tunnels, general slopes, stairs, mine shafts, etc.

[Purpose of the Invention] The present invention was made in response to such a demand, and is a self-propelled device for steep slopes and vertical surfaces that utilizes a life line installed for safety measures in steep slope pipes or slopes. This is what we intend to provide.

[Summary of the Invention] In order to achieve the above object, the steep slope/vertical surface self-propelled device of the present invention includes a body, a shaft pivotally supported by the body, and a shaft pivotally connected to the shaft. 2- A rope feed roller with a suspended rope fixed at one end at the upstream end wrapped around it once or multiple times in a pipe or on a slope, and a motor that drives the rope feed roller via the shaft. , a traveling means pivotally connected to the body, the motor drives a rope feed roller, and when the self-propelled device rotates the roller to wind up the rope on the upstream side of the self-propelled device, and when descending, the roller is rotated. It travels by rotating the roller in the direction of rewinding the rope on the first stream side.

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

1 and 2 show a first embodiment of a self-propelled device for steep slopes and vertical surfaces according to the present invention, which is particularly applied in steep slope pipelines. Normally, a rope is attached as a safety measure in such a pipeline, and the present invention utilizes this rope.The rope is fixed at one end in the upstream area and hangs down downstream due to its own weight. The basic condition is that Generally, when a traveling truck with wheels etc. travels within the pipe,
The pipe has a nearly circular cross section and the running surface of the trolley is curved in the circumferential direction of the pipe, so when the running trolley changes direction to the left or right, it gradually moves from the bottom of the tube to the side of the tube and eventually falls. There are times when I do. In order to prevent this fall, there are methods of equipping the traveling trolley with a steering mechanism to control its direction of travel, or of making it stable by having the axle or the like thrust against the pipe wall, but in the embodiment of the present invention, The latter Tenjō Muyo form was adopted.

The self-propelled device of the first embodiment shown in FIGS. 1 and 2 consists of a traveling means and a rope handling device, and the traveling means includes a pair of pandagraph-shaped link frames 1 and 1.
It consists of a shaft 3 that is pivotally supported by a shaft 3 and an axle 2 that rotates around the shaft 3. The link frame 1 has a pandagraph shape in which each frame is connected by a pin 4, and a spring 5 is stretched between the pins 4 provided on the diagonal of the approximately diamond-shaped part to provide a biasing force to extend the pandagraph mechanism. Give. The tension of the spring 5 causes the wheel a-3 to push against the tube wall, causing the device to move stably toward the center of the tube.

The rope reeling device consists of a machine body 6, a rope feed roller 8, a rope feed roller shaft 9, and a drive motor 10, and the machine body 6 is maintained at the center position of the link frame 1, that is, at the center of the pipe even when the pantograph mechanism is stretched or compressed. The two connecting bins 7 are connected and mounted on points A and A'. At this time, one of the bottle holes that engages with the connecting bottle 7 provided in the fuselage 6 is a circular hole (14) at a fixed position and the other is an elongated hole (15), and the hole that engages with the connecting bottle 7 provided in the fuselage 6 is a circular hole (14) at a fixed position and the other is an elongated hole (15). It is possible to cope with changes in the distance between A and A'. The rope feed roller shaft 9 is pivotally supported approximately at the center of the machine body 6, the rope feed roller 8 is fixed to the inner part of the machine body 6, and the chain gear 1 is fixed to one end of the outer side of the machine body 6.
1 is fixed.

The motor 10 is fixed to a part of the body 6, and another chain gear 11 is fixed to the motor shaft, and its rotation is transmitted via the chain 12 to the chain gear 11 fixed to the shaft 9.

=4- The rope 13 suspended in the pipe is wound around the rope feed roller 8 two to three times. A member ←÷ may be provided inside the body 6 to guide the rope 13.

One end of the rope 13 is fixed to the upstream portion of the pipe, and it hangs down to the downstream portion due to its own weight.

The self-propelled device of this embodiment configured in this way rotates the shaft 9 and the rope feed roller 8 via the chain gear 11, the chain 12, and the chain gear 11 by rotating the motor 10, and moves the rope 13 upstream. Move forward while winding from the direction. When descending, the motor 10 is rotated in the opposite direction to the direction when moving forward, and the rope feed roller 8
By unwinding the rope 13, the vehicle descends.

In addition, if the slope inside the pipe or slope is so small that it is impossible to descend using the rope's own falling blade, or if the rope is running on a flat road surface, it is possible to move forward and backward by fixing both ends of the rope. .

Next, a second embodiment of the self-propelled device of the present invention, which is applied to steep slopes other than pipes, stairs, etc., will be described. Figures 3 and 4
The figures show a side view and a front view, respectively, of a self-propelled device for steep slopes and vertical surfaces according to a second embodiment of the present invention. It consists of a traveling means and a rope handling device mounted on the casing.
Several sets of traveling means (
In the figure, seven pairs of shafts 24 and guide rollers 22 are supported, and an endless track 23 is wound around the guide rollers 22 . As in the first embodiment, the rope handling device includes the fuselage 25,
Rope feed roller shaft 26, rope feed roller 27
, a drive motor 28, and the fuselage 25 has a housing 21.
is fixed inside. The rope feed roller shaft 26 is pivotally supported approximately at the center of the machine body 25, a rope feed roller 27 is fixed to the inner part of the machine body 25, and a chain gear 29 is fixed to one end of the outer side of the machine body 25. The drive motor 28 is fixed to the upper surface of the body 25, and another chain gear 29 is fixed to the motor shaft, and its rotation is transmitted to the shaft 26 via the chain 30. The rope 31 is wound around the rope feed roller 27 two to three times. The lobe 31 is temporarily installed in advance on a slope, stairs, etc. to which the self-propelled device of this embodiment is applied, and its end is fixed to the -. The self-propelled device of the second embodiment configured in this way transports the rope 31 to the rope feeding roller 2 by the rope feeding mechanisms 25 to 30, similarly to the self-propelled device of the first embodiment.
It travels up while winding the rope 31, and travels down while rewinding the rope 31. At that time, the endless track comes into contact with the running surface,
Since it moves according to the rope handing mechanism, it can run smoothly on uneven surfaces such as building walls, windows, etc., and even on stairs.

The material for the rope can be natural fiber, chemical fiber, or metal, as long as it has strong tensile strength and does not slip against the rope feed roller, but in the case of metal wire rope, spiral wire is used to prevent slipping. A rope feed roller can also be used as a gear.

[Effects of the Invention] As is clear from the above embodiments, the steep slope/vertical surface self-propelled device of the present invention utilizes a life line attached to the pipe or a rope temporarily installed on the slope, and connects it to the rope. Since it is raised and lowered by hand-pulling, the simple drive mechanism enables safe unmanned work.

[Brief Description of the Drawings] Figures 1 and 2 are a side view and a front view, respectively, of a first embodiment of a self-propelled device for steep slopes and vertical surfaces according to the present invention, and Figures 3 and 4 are respectively a side view and a front view of a first embodiment of a self-propelled device for steep slopes and vertical surfaces according to the present invention. Side and front views of a second embodiment of a self-propelled device for steep slopes and vertical surfaces. 1. Link frame 2. Wheel 3. Shaft 4.・・・・・・Bin 5・・・・Spring 6.25・・・Body 7・・・・・・・・・・・・・Connecting pin 8.27・・
......Rope feed roller 9.26...
・Rope feed roller shaft 10.28... Drive motor 11.29... Chain gear 12.30... Chain 13.31... Rope

Claims (1)

[Claims] A rope feeder consisting of a fuselage, a shaft supported by the fuselage, and a rope that is pivotally attached to the shaft and is suspended with one end fixed at the upstream part within a steep slope pipe or on a slope, and is wrapped around once or multiple times. A self-propelled device for steep slopes and vertical surfaces, comprising a roller, a motor fixed to the machine body and driving the rope feed roller via the shaft, and a traveling means pivotally connected to the machine body.