JP2017165155A - Suspended traveling device - Google Patents

Abstract

To provide a suspended traveling device capable of maintaining a suspended state from a beam-like body more stably. A suspended traveling device 1 is a suspended traveling device 1 that travels along a beam-like body while being suspended from the beam-like body. The suspended traveling device 1 includes at least a pair of sandwiching portions 3 that sandwich both side surfaces of the beam-shaped body, a frame 2 that connects at least the pair of sandwiching portions 3 to each other, and an upward surface that the beam-shaped body 28 has. A wheel 11 that is grounded at 28b and supports the load of the suspended traveling device 1 and a drive source (for example, a motor 10) are provided. Each of the sandwiching portions 3 includes a roller (a driving roller 8 and a driven roller 9) that can rotate around a vertical rotation axis and sandwich the side surface 28 a of the beam-like body 28. The at least one clamping unit 3 includes a driving roller 8 that is driven to rotate by a driving source and applies a propulsive force in a traveling direction that is an extending direction of the beam 28 as a roller. [Selection] Figure 1

Description

  The present invention relates to a suspended traveling device.

As a suspended traveling device that travels along a beam-like body suspended from a beam-like body included in a bridge or the like, there is one described in Patent Document 1.
The suspended traveling device of Patent Document 1 includes two pairs of support arms (four in total) for rotatably supporting a drum-shaped roller having a V-shaped inclined contact surface, and the two pairs of rollers provide I-shaped steel. By sandwiching the flange of the beam-like body or the like, it is suspended from the beam-like body.

JP 2003-119721 A

  The suspension type traveling device of Patent Document 1 is suspended from a beam-like body by sandwiching the flange of the beam-like body with four drum-shaped rollers having a V-shaped inclined contact surface as described above. Therefore, there is room for improvement in terms of stability in the suspended state from the beam.

  This invention is made | formed in view of said subject, and provides the suspension type traveling apparatus which can maintain the suspended state from a beam-shaped body more stably.

  According to the present invention, a suspended traveling device that travels along the beam-like body in a state of being suspended from the beam-like body, and includes at least a pair of sandwiching portions that sandwich both side surfaces of the beam-like body. A frame that connects the at least one pair of sandwiching portions to each other, a wheel that is grounded to an upward surface of the beam-like body and supports a load of the suspended traveling device, and a drive source, Each of the sandwiching portions includes a roller that is rotatable about a vertical rotation axis and sandwiches a side surface of the beam-like body, and at least one of the sandwiching portions is rotated and driven by the drive source as the roller. There is provided a suspended traveling device including a driving roller that applies a propulsive force in a traveling direction that is an extending direction of a beam-like body.

  According to the present invention, it is possible to maintain the suspended state from the beam-like body more stably.

1 is a perspective view of a suspended traveling device according to a first embodiment. 1 is a plan view of a suspended traveling device according to a first embodiment. It is a side view of the suspension type traveling device concerning a 1st embodiment. 1 is a front view of a suspended traveling device according to a first embodiment. It is a front view which shows the state which removed the lever of the space | interval adjustment mechanism of the suspension type traveling apparatus which concerns on 1st Embodiment from the lever latching | locking part. It is a perspective view which shows an example of the use condition of the suspension type traveling apparatus which concerns on 1st Embodiment. It is a perspective view of the suspension type traveling apparatus which concerns on 2nd Embodiment. It is a figure which shows the example of plane arrangement | positioning of the wheel with which a suspension type traveling apparatus is provided.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are denoted by the same reference numerals, and description thereof will be omitted as appropriate.
In the present embodiment, in order to explain the positional relationship of each component in an easy-to-understand manner, there are cases where the front / rear / left / right / up / down directions are defined. However, the definition of these directions is for convenience, and does not limit the directions at the time of manufacture and use of the product implementing the present invention. In addition, let the advancing direction of a suspension type traveling apparatus be the front, and let the opposite direction with respect to a advancing direction be back. Further, in a plan view, a direction orthogonal to the traveling direction of the suspended traveling device is referred to as a width direction. In the width direction, the direction on the right side when facing the traveling direction is referred to as the right side, and the direction on the left side when facing the traveling direction is referred to as the left side.
The various constituent elements of the present invention do not have to be independent of each other, one constituent element is a part of another constituent element, a part of one constituent element and one of the other constituent elements. The part is allowed to overlap.

[First Embodiment]
First, the first embodiment will be described with reference to FIGS.
The suspended traveling device 1 according to the present embodiment is a suspended traveling device 1 that travels along the beam 28 while being suspended from the beam 28 (FIG. 6). The suspended traveling device 1 includes at least a pair of sandwiching portions 3 that sandwich both side surfaces (a side surface 28a (not shown) opposite to the side surface 28a shown in FIG. 6) of the beam-shaped body 28, and at least a pair of sandwiching portions. 3, a frame 2 that is connected to each other, a wheel 11 that is grounded to the upward surface 28 b of the beam-like body 28 and supports the load of the suspended traveling device 1, and a drive source (for example, a motor 10). I have. Each of the sandwiching portions 3 includes a roller (for example, a driving roller 8 and a driven roller 9) that can rotate around a vertical rotation axis and sandwich the side surface 28 a of the beam-like body 28. The at least one clamping unit 3 is a driving roller 8 that is rotationally driven by a driving source and applies a propulsive force in the traveling direction (direction of arrow A in FIG. 1) that is the extending direction of the beam 28 as a roller. I have.
Details will be described below.

  The frame 2 is configured in a desired shape by assembling various structural materials such as steel materials. In the case of this embodiment, for example, the frame 2 is formed in a substantially H shape as shown in FIG. 2, and is formed in a flat shape as shown in FIG. However, the shape of the frame 2 is not limited to this example.

  When the suspended traveling device 1 is in use, the load of the suspended traveling device 1 is supported by the wheels 11 and the rollers (the driving roller 8 and the driven roller 9), and the beam that the elevated structure such as a bridge has. It will be in the state hung from the shape body 28. In this state, when the driving roller 8 is rotated by driving the motor 10, the suspended traveling device 1 travels along the beam 28.

  The motor 10 may rotate the driving roller 8 only in one direction, or may rotate the driving roller 8 forward / reversely. In the former case, the suspended traveling device 1 can travel only in one direction (only forward movement is possible), and in the latter case, the suspended traveling device 1 can move forward and backward. Further, even if the rotation direction of the motor 10 is one direction, the transmission mechanism that transmits the rotation from the motor 10 to the drive roller 8 is a switching mechanism that can switch the rotation direction of the drive roller 8 between forward rotation and reverse rotation. If included, the suspended traveling device 1 can be configured to be able to move forward and backward.

The beam-like body 28 is not particularly limited as long as it has a pair of side surfaces 28a sandwiched by the sandwiching portion 3 and an upward surface 28b to which the wheel 11 is grounded and extends in a substantially horizontal direction.
Specifically, for example, the beam 28 is an I-girder extending along the lower surface of the bridge.

  The suspended traveling device 1 includes a plurality of (for example, four) leg portions 27 projecting downward from the lower surface of the frame 2, and is self-supporting with these leg portions 27 in contact with the ground during storage. It is possible.

More specifically, the suspended traveling device 1 includes a pair of left and right holding parts 3 (a holding part 3a and a holding part 3b) disposed at the front part of the frame 2 and a pair of left and right parts disposed at the rear part of the frame 2. A total of four clamping parts 3 including the clamping part 3 (the clamping part 3c and the clamping part 3d) are provided. That is, the suspended traveling device 1 includes a holding part 3 a provided at the left front part of the frame 2, a holding part 3 b provided at the right front part of the frame 2, and a holding part 3 c provided at the left rear part of the frame 2. And a clamping part 3d provided at the right rear part of the frame 2.
Each of the four sandwiching portions 3 includes a wheel 11.

On the upper surface side of the frame 2, a plurality of guide rails 12 are provided for guiding each sandwiching portion 3 so as to be slidable in the width direction.
That is, on the upper surface side of the left front portion of the frame 2, a guide rail 12 that guides the holding portion 3a to the left and right is provided so as to extend horizontally and to the left and right. Similarly, on the upper surface side of the right front portion of the frame 2, a guide rail 12 that guides the sandwiching portion 3 b to the left and right is provided so as to extend horizontally and to the left and right. In the case of this embodiment, the guide rail 12 that guides the sandwiching portion 3a and the guide rail 12 that guides the sandwiching portion 3b are arranged on the same straight line. The two guide rails 12 are separated from each other in the width direction, and a pinion 15 of an interval adjusting mechanism described later is disposed between the two guide rails 12.
Further, a guide rail 12 that guides the clamping portion 3c to the left and right is provided on the upper surface side of the left rear portion of the frame 2, and a guide rail 12 that guides the clamping portion 3d to the left and right is provided horizontally on the upper surface side of the right rear portion of the frame 2. And the guide rails 12 are arranged on the same straight line. The two guide rails 12 are separated from each other in the width direction, and a pinion 15 is also disposed between the two guide rails 12.

Each clamping part 3 includes a clamping part base 4 supported by the frame 2 and a support column part 5 standing up from the clamping part base 4.
More specifically, the clamping unit base 4 is supported by the frame 2 via the guide rail 12 by being held by the guide rail 12. The sandwiching portion base 4 is held by the guide rail 12 and is guided by the guide rail 12 so as to be slidable to the left and right. That is, the sandwiching portion base 4 can move relative to the frame 2 from side to side.
In addition, since the support | pillar part 5 is supported by the clamping part base 4, it can move to right and left relatively with respect to the flame | frame 2 integrally with the clamping part base 4. FIG.
In addition, a stopper 13 is provided at the terminal position of each guide rail 12 in the width direction of the frame 2 so as to stand up above the guide rail 12 so as to prevent the clamping base 4 from dropping off from the guide rail 12. Yes.

The sandwiching unit 3 includes a pair of rollers (for example, a driving roller 8 and a driven roller 9) that are spaced apart from each other in the traveling direction, a holding unit 7 that rotatably holds the pair of rollers, and It has. In addition, the rotating shaft of each roller is arrange | positioned vertically.
The holding unit 7 is swingable with respect to the frame 2 around a vertical rotation axis positioned between a pair of rollers (the driving roller 8 and the driven roller 9) in the traveling direction.

More specifically, the holding unit 7 is pivotally supported by a clamping unit base 4 and a column unit 5 that are slidable to the left and right with respect to the frame 2, and is perpendicular to the clamping unit base 4 and the column unit 5. The head can be swung around the rotation axis.
The shaft support portion 6 in which the holding portion base 4 and the support column portion 5 support the holding portion 7 is positioned between the pair of rollers (the driving roller 8 and the driven roller 9) in the traveling direction.
The holding part 7 is rotatable in the directions of the arrow B and the arrow C shown in FIG.
Here, the upper end portion of the support column portion 5 is an overhang portion that protrudes in an overhang state toward the center direction in the width direction of the frame 2, and this overhang portion and the overhang portion in the sandwiching portion base 4 The holding portion 7 is pivotally supported by the portion directly below the hang portion.

More specifically, the holding unit 7 includes a roller holding frame 7a that holds a pair of rollers rotatably, and a wheel holding unit 7b that is provided on the center of the roller holding frame 7a in the traveling direction. (Refer to the reference numerals attached to the holding portion 7 of the sandwiching portion 3b in FIG. 1).
The lower end portion of the roller holding frame 7 a and the upper end portion of the wheel holding portion 7 b are pivotally supported at the pivotal support portion 6 by the sandwiching portion base 4 and the overhang portion of the column portion 5.

The holding part 7 of each clamping part 3 pivotally supports one of the pair of rollers at the front end of the roller holding frame 7a, and at the rear end of the roller holding frame 7a, The other is pivotally supported.
Here, each clamping unit 3 includes a driving roller 8 and a driven roller 9. That is, one of the pair of rollers provided in the clamping unit 3 is the drive roller 8. As described above, the driving roller 8 is a roller that is rotationally driven by the motor 10 and applies a propulsive force in the traveling direction to the suspended traveling device 1. The driving roller 8 includes a motor that is a driving shaft of the motor 10. The shaft 10a is connected.
On the other hand, the driven roller 9 is idled with respect to the roller holding frame 7a, and is rotated by the frictional resistance received from the side surface 28a of the beam 28 when the suspended traveling device 1 travels.
More specifically, for example, among the four holding portions 3, with respect to the holding portion 3a and the holding portion 3b located on the front side, the driven roller 9 is connected to the front end portion of the roller holding frame 7a and the rear end portion of the roller holding frame 7a. The driving rollers 8 are provided respectively. On the other hand, with respect to the sandwiching portion 3c and the sandwiching portion 3d located on the rear side, a driving roller 8 is provided at the front end portion of the roller holding frame 7a, and a driven roller 9 is provided at the rear end portion of the roller holding frame 7a.

  The driven roller 9 is tapered in a tapered shape downward. That is, the other of the pair of rollers included in the sandwiching portion 3 is tapered in a tapered shape toward the lower side.

It is preferable that the peripheral surface of the drive roller 8 is made of rubber or the like so that the friction force against the side surface 28a of the beam-like body 28 can be sufficiently increased.
On the other hand, the driven roller 9 is preferably made of a hard resin so that it can easily slide in the vertical direction with respect to the side surface 28a of the beam 28.
The Young's modulus of the material constituting the peripheral surface of the driven roller 9 is preferably larger than the Young's modulus of the material constituting the peripheral surface of the drive roller 8.

  In addition, each roller can contact the side surface 28a of the beam-shaped body 28 without the roller holding frame 7a holding each roller (the driving roller 8 and the driven roller 9) interfering with the beam-shaped body 28. The arrangement of each roller with respect to the roller holding frame 7a is set so that

The wheel 11 is rotatably held by the wheel holding part 7b of the holding part 7 of each clamping part 3. That is, the holding part 7 of each clamping part 3 hold | maintains the individual wheel 11 rotatably.
The rotating shaft of each wheel 11 is horizontally arranged.

Each wheel 11 is disposed closer to the center in the width direction of the frame 2 with reference to the wheel holding portion 7 b holding each wheel 11. Furthermore, in each clamping part 3, the wheel 11 is arranged closer to the center in the width direction of the frame 2 than the roller holding frame 7a.
Since the wheel holding portion 7b holding the wheel 11 can swing around the vertical rotation axis with respect to the sandwiching portion base 4 and the support column 5, the wheel 11 includes the driving roller 8 and the driven roller. Together with the roller 9, it swings around a vertical rotation axis.

  In the case of the present embodiment, the wheels 11 provided in each of the four sandwiching portions 3 are arranged in a regular lattice shape in plan view (see FIGS. 2 and 8A).

As shown in FIG. 3, the height position of the upper end 8 a of the drive roller 8 is located above the lower end 11 a of the wheel 11 in each clamping unit 3.
Similarly, in each clamping part 3, the height position of the upper end 9 a of the tapered portion of the driven roller 9 (the portion whose diameter is reduced downward) is located above the lower end 11 a of the wheel 11.
In each clamping unit 3, the height position of the lower end 8 b of the drive roller 8 is located below the lower end 11 a of the wheel 11.
Similarly, in each clamping part 3, the height position of the lower end 9b of the taper part (the part which is diameter-reduced toward the downward direction) of the driven roller 9 is located below the lower end 11a of the wheel 11.

  The wheel 11 is formed in a disk shape, for example. In order to reduce the weight of the wheel 11, an opening penetrating the plate surface of the wheel 11 may be formed in a portion of the wheel 11 excluding the peripheral portion and the central portion as shown in FIG. 1 and the like.

  In each clamping unit 3, the motor 10 that rotationally drives the driving roller 8 is placed on the roller holding frame 7 a at a position above the driving roller 8.

The suspended traveling device 1 further includes a distance adjusting mechanism for adjusting the facing distance between the pair of left and right sandwiching portions 3.
That is, the suspended traveling device 1 includes an interval adjustment mechanism for adjusting the facing interval between the sandwiching portion 3a and the sandwiching portion 3b, and an interval adjusting mechanism for adjusting the facing interval between the sandwiching portion 3c and the sandwiching portion 3d. And.
The interval adjusting mechanism includes a pair of guide rails 12 that slidably guide the pair of holding portions 3 in the width direction orthogonal to the traveling direction in plan view.

The interval adjusting mechanism includes a conversion transmission mechanism that converts the movement of one of the pair of holding portions 3 and transmits the movement to the other. This conversion transmission mechanism converts and transmits a movement in which one of the pair of holding parts 3 approaches the other side into a movement in which the other approaches one side, and one of the pair of holding parts 3 The movement away from the other is converted into the movement away from the other and transmitted.
That is, the pair of holding portions 3a and 3b arranged on the front side will be described. The conversion transmission mechanism converts the movement of the holding portion 3a in the direction of arrow D in FIG. 3b. Further, the movement of the holding part 3a in the opposite direction (arrow E direction) with respect to the arrow D direction is converted into the movement in the opposite direction (arrow D direction) with respect to the arrow E direction and transmitted to the holding part 3b. Similarly, the conversion transmission mechanism converts the movement of the holding part 3b in the direction of arrow E in FIG. 2 into the movement in the direction of arrow D and transmits the movement to the holding part 3a. Further, the movement of the clamping part 3b in the direction opposite to the arrow E direction is converted into the movement in the opposite direction to the arrow D direction and transmitted to the clamping part 3a.

More specifically, as shown in FIGS. 1 and 2, the conversion transmission mechanism is configured to include a rack 14 and a pinion 15 that are provided integrally with the sandwiching portion 3. The pinion 15 is rotatably held by the frame 2 and meshes with the rack 14 and rotates when the holding unit 3 and the rack 14 move in the width direction.
The rack 14 is fixed to the clamping part base 4 of each clamping part 3, and the longitudinal direction of the rack 14 extends in the width direction.
Each rack 14 extends from the sandwiching portion base 4 on which the rack 14 is provided toward a direction closer to the center in the width direction of the frame 2.
That is, the rack 14 of the clamping part 3c extends rightward from the clamping part base 4 of the clamping part 3c, and the rack 14 of the clamping part 3d is directed leftward from the clamping part base 4 of the clamping part 3c. Is extended. Here, for example, the rack 14 of the clamping unit 3c is fixed to the front part of the clamping unit base 4 so that the rack 14 of the clamping unit 3c and the rack 14 of the clamping unit 3d do not interfere with each other. The rack 14 is fixed to the rear part of the clamping base 4. The rack 14 of the clamping unit 3c and the rack 14 of the clamping unit 3d are arranged so that their tooth rows face each other.
Similarly, the rack 14 of the clamping unit 3a extends rightward from the clamping unit base 4 of the clamping unit 3a, and the rack 14 of the clamping unit 3b extends to the left from the clamping unit base 4 of the clamping unit 3b. It extends toward. For example, the rack 14 of the clamping unit 3a is fixed to the front part of the clamping unit base 4 so that the rack 14 of the clamping unit 3a and the rack 14 of the clamping unit 3b do not interfere with each other. The rack 14 is fixed to the rear part of the sandwiching part base 4. The rack 14 of the clamping part 3a and the rack 14 of the clamping part 3b are arranged so that their tooth rows face each other.

The pinion 15 meshes with the pair of racks 14.
That is, the rack 14 of the interval adjusting mechanism for adjusting the facing interval between the clamping unit 3a and the clamping unit 3b includes both the rack 14 provided in the clamping unit 3a and the rack 14 provided in the clamping unit 3b. Are engaged.
Further, the rack 14 of the interval adjusting mechanism for adjusting the facing interval between the sandwiching portion 3c and the sandwiching portion 3d includes both the rack 14 provided in the sandwiching portion 3c and the rack 14 provided in the sandwiching portion 3d. Are engaged.
Each pinion 15 is, for example, arranged at the center in the width direction of the frame 2 and is held by the frame 2 so as to be rotatable around a vertical rotation axis.

Since the interval adjusting mechanism is configured as described above, the operations of the pair of left and right sandwiching portions 3 are interlocked (moved in directions opposite to each other in the width direction).
That is, when the clamping part 3d moves to the right along the guide rail 12, the rack 14 provided in the clamping part 3d also moves to the right, and the pinion 15 meshing with the rack 14 is viewed in plan view. Rotates counterclockwise. Thereby, the rack 14 provided in the clamping part 3c moves to the left, and accordingly, the clamping part 3c moves to the left along the guide rail 12.
On the other hand, when the clamping part 3d moves to the left along the guide rail 12, the rack 14 provided in the clamping part 3d also moves to the left, and the pinion 15 meshing with the rack 14 is seen in a plan view. Rotate clockwise. Thereby, the rack 14 provided in the clamping part 3c moves to the right, and accordingly, the clamping part 3c moves to the right along the guide rail 12.
The sandwiching portion 3a and the sandwiching portion 3b are also interlocked with each other in the same manner as the relationship between the sandwiching portion 3c and the sandwiching portion 3d.

The interval adjusting mechanism includes a separation regulating mechanism that regulates the pair of racks 14 from being separated from each other in the traveling direction in order to maintain the meshed state of the pair of racks 14 with respect to the pinion 15.
The separation regulating mechanism includes, for example, a connection bar 16 and a pair of guide rollers 17 provided at both ends of the connection bar 16.
The connecting bar 16 is, for example, a plate-like member extending in the traveling direction, spans between the upper surfaces of the pair of racks 14 of the interval adjusting mechanism, and is connected to the central portion in the longitudinal direction of the connecting bar 16. The upper end of the rotation shaft of the pinion 15 of the interval adjusting mechanism is provided.
Each of the pair of guide rollers 17 is pivotally supported between the end of the connecting bar 16 and the frame 2 so as to be rotatable around a vertical rotation axis.
Of the pair of guide rollers 17 of the separation regulating mechanism, the peripheral surface of the front guide roller 17 is in contact with the front surface of the front rack 14 of the pair of racks 14 of the spacing adjustment mechanism, and the rear guide roller 17 The peripheral surface is in contact with the rear surface of the rear rack 14 of the pair of racks 14 of the interval adjusting mechanism.
Accordingly, the separation regulating mechanism restricts the pair of racks 14 of the interval adjusting mechanism from being separated from each other in the traveling direction, and as a result, the engagement state of the pair of racks 14 with the pinion 15 is maintained. ing.
When the rack 14 moves to the left and right, the guide roller 17 in contact with the rack 14 rotates at a fixed position.

The interval adjusting mechanism includes a biasing portion that can elastically bias the pair of left and right sandwiching portions 3 toward each other.
In the case of this embodiment, the urging portion is an extendable cylinder damper 18 having a cylinder 19 and a piston rod 20. The cylinder damper 18 is configured to give resistance when the piston rod 20 enters the cylinder 19 more deeply.
The interval adjusting mechanism is connected to the cylinder damper 18 and is capable of swinging in the direction in which the cylinder damper 18 is contracted and in the opposite direction, and the lever 21 is engaged in a state in which the cylinder damper 18 is contracted by the lever 21. And a lever locking portion 26 that can be stopped.

As shown in FIG. 5, one end portion of the lever 21 is pivotally supported with respect to the frame 2 at the lever shaft support portion 22, and the lever 21 can swing about the lever shaft support portion 22 as a fulcrum. The rotation shaft (swing shaft) of the lever 21 extends in the horizontal direction and the front-rear direction.
One end of the cylinder damper 18 is pivotally supported with respect to the lever 21 at a damper shaft support 23. The damper shaft support portion 23 is preferably located closer to the lever shaft support portion 22 than the central portion in the longitudinal direction of the lever 21.

Here, of the two pairs of front and rear holding parts 3, the distance adjusting mechanism for adjusting the distance between the holding parts 3 a and 3 b arranged on the front side will be described. Among the pair of racks 14, the rack located on the front side A connecting portion 24 is fixed to the tip portion of 14. The connecting portion 24 is, for example, a plate member that is long in the vertical direction, and hangs downward from the front end portion of the rack 14.
On the other hand, the distance adjusting mechanism for adjusting the distance between the holding parts 3a and 3b arranged on the rear side of the two pairs of holding parts 3 will be described. A connecting portion 24 is fixed to the tip end portion of 14.

The other end portion of the cylinder damper 18 is pivotally supported by the damper shaft support portion 25 with respect to the lower end portion of the connecting portion 24.
The rotation axis of the cylinder damper 18 in the damper shaft support portion 23 and the damper shaft support portion 25 is parallel to the rotation axis of the lever 21 in the lever shaft support portion 22.
Further, the lever locking portion 26 is provided so as to protrude from the frame 2 so as to be orthogonal to the circle formed by the locus of the lever 21, and the lever 21 can be engaged with and disengaged from the lever locking portion 26. It has become.

FIG. 5 is a front view of the state in which the lever 21 is removed from the lever locking portion 26.
On the other hand, FIG. 4 is a front view of a state where the lever 21 is locked to the lever locking portion 26.

The suspended traveling device 1 is preferably formed symmetrically in the front-rear direction and in the left-right direction, for example, in plan view.
Various mounts 29 (FIG. 3) corresponding to the application of the suspended traveling device 1 can be mounted on the frame 2. As an example, the suspended traveling device 1 can be used for deterioration diagnosis of a bridge, and in that case, the mounted object 29 includes a camera or the like.
As shown in FIG. 3, the mounted object 29 may be disposed on the lower surface side of the frame 2, or may be disposed on the upper surface side of the frame 2. Alternatively, the load 29 may be held by the frame 2 in a state of projecting to the side of the frame 2.

The suspended traveling device 1 includes a control unit (not shown) for controlling the operation of the motor 10 of each clamping unit 3. When the motor 10 of each clamping part 3 is synchronously controlled by the control part, the driving roller 8 of each clamping part 3 rotates synchronously, and the suspension type traveling apparatus 1 can move forward.
The control unit can be mounted on the frame 2 together with the load 29, for example.

  Next, the operation will be described.

  As shown in FIG. 6, the suspended traveling device 1 can travel along the beam 28 while being suspended from the beam 28. The beam-like body 28 is, for example, an I girder provided on the lower surface side of the bridge, and the lower end portion 281 is formed in a flange shape. The suspended traveling device 1 sandwiches both side surfaces 28a of the flange-shaped lower end portion 281 with the rollers (drive roller 8 and driven roller 9) of the left and right sandwiching portions 3, and When the wheel 11 is grounded to the upward surface 28 b that is the upper surface, the wheel 11 is suspended from the beam-like body 28.

In order to make the suspended traveling device 1 hang from the beam-like body 28, first, in a state where the lever 21 of each distance adjusting mechanism is removed from the lever locking portion 26 (see FIG. 5), each wheel 11 and each roller (the driving roller 8 and the driven roller 9) are aligned with the corresponding side surface 28a and the upward surface 28b, respectively.
In this state, it is assumed that the suspended traveling device 1 is configured so that the facing distance between the left and right wheels 11 is wider than the left and right width of the flange-shaped lower end 281.

Next, the opposing distance between the left and right wheels 11 is made narrower than the left and right width of the flange-shaped lower end 281 by locking the lever 21 of each distance adjusting mechanism with respect to the lever locking portion 26.
As a result, the left and right side surfaces 28a of the flange-like lower end 281 are held by the rollers of the left and right holding parts 3 (the driving roller 8 and the driven roller 9), and the upward surface is the upper surface of the flange-like lower end 281. Each wheel 11 is grounded to 28b, and the suspended traveling device 1 is suspended from the beam-like body 28.
Here, when the lever 21 is locked to the lever locking portion 26, the cylinder damper 18 is compressed and contracted by the lever 21. Therefore, the driving rollers 8 and the driven rollers 9 are brought into close contact with the side surface 28 a of the beam-like body 28 by the urging force of the cylinder damper 18.

Here, the vertical stiffener 30 and the upper surface structure 31 are provided intermittently in the longitudinal direction of the beam 28.
The vertical stiffener 30 is a plate-like member that stands up from the upward surface 28 b, and the wheel 11 cannot pass through the vertical stiffener 30. For this reason, the wheel 11 is assumed to be placed on the end-side portion (the blank portion 28d shown in FIG. 6) in the width direction with respect to the vertical stiffener 30 on the upward surface 28b.
The upper surface structure 31 is a plate-like member disposed along the upward surface 28b, and is fixed to the flange-like lower end portion 281 with a bolt or the like. Although it is possible for the wheel 11 to get over the upper surface structure 31, it is preferable to travel while avoiding the upper surface structure 31. For this reason, it is preferable that the wheel 11 is mounted on a portion (a blank portion 28c shown in FIG. 6) on the end surface side in the width direction with respect to the upper surface structure 31 on the upward surface 28b.

In a state where the suspended traveling device 1 is suspended from the beam-like body 28, the motor 10 of each clamping unit 3 is driven and each driving roller 8 is rotated, whereby the suspended traveling device 1 is turned into the beam-like body 28. Move forward along. That is, the two driving rollers 8 on the right side in the traveling direction rotate counterclockwise in plan view, and the two driving rollers 8 on the left side in the traveling direction rotate clockwise in plan view, respectively. The traveling device 1 can move forward.
At this time, since the wheel 11 of each clamping part 3 is grounded to the upward surface 28b and supports the load of the suspended traveling device 1, the suspended traveling device 1 is suspended from the beam 28. Can be stably maintained.
The load supported by the four wheels 11 is a remaining load obtained by subtracting the frictional resistance between the driving roller 8 and the driven roller 9 and the side surface 28a out of the total loads of the suspended traveling device 1 and the load 29. The load is shared and supported by the four wheels 11.

Here, the width dimension of the flange-like lower end portion 281 of the beam-like body 28 is not necessarily constant, and may be partially expanded or narrowed.
In this embodiment, the holding unit 7 can rotate with respect to the frame 2 around a vertical rotation axis positioned between the pair of rollers (the driving roller 8 and the driven roller 9) in the traveling direction. It has become. For this reason, when the frame 2 swings and rotates according to the change in the width of the lower end portion 281, it is possible to always maintain the state in which each roller is in close contact with the side surface 28 a.

Further, since the suspended traveling device 1 has an interval adjusting mechanism for adjusting the opposing interval between the pair of sandwiching portions 3, the opposing interval between the pair of sandwiching portions 3 is changed according to the change in the width of the lower end portion 281. Adjusted automatically. Therefore, it is possible to maintain a state where each roller is always in close contact with the side surface 28a.
In particular, the distance adjusting mechanism includes a cylinder damper 18 that is an urging portion that can elastically urge the pair of sandwiching portions 3 in a direction away from each other. Therefore, the driving roller 8 and the driven roller 9 can always be kept in close contact with the side surface 28a by the urging by the cylinder damper 18.

Further, the upward surface 28b is not necessarily flat and may be partially raised (including cases where dust is placed). Further, there may be a case where the wheel 11 needs to travel on the upper surface structure 31 described above. That is, there is a case where the wheel 11 rides on a step or a bump on the upward surface 28b and travels.
Here, since one of the pair of front and rear rollers included in the sandwiching portion 3 is the driven roller 9 that has a tapered diameter downward, the frictional resistance between the driven roller 9 and the side surface 28a is The follower roller 9 is reduced as compared with the case where it is cylindrical.
For this reason, when the wheel 11 rides on a step or a bump or descends from the step or the bump, it is possible to reduce the vertical frictional resistance generated between the driven roller 9 and the side surface 28a. Therefore, the operation | movement at the time of the wheel 11 riding on a level | step difference or a bump, or getting off from a level | step difference or a bump can be made smooth.

According to the embodiment as described above, the suspended traveling device 1 is grounded to at least the pair of sandwiching portions 3 that sandwich both the side surfaces 28a of the beam 28 and the upward surface 28b of the beam 28. Each of the clamping parts 3 includes a roller that can rotate around a vertical rotation axis and clamp the side surface 28a of the beam-like body 28. .
Therefore, it is possible to stably maintain the suspended state of the suspended traveling device 1 from the beam 28.

[Second Embodiment]
Next, a second embodiment will be described with reference to FIG.
The suspended traveling device 1 according to the present embodiment includes a pair of left and right suspended traveling units 50 and a connecting member 32 that couples the suspended traveling units 50 to each other.
Each suspension type traveling unit 50 is configured in the same manner as the suspension type traveling device 1 in the first embodiment, and in a state where each suspension type traveling unit 50 is suspended from the corresponding beam-shaped body 28, the corresponding beam-shaped body. It is possible to travel along the road 28.
Also in this embodiment, by controlling each motor 10 of each suspension type traveling unit 50 synchronously, the left and right suspension type traveling units 50 can be caused to travel with their feet aligned.
In the case of the present embodiment, the load 29 can be mounted on the connecting member 32, but the load 29 may be mounted on the frame 2 of each suspension type traveling unit 50 as necessary.

  As mentioned above, although each embodiment was described with reference to drawings, these are illustrations of the present invention, and various configurations other than the above can also be adopted.

  For example, in the above-described first embodiment, the example in which each clamping unit 3 includes the driving roller 8 has been described. However, since at least one clamping unit 3 includes the driving roller 8, the suspension type traveling is performed. The device 1 can travel.

For example, in the first embodiment described above, an example (FIGS. 2 and 8A) in which the wheels 11 provided in each of the four sandwiching portions 3 are arranged in a regular lattice shape in plan view has been described. The present invention is not limited to this example.
For example, as shown in FIG. 8B, the wheels 11 provided in each of the four holding portions 3 may be arranged in a staggered pattern in a plan view.

When the wheels 11 are arranged in a staggered pattern as shown in FIG. 8B, the pair of guide rails 12 provided for the pair of left and right sandwiching portions 3 are displaced from each other in the front-rear direction. Can be arranged. Then, by forming the pinion 15 with a sufficiently large diameter, the pinion 15 can be meshed with the pair of racks 14 provided with respect to the pair of left and right sandwiching portions 3 respectively. Alternatively, three or more odd-numbered pinions 15 are arranged between the pair of racks 14, and the rotational force is sequentially transmitted from one rack 14 to the other rack 14 via the three or more pinions 15. It may be communicated.
Alternatively, when the wheels 11 are arranged in a staggered pattern as shown in FIG. 8B, the pair of left and right guide rails 12 provided for the pair of left and right sandwiching portions 3 You may arrange | position on the straight line which connects the axial support part 6 of the clamping part 3. FIG. In this case, four rollers (two drive rollers 8 and two driven rollers 9) provided in the pair of left and right sandwiching portions 3 are arranged at the apexes of the parallelogram in plan view.

Moreover, although each clamping part 3 demonstrated the example provided with a pair of front and back rollers (for example, the drive roller 8 and the driven roller 9), each clamping part 3 should just be provided with one or more rollers.
Moreover, although the example in which each clamping part 3 was equipped with the wheel 11 was demonstrated, in the some clamping part 3, the clamping part 3 which is not equipped with the wheel 11 may be contained.

  Moreover, although the example in which the clamping part 3 was equipped with one wheel 11 was demonstrated, the clamping part 3 may be spaced apart in the front-back direction and may be provided with two or more wheels 11. For example, when the clamping unit 3 includes one roller, interference between the roller and the wheel 11 can be avoided also by arranging one wheel 11 at each of the front and rear of the roller. On the other hand, the load of the suspended traveling device 1 can be suitably supported by these wheels 11.

This embodiment includes the following technical ideas.
(1) A suspended traveling device that travels along the beam-like body while being suspended from the beam-like body, and includes at least a pair of sandwiching portions that sandwich both side surfaces of the beam-like body; A frame that connects the pair of sandwiching parts to each other; a wheel that is grounded to an upward surface of the beam-like body and supports a load of the suspended traveling device; and a drive source. Each includes a roller that is rotatable about a vertical rotation axis and sandwiches a side surface of the beam-like body, and at least one of the sandwiching portions is rotated and driven by the drive source as the roller. A suspended traveling device provided with a drive roller that applies a propulsive force in the traveling direction, which is the extending direction of.
(2) The holding portion includes a pair of the rollers that are spaced apart from each other in the traveling direction, and a holding portion that rotatably holds the pair of rollers, and the holding portion. Is a suspended traveling device according to (1), which is rotatable with respect to the frame around a vertical rotation axis located between the pair of rollers in the traveling direction.
(3) The suspended traveling device according to (2), wherein one of the pair of rollers included in the clamping unit is the drive roller.
(4) The suspended traveling device according to (3), in which the other of the pair of rollers included in the clamping unit has a tapered diameter that decreases downward.
(5) The suspension type traveling device according to any one of (1) to (4), wherein the holding portion of each clamping portion holds the individual wheels rotatably.
(6) An interval adjusting mechanism for adjusting an opposing interval between the pair of holding portions is provided, and the interval adjusting mechanism slides the pair of holding portions in a width direction orthogonal to the traveling direction in a plan view. The suspended traveling device according to any one of (1) to (5), comprising a pair of guide rails that are movably guided.
(7) The interval adjusting mechanism includes a conversion transmission mechanism that converts a movement of one of the pair of holding portions and transmits the converted movement to the other, and the conversion transmission mechanism is configured so that one of the pair of holding portions is The movement of approaching the other side is converted into the movement of the other approaching one side and transmitted, and the movement of one of the pair of clamping parts away from the other is converted into the movement of the other away from the other. The suspended traveling device according to (6) for transmission.
(8) The suspension type traveling device according to (6) or (7), wherein the gap adjusting mechanism includes a biasing portion that can elastically bias the pair of sandwiching portions in a direction approaching each other.
(9) The urging portion is a telescopic cylinder damper having a cylinder and a piston rod, and the distance adjusting mechanism is connected to the cylinder damper and is retracted in the opposite direction. The suspended traveling device according to (8), further comprising: a swingable lever; and a lever locking portion that can be locked by the lever when the cylinder damper is contracted by the lever.
(10) A total of four sandwiching portions including a pair of the sandwiching portions disposed at the front portion of the frame and a pair of the sandwiching portions disposed at the rear portion of the frame. The suspension type traveling device according to any one of (1) to (9), wherein each of the suspension type traveling devices includes the wheel.
(11) The suspended traveling device according to (10), in which the wheels included in each of the four sandwiching portions are arranged in a regular lattice shape in a plan view.
(12) The suspended traveling device according to (10), in which the wheels included in each of the four clamping portions are arranged in a staggered pattern in a plan view.

DESCRIPTION OF SYMBOLS 1 Suspension type traveling apparatus 2 Frame 3 Clamping part 4 Clamping part base 5 Strut part 6 Shaft support part 7 Holding part 7a Roller holding frame 7b Wheel holding part 8 Driving roller (roller)
8a upper end 8b lower end 9 driven roller (roller)
9a Upper end 9b Lower end 10 Motor (drive source)
10a motor shaft 11 wheel 11a lower end 12 guide rail 13 stopper 14 rack 15 pinion 16 connecting bar 17 guide roller 18 cylinder damper 19 cylinder 20 piston rod 21 lever 22 lever shaft supporting portion 23, 25 damper shaft supporting portion 24 connecting portion 26 lever locking portion 27 Leg portion 28 Beam-like body 28a Side surface 28b Upward surface 28c Blank portion 28d Blank portion 29 Mounted object 30 Vertical stiffener 31 Upper surface structure 32 Connecting member

Claims (12)

A suspended traveling device that travels along the beam in a state suspended from the beam,
At least a pair of sandwiching portions sandwiching both side surfaces of the beam-shaped body;
A frame interconnecting the at least one pair of sandwiching portions;
Wheels that are grounded on the upward surface of the beam-like body and support the load of the suspended traveling device;
A driving source;
With
Each of the clamping parts includes a roller that is rotatable around a vertical rotation axis and clamps a side surface of the beam-like body,
At least one of the sandwiching portions is a suspended traveling device that includes a driving roller that is rotationally driven by the driving source and applies a propulsive force in a traveling direction that is an extending direction of the beam-like body as the roller. The clamping part is
A pair of the rollers disposed apart from each other in the traveling direction; and
A holding part that holds the pair of rollers rotatably;
With
2. The suspended traveling device according to claim 1, wherein the holding portion is rotatable with respect to the frame around a vertical rotation axis positioned between the pair of rollers in the traveling direction.   The suspension type traveling device according to claim 2, wherein one of the pair of rollers provided in the clamping unit is the driving roller.   The suspended traveling device according to claim 3, wherein the other of the pair of rollers included in the sandwiching portion has a diameter reduced in a tapered shape downward.   The suspension type traveling device according to any one of claims 2 to 4, wherein the holding portion of each clamping portion rotatably holds the individual wheels. An interval adjusting mechanism for adjusting the facing interval between the pair of sandwiching portions;
The said space | interval adjustment mechanism is comprised with a pair of guide rail which each guides the said pair of clamping part so that sliding is possible in the width direction orthogonal to the said advancing direction in planar view. The suspended traveling device according to any one of the above. The interval adjusting mechanism is
A conversion transmission mechanism that converts one movement of the pair of clamping parts and transmits the movement to the other;
The conversion transmission mechanism converts and transmits a movement in which one of the pair of clamping parts approaches the other side into a movement in which the other approaches one side, and one of the pair of clamping parts The suspended traveling device according to claim 6, wherein a movement away from the other is converted into a movement away from the other and transmitted.   The suspension type traveling device according to claim 6 or 7, wherein the distance adjusting mechanism includes a biasing portion that can elastically bias the pair of sandwiching portions in a direction approaching each other. The urging portion is a telescopic cylinder damper having a cylinder and a piston rod,
The interval adjusting mechanism is
A lever connected to the cylinder damper and capable of swinging in the direction of contracting the cylinder damper and in the opposite direction;
A lever locking portion that can lock the lever in a state in which the cylinder damper is contracted by the lever;
The suspended traveling device according to claim 8, further comprising: A total of four clamping parts, including a pair of clamping parts arranged at the front part of the frame and a pair of clamping parts arranged at the rear part of the frame;
The suspended type traveling device according to any one of claims 1 to 9, wherein each of the four holding portions includes the wheel.   The suspension type traveling device according to claim 10, wherein the wheels provided in each of the four clamping portions are arranged in a regular lattice shape in a plan view.   The suspended traveling device according to claim 10, wherein the wheels included in each of the four clamping portions are arranged in a staggered pattern in a plan view.

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