JPH02112507A - Moving device - Google Patents

Abstract

PURPOSE:To enable the wide range of movement and to make a moving operation easy by constituting a moving device of at least two foot mechanisms provided with an expansion mechanism, swiveling mechanism, etc., and a coupling mechanism connecting the foot mechanisms so that they are capable of expansion. CONSTITUTION:A moving device is made of foot mechanisms 12a and 12b constituted of an expansion rod, rotary expansion device and chuck device, and a coupling mechanism constituted of fixed members 18a and 18b, a horizontal cylinder 19 and expansion rod 20, and it is so constituted that either of the foot mechanisms 12a and 12b is used as the center to be able to swivel the other completely around. The foot mechanisms 12a and 12b are moved alternately to move the moving device lengthwise of H-sections 11a and 11b, the foot mechanisms 12a and 12b are alternately moved to adjacent H-sections 11a and 11c, and the moving device is moved in the width direction. A link mechanism having at least two or more arms is provided to the coupling mechanism, and such a construction as coping with an obstacle between H-sections may be available.

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a moving device capable of moving itself horizontally or vertically relative to, for example, a steel structure.

``Prior art'' Conventionally, when inspecting or repairing steel structures, it is common practice to move oneself horizontally or vertically along scaffolding wire ropes, steel columns, etc. stretched horizontally or vertically. A moving device that can move a person is known.

The moving device 1 shown in FIG. 6 is a so-called scale-type moving device, and includes two objects 3.4 that have the function of attaching and detaching to a column 2 extending in the vertical direction, and those objects 3.4.
It is composed of a telescopic device 5 that telescopically connects the
As shown in FIGS. 6(a) and 6(b), when the object 3 is detached and the object 4 is fixed, the rod 5a of the telescoping device 5 is moved to the cylinder 5.
Object 3 is raised by stretching it relative to b, and then as shown in Fig. 6 (
As shown in (c) and (d), the moving device itself is raised by retracting the rod 5a of the telescoping device 5 to raise the object 4 from the fixed state of the object 3 and the unfastened state of the object 4.

``Problems to be Solved by the Invention'' However, in the scale-taking type moving device 1 having the above-mentioned conventional configuration, movement is possible only in the direction along the long potato direction of the pillar 2. In other words, the object to be moved ( For example, if the object to be moved (for example, a wire rope) extends in a straight line, the moving device 1 moves in a straight line, and if the object to be moved (for example, a wire rope) is curved, the moving device 1 also moves in a curved direction. There were restrictions on the direction of movement. Therefore, such a moving device is extremely inconvenient to use when performing inspection or repair work over a wide area or when there is an obstacle in front of the moving device.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a moving device that can move in a wide range of directions and is easy to use.

"Means for Solving the Problems" The present invention has a structure including at least two foot mechanisms that can be fixed or detached from each other at arbitrary points, and a connecting mechanism that telescopically connects these foot mechanisms. , each foot mechanism is equipped with an extension mechanism that expands and contracts the foot mechanism itself in the direction of its length, and a rotation mechanism that rotates the other foot mechanism around the axis of one foot mechanism. be. Note that it is desirable that the connecting mechanism constitutes a link mechanism having at least two arms.

"Operation" According to the moving device of the present invention, it is possible to move in a direction of 360 m with one of the two leg mechanisms as the axis center and the stroke of the coupling mechanism as the radius.

``Embodiment'' Figures 1 to 3 show a first embodiment of the present invention, in which a moving device IO according to the present invention is installed in a structure A consisting of an H-shape in which racks are passed horizontally and vertically. It was applied to

The mobile devices 10 are adjacent to each other.
Two leg mechanisms 1 that can be attached and detached from the lb.
2a, 12b, and a connecting mechanism 13 that telescopically connects these leg mechanisms 12a, 12b. As shown in FIG. 3, when the center of either one of the foot mechanisms 12a, 12b is at point X, it is possible to move the coupling mechanism 13 in a 360° direction with the stroke of X as the center and radius R. It is said that

The leg mechanism 12a includes a telescopic rod 14a, and a rotary telescoping mechanism that accommodates the telescopic rod 14a so as to be able to move vertically and rotate the telescopic rod 14a around its own axis using a built-in motor (not shown). The chuck device 1 is composed of a device 15a and a chuck device +6a fixed to the lower end of the rotary extension device 15a to clamp the H steel 11a.
6a is composed of a pair of pincers 17a and 17b whose proximal ends are pin-jointed to each other.

Similarly, the leg mechanism 12b includes a telescoping rod 14b and a telescoping rod 14. b is housed in a vertically movable manner, and there is a rotary telescopic device 15b that can rotate the telescopic rod 14b around its own axis by a built-in motor (not shown), and a rotary telescopic device 15b fixed to the lower end of this rotary telescopic device 15b. Said H steel 11
and a chuck device 16b that clamps b.

The connecting mechanism 13 includes a fixing member 18a fixed to the upper end of the telescopic rod 14a of one leg mechanism 12a, and a horizontal cylinder 1 extending horizontally from the side surface of the fixing member 18a.
9 and the other leg mechanism! 2b, and a telescopic rod 20 that extends horizontally from the side surface of the fixed member 18b and is slidably housed in the horizontal cylinder 19. .

Next, the operation of the moving device 10 configured as above will be explained with reference to FIG. 2.

The foot mechanisms 12a, 12b are respectively located on the upper surface of the I-IJIWIla, 11b with the spacing (.
, 1! In order to move the moving device fixed to b in order along the imaginary line, first, move the chuck device 16 of the foot mechanism 12b.
b is detached from H*llb, the telescopic rod 14a of the foot mechanism 12a is rotated by an angle θ, and the telescopic rod 20 of the connecting mechanism 13 is extended by a predetermined dimension, and the chuck device 16b of the foot mechanism 12b is Fix it to H, l1llb.

Next, the chuck device 1'6b of the foot mechanism 12b is
*In the state in which it is detached from 11b, rotate the telescopic rod 14a of the leg mechanism 12a by an angle θ and connect the connecting mechanism 13.
The retractable rod 20 is extended by a predetermined dimension, and the retractable rod 14a is further extended downward from the position above the adjacent H steel 11c offset downward by δ, thereby fixing the chuck device 16b to the Hlilla.

Next, the chuck device 16a of the foot mechanism 12a is attached to the H steel 11.
The telescopic rod 14 of the leg mechanism 12b is detached from a.
b is rotated by an angle θ3, and the telescopic rod 20 of the connecting mechanism 13 is contracted by a predetermined dimension, thereby fixing the chuck device 16a of the foot mechanism 12a to the H Jailla.

After that, by following each operation procedure as described above, the two leg mechanisms 1
By moving 2a and 12b alternately in the longitudinal direction of 8w411a and llb, the moving device 10 is
, llb can be moved in the longitudinal direction, and 2
The two leg mechanisms 12a and 12b are alternately connected to the adjacent
a, Ilc... by moving the moving device l.
O can be moved in the width direction of Hlllla... Hence the mobile device! 0 can be moved over a wide area of the structure A in the vertical and horizontal directions or diagonally to the target position.

Note that the moving device 10 of the above embodiment includes each leg mechanism 12a,
A robot that can automatically control the fixing and resting operations of each chuck device 16a and 16b, the rotation angle and expansion and contraction dimensions of each telescoping rod 14a and 14b through automatic programming, based on signals from a position sensor provided at the lower end of 12b. It may be a device, or it may be a remote control system that allows various operations to be performed based on instructions from an operator.

Further, the moving device 10 having the above configuration is effective when used for inspection and repair work of the structure A, but is most suitable for the following cases, for example.

■ When used for inspection... By attaching a television camera to the leg mechanisms 12a and 12b of the moving device IO, defects in the structure A, such as deterioration of the paint film, cracks in the welded parts, deformation, etc., can be detected. Observe remotely.

■When applied for repair purposes: A painting robot is attached to the moving device 10, and paint is applied to the deteriorated paint film.

4 and 5 show a second embodiment of the present invention, in which a link mechanism having at least two or more arms (three in this embodiment) is added to the coupling mechanism 13 shown in the first embodiment. It is what I was given.

As shown in the figure, the connection mechanism 13 includes fixing members 18a, 18b at both ends, and arms 21a, 21b, 21c.
and arms 21a, 21b and arms 21b, 2I
Connecting pins 22a and 22b connecting between the arms 2
A drive motor 23a that rotates the arms 1a, 21b and the arms 21b, 21c relative to each other.

23b.

As shown in FIG. 5, when moving the moving device from the position indicated by the solid line to the position indicated by the imaginary line while avoiding the obstacle 24, first, the chuck device 16b JI! of the leg mechanism 12b is moved.
: With the H steel 11b detached, the telescopic rod 14a of the foot mechanism 12a is rotated by an angle θ4, and the drive motor 23
After relatively rotating the arms 21a and 21b by an angle θ using the drive motor 23b and relatively rotating the arms 21b and 21c by an angle θ using the drive motor 23b, the chuck device 16b of the leg machine +112b is fixed to It is done by letting.

According to this embodiment, by providing the coupling mechanism 13 with a link mechanism, it is possible to provide an expansion and contraction mechanism similar to the embodiment described above, and at the same time, even if there is an obstacle in the amount of H steel, this can be prevented. The moving device can be reliably moved to the target position while avoiding the problem.

"Effects of the Invention" As explained in detail above, according to this invention, there are at least two foot mechanisms that can be fixed or rested at arbitrary points, and a connecting mechanism that telescopically connects these foot mechanisms. Each foot mechanism is equipped with an expansion mechanism that expands and contracts the foot mechanism itself in its longitudinal direction, and a rotation mechanism that rotates the other foot mechanism around the axis of one foot mechanism. Because of this configuration, it is possible to move itself in a 360° direction with one foot mechanism as the axis center and the stroke of the coupling mechanism as the radius with respect to the horizontal or vertical direction. Therefore, it can be moved over a wide range for inspection work, repair work, etc., and the moving operation is easy, so it has excellent effects such as ease of use.

[Brief explanation of the drawing]

1 to 3 show a first embodiment of the present invention, in which FIG. 1 is a side view showing the state in which the moving device is attached to I(H), FIG. 2 is a plan view thereof, and FIG. shows the moving range of the moving device [1] A plan view of the steel, FIGS.
5 is a plan view thereof, and FIG. 6 shows a conventional example of the present invention, which is an explanatory view of the operation of the moving device. IO...Movement device, 12a, 12b... Leg mechanism, 13... Connection mechanism, 15a, 15b... Rotation and extension device, b, 2. ··arm.

Claims (2)

[Claims] (1) It has at least two foot mechanisms that can be fixed or detached from each other at any point, and a connecting mechanism that telescopically connects these foot mechanisms, and each foot mechanism has its own longitudinal axis. 1. A moving device comprising: an extensible mechanism that expands and contracts in the direction; and a rotating mechanism that rotates one leg mechanism about the axis of the other leg mechanism. (2) Claim 1, wherein the connecting mechanism constitutes a link mechanism having at least two arms.
Mobile device as described.