JPH0380926B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a device for cleaning and painting (repainting) a steel bridge.

In the current process of cleaning and repainting steel bridges, as shown in Figure 1, suspended scaffolds 2 are installed over the entire span of the bridge 1, and the sides and bottom surfaces of these scaffolds are covered with sheets 3, etc. to protect the entire area. I went to clean it, paint, etc. are being constructed. For this reason, it is necessary to erect and remove scaffolding every time repainting or cleaning is carried out, which requires a lot of labor and money, takes a long time, and is inefficient.In addition, work at heights can lead to human accidents. There are problems that it cannot be completely prevented.

The present invention has been made in view of the above circumstances, and uses a simple yet rational means. Specifically, one end of a second articulated boom capable of 360° horizontal rotation is pivotally supported at the tip of a first articulated boom. , the other end of this second articulated boom is equipped with a keren or painting tool at the tip,
In addition, by installing a robotic device consisting of an arm with a multi-jointed structure that can extend and contract, rotate, and tilt, the problems of conventional technology can be solved, shortening the construction period, greatly saving labor, and improving safety. The aim is to provide a device that can measure

Details of embodiments of the present invention will be described with reference to FIGS. 2-6. Fig. 2 is a front view showing the operating state of the device of the present invention, Fig. 3 is a front view of the robot device section, and Fig. 4 a, b, c, d, e, f, and g show the device of the invention Fig. 5 shows an example of the locus range in which the robot can move in the bridge axis direction and width direction.

2 and 3, A is a steel bridge, 11 is a main girder, and 12 is a movable cart movably installed on the shoulder of the steel bridge A. 13 is the mobile cart 12
The support arm 13 is an extendable support arm rotatably attached to the top, and a vertical boom 15 that is raised and lowered by a pinion, a rack mechanism 14, etc. is attached to the tip of the support arm 13. This vertical boom 1
5 is movable with respect to a rotating part 13a provided at the tip of the support arm 13, and one end of this vertical boom 15, that is, the lower end, is provided with a horizontal movement within a range of approximately 180° by means of a gear mechanism 16, etc. The first rotating
One end of the articulated boom 17 is connected.

A gear mechanism 1 is provided at the other end of the first joint 17.
6 etc., one end of a second articulated boom 19 which can horizontally rotate within a range of 360 degrees is pivotally supported.
A robot device B is provided at the other end of the articulated boom 19.

Robot device B is constructed as follows.
Reference numeral 20 denotes an arm having a cylindrical structure, one end of which can be tilted toward the outer end of the second articulated boom 19, and more specifically, can be stored in the second articulated boom 19. The arm 20 has a telescopic arm 21 having a rod structure. are rotatably connected to each other, and link arms 22 and 23 of a multi-jointed link structure are connected to the outer end of the extendable arm 21 so as to be tiltable and rotatable. At the outer end of this most advanced link arm 23, there is a swinging tool or paint spray gun or spray nozzle 24.
is installed, and the robot device B is constructed as described above.

Reference numeral 25 denotes a cylinder provided on the joints of the first and second articulated booms 17 and 19, more specifically, concentrically with the central axes of the pivots of both articulated booms 17 and 19. A member such as a magnet 26 is provided to be clamped at an arbitrary location on the lower surface of the bridge girder, and this clamping action holds the double-jointed booms 17, 19, that is, corrects deflection, moves them, or absorbs vibrations.

Next, the working steps of the apparatus of the present invention will be explained with reference to FIGS. 4a, b, c, d, e, f, and g. As is clear from this figure, the movable trolley 12 has a trailer structure, and is designed to be jacked up to a road shoulder by means of a telescoping stand protruding from the underside of the loading platform. After the movable trolley is fixed to the shoulder of the steel bridge A as shown in a, the support arm 13 is raised. And as shown in b, this support arm 13
is rotated 90 degrees toward the outside of the steel bridge A, and the tip of the support arm 13 is extended toward the outside of the steel bridge A. Then c
Rotate the rotating part 13a at the tip of the support arm 13 as shown in
Rotates 90°, folding boom (vertical boom, 1st,
After the second articulated boom) is brought into the vertical position, the folding boom is lowered as shown by d. Next, as shown in e, after rotating the first articulated boom 17 with the second articulated boom 19 by 90 degrees to a horizontal state,
As shown in f, move the robot device B to the second articulated boom 19.
After taking it out, as shown in g, the first articulated boom 17 is rotated 90 degrees to intervene under the steel bridge A, and at the same time, the second articulated boom 19 is rotated 180 degrees to move it as shown in Fig. 2. state. Moreover, when storing the folding boom on the movable trolley 12 as shown in FIG. 4a, the above procedure may be performed in reverse.

In addition, in the above embodiment, the first and second articulated booms were explained, but the lateral width (width) of the bridge
Since the number of articulated booms can be arbitrarily designed, it is not limited to the number in the embodiment.

In addition, the movement and positioning control of the robot can be performed manually or fully automatically. In the case of fully automatic, it is controlled by software that directly reads the overall linear coordinate data of the bridge, bridge girder member data, or blueprints and creates command data. This allows the positioning and operation of the articulated boom of the support arm to be controlled freely in accordance with the control of the robot.

Although not particularly shown, the device of the present invention also includes equipment to prevent scattering of rust, dust, etc. during cleaning.
It is a matter of course to provide equipment to prevent mist scattering during painting.

Furthermore, although not particularly shown in the drawings, the apparatus of the present invention includes ancillary work that is difficult to automate, such as visual checks and inspections by workers required before and after automatic work, conventional inspections, and repair work. Walkways, handrails, ramps, etc. will be installed to ensure safety and convenient facilities.

Since the present invention is configured as described above, the first articulated boom can be horizontally rotated, and the second articulated boom is attached to the lower end of the vertical boom that is movably supported on the support arm of the movable trolley installed on the shoulder of the steel bridge. The horizontal turning action of the robot enables the robot installed at the end of the second articulated boom to sweep over a wide area of the steel bridge, as shown in the trajectory diagram in Figure 5, and the problems of the prior art are eliminated. At the same time, it will significantly shorten the construction period for cleaning and repainting work, and greatly save labor.
The practical effects are significant, including economic effects and improved safety.

[Brief explanation of drawings]

Fig. 1 is a front view of a conventional scaffolding structure for repainting work, Fig. 2 is a front view of the device of the present invention in a working state, Fig. 3 is a front view of the robot device in the same device, and Fig. 4a , b, c, d, e, f,
g is a work step diagram of the apparatus of the present invention, and FIG. 5 is a locus diagram showing the sweeping work range of the robot. A...Steel bridge, B...Robot, 12...Moving trolley, 1
3... Support arm, 13a... Rotating part, 15... Vertical boom, 17... First articulated boom, 19... Second articulated boom, 20... Arm, 21... Telescopic arm, 22,
23...Link arm, 24...Spray nozzle.

Claims (1)

[Claims] 1. A support arm that is extendable and rotatable is equipped on a trolley installed on the shoulder of a steel bridge, and the support arm is equipped with a
This support arm rotates outward of the steel bridge, and a vertical boom that can be raised and lowered with respect to the tip of the support arm that extends outward of the steel bridge, and at least a
In a device equipped with a folding boom structure consisting of an articulated boom pivoted to allow 180° horizontal rotation,
At the tip of the above articulated boom (first articulated boom),
One end of the second articulated boom that can horizontally rotate 360 degrees is pivotally supported, and the other end of the second articulated boom is equipped with a keren or painting tool at the tip and is extendable, rotatable, and tiltable. A steel bridge coating and painting device that is characterized by being equipped with a robotic device consisting of an arm with an articulated structure.