JPH0412323B2 - - Google Patents

Description

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

[Background of the invention]

When cleaning and repainting current steel bridges, suspended scaffolding is installed across the entire span of the bridge.
The sides and bottom surfaces of these scaffolds are covered with sheets, etc., and then cleaned and repainted.

[Conventional technology]

For this reason, it is necessary to erect and remove scaffolding every time repainting or cleaning is performed, which requires a lot of labor and money, takes a long time, and is extremely inefficient. There were problems such as the inability to completely prevent human-related disasters.

In addition, in order to solve such problems, a support arm 1 that is extendable and rotatable is installed on a traveling bogie 18 installed on the shoulder of a steel bridge, as shown in FIG.
9, and the support arm 19 is provided with a vertical rod 21 that rotates outward of the steel bridge and is movable up and down with respect to the tip extending outward of the steel bridge. at the bottom of at least
A device has been developed in which a robot device with a coating tool is attached to an articulated beam (not shown) that is pivoted to allow 180° horizontal rotation. This device has the advantage of being able to clean and paint over a wide area in a fixed position by rotating the horizontally articulated beam, but it also has the advantage of being able to perform cleaning and painting work over a wide area in a fixed position. This has the problem of obstructing traffic, and as maintenance and inspection progress, the support arm comes into contact with lamp posts, sign posts, etc. planted in the ground, blocking the progress of the equipment. , each time, the above-mentioned device must be collected onto the traveling trolley 18, the traveling trolley 18 must be moved to a position that avoids the lamp post or sign post, and the device must be installed again, which is complicated. There are some problems that could lead to the delay.

[Purpose of the invention]

The present invention was made in view of the above circumstances, and provides a simple yet rational means, specifically, a plurality of slides that are slidable along the outer edge of the lower flange of the main girder that constitutes a steel bridge. A maintenance and inspection device consisting of a frame body and an extensible mechanism such as a fluid cylinder for the ends of adjacent horizontal beams constituting this sliding frame body solves the problems of the conventional technology, and allows vehicles, etc., to travel on the top surface of the floor slab. The object of the present invention is to provide a device that can improve the efficiency of maintenance and inspection by blocking traffic by blocking the lamp posts and allowing the vehicle to proceed independently of lamp posts, sign posts, etc.

〔Example〕

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

Figure 1 is a partially cutaway front view of the working state, Figure 2 is a side view of the same as above, Figure 3 is a front view of the mechanism that restrains the vertical hanging member to the lower flange, Figures 4 and 5 are slides respectively. FIG. 6 is a front view showing the assembled state of the frame, and FIG. 6 is a front view of the robot device.

A is a steel bridge, and the steel bridge A is composed of a paved deck 1, a ground cover 1a, a railing 2, a main girder 3, and the like. Reference numeral 4 denotes a vertical hanging member that can be expanded and contracted by a fluid cylinder mechanism, a binion rack mechanism, etc., and the upper end of the vertical hanging member 4 is engaged with the outer edge of the lower flange 3a of the main girder 3, and has a rolling member. A rolling wheel 5 is provided. As is clear from the figure, the vertical hanging members 4 are suspended from the lower flanges 3a of the left and right main girders 3.

Reference numeral 6 denotes a horizontal beam that bridges the lower ends of the vertical hanging members 4 suspended so as to face each other, and is extendable or foldable. The horizontal beam 6 is installed so that it can be moved in and out horizontally as shown by the arrow in Figure 1.
is obsessed with.

Reference numeral 8 denotes a restraining plate attached to the inner surface of each of the vertical hanging members 4 and raised and lowered by a fluid cylinder 9. The restraining plate 8 is pressed against the lower surface of the lower flange 3a and The structure is such that the lower flange 3a is clamped together with the rolling wheels 5 due to the downward bias, and the vertical hanging member 4 can be fixed to the lower flange 3a.With the above structure, the slide frame Body B is formed.

As shown in FIG. 2, three slide frames B are provided, and each adjacent horizontal beam 6 constituting the slide frame B is connected by a fluid cylinder 10, and each slide frame body B
are arranged close to each other as shown in FIG. 4 or 5. In the figure, reference numeral 11 denotes a cover stretched across the entire surface between each of the horizontal beams 6.

In addition, on the upper surface of the central horizontal beam 6,
A painting robot device C is movably mounted. To explain the configuration of the robot device C with reference to FIG. 6, reference numeral 12 denotes a cylindrical arm having one end fixedly or tiltably attached to a base plate 13 running on the horizontal beam 6.
A telescopic arm 14 having a rod structure is rotatably connected. Moreover, at the outer end of this telescoping arm 14,
Link arm 1 with a link structure consisting of a multi-joint structure
5 and 16 are connected so as to be tiltable and rotatable, and a swinging tool, a paint spray gun, a spray nozzle 17, etc. is attached to the tip of the most advanced link arm 16. The robot device C is constructed as described above.

Furthermore, the movement and positioning control of this robot device C can be performed manually or fully automatically, and in the case of fully automatic, it is possible to control the movement and positioning of the robot device C by directly reading commands from the overall linear coordinate data of the steel bridge, bridge girder member data, or design drawings. Positioning is controlled by software that creates data.

Next, a description will be given of the above-mentioned device of the present invention, specifically, the device for transporting and setting the three slide frames B connected to each other to the starting point of work on the steel bridge A, and for collecting and transporting the device at the end of the work.

As described above, the device of the present invention includes a pinion,
Vertical rod 2 that is raised and lowered by a rack mechanism 20, etc.
1, and a rotating part 23 that is rotated by a gear mechanism 22 or the like is provided at the lower end of this vertical rod 21, and this rotating part 23 is attached to the central slide frame B.
It is designed so that it can be detachably attached to one end of the horizontal beam 6. Further, the upper part of the vertical rod 21 is movable relative to a rotating portion 19a formed at the tip of the support arm 19.

Next, to explain the operation of the device of the present invention for installing and recovering the steel bridge A, the vertical hanging members 4 of each slide frame B are reduced, and most of them are transferred to the horizontal beam 6. It is stored and miniaturized, and each horizontal beam 6 is further reduced. Then, connect one end of the central horizontal beam 6 to the vertical rod 2.
The one connected to the rotating part 23 of 1 is the traveling trolley 18
and transported to the site. Then, extend the support arm 19 upward and rotate it outward by about 90 degrees to position the beams on the outside of the steel bridge A, and rotate the rotating part 19a of the support arm 19 to vertically The rod 21 is placed in a vertical position, and this vertical rod 2
Lower 1.

Next, the rotating part 23 is rotated by the gear mechanism 22 provided at the lower end of the vertical rod 21, and the horizontal beam 6 is rotated.
to intervene below the steel bridge A. At this time, the vertical hanging member 4 is extended upward so that each wheel 5 is slightly above the upper surface of the lower flange 3a. Also, the vertical hanging members 4 on the side farther from the vertical rods 21 are positioned outward from the main girder 3 by the action of the cylinder mechanism 7, and when the horizontal beam 6 is set as shown in FIG. The action returns the vertical hanging members 4 to the position shown in the figure, and then both vertical hanging members 4 are lowered, and the upper end wheels 5 of each vertical hanging member 4 are placed on the upper surface of the outer edge of the lower flange 3a.

Next, the fluid cylinders 10 are operated to fully open each slide frame B as shown in FIG. is lowered to press the rolling wheels 5 against the upper surface of the lower flange 3a to fix each vertical hanging member 4 to the lower flange 3a.
The vertical rod 21, support arm 19, etc. are connected to the traveling bogie 1 in the opposite manner to the above.
8, and the traveling trolley 18, which has no longer any use, leaves the site.

When the device of the present invention is to be removed, the traveling trolley 18 is installed at the site, the rotating part 23 of the vertical rod 21 is connected to one end of the horizontal beam 6, and the entire device is supported. The device is recovered onto the traveling trolley 18 and carried out by the reverse action.

In the above embodiment, the device of the present invention is carried in and out by a traveling trolley, but it can also be set on a steel bridge as a permanent facility. In this case, the horizontal beam 6 does not need to have a telescopic structure. Although not particularly shown in the drawings, the device of the present invention is equipped with walkways, ramps, etc. that are safe and convenient to install for visual checks by workers before and after automated work. It is something.

[Effect]

Next, the operation of the present invention will be explained with reference to FIG.
In FIG. 2, it is assumed that a robot device C is mounted on a slide frame B in the center. And for example,
When performing work with this slide frame B facing leftward in the paper, release the restraints on the lower flanges of the center slide frame B and the right-most slide frame B, and move only the left-most slide frame B to the lower part. The left fluid cylinder 10 is restrained by the flange 3a.
Perform maintenance and inspection while retracting the center and right slide frames B while moving them to the left.

At this time, as shown in FIG. 2, if there is a joint part 3b of the main girder 3, the vertical hanging member 4 in the center is extended upward so as to go beyond the splicing plate. When the center slide frame B moves until it comes into contact with the left end slide frame B, the center and right slide frames B are restrained by the lower flange 3a, and the left slide frame B is restrained by the lower flange 3a. Lower flange 3a
After releasing the restraint from the lower flange 3a and extending the left fluid cylinder 10 to open the gap between the center and left slide frames B, the center and right slide frames B are released from the lower flange 3a, and the left fluid cylinder 10 is extended. The slide frame B is restrained by the lower flange 3a, and the device is sequentially advanced to the left as described above. If you want to move to the right, you can do it in the reverse order.

In the above embodiment, three slide frames B are connected by a fluid cylinder 10, and the central slide frame B
The robot device C was mounted on the robot device C, but this was done in consideration of weight balance and stability during movement. Therefore, the number of slide frames B is not limited to that of the embodiment, since it is possible to implement the present invention using two slide frames B.

〔effect〕

As described above, according to the present invention, maintenance and inspection work can be carried out using the outer edge of the lower flange of the main girder of a steel bridge, and a plurality of slide frames that slide along the lower flange like inchworms, and a robot device. It has the characteristics of being quick and reliable.

In addition, the equipment can be advanced completely without regard to lamp posts or signposts on the ground, and the work can proceed without regard to the joints of the main girder, so there is no need to remove or reinstall the equipment as with conventional technology. The work of installing and dodging these obstacles is completely omitted, and the efficiency of maintenance and inspection work is significantly improved.Furthermore, since there is no need to permanently install a running trolley on the floor slab, it does not obstruct traffic. It has excellent features such as being able to perform continuous cleaning, painting, and inspection work.

[Brief explanation of drawings]

Figure 1 is a partially cutaway front view, Figure 2 is a side view of the same as above, Figure 3 is a front view of the restraint mechanism for the lower flange, and Figures 4 and 5 show the slide frame assembled. The side view and FIG. 6 are front views of the robotic device. 4...Vertical hanging member, 5...Rolling wheel, 6...Horizontal beam, 8...Restriction plate, 9...Cylinder, 10...
Fluid cylinder, B...slide frame, C... robot device.

Claims (1)

[Scope of Claims] 1. The outer edges of the lower flanges of the left and right main girders constituting the steel bridge are provided with rollers at the upper ends that roll on the upper surfaces of the outer edges of the lower flanges, and are capable of being restrained with respect to the lower flanges. A plurality of pairs of extensible vertical hanging members facing each other are suspended, and a horizontal beam is bridged between the lower parts of the vertical hanging members facing each other to form a plurality of sets of sliding frames. 1. A bridge automatic painting suspension system, characterized in that adjacent horizontal beams are connected by an expansion and contraction mechanism such as a fluid cylinder, and a robot device is movably mounted on any of the horizontal beams. 2. The bridge automatic painting suspension system according to claim 1, characterized in that there are three sets of slide frames. 3. The bridge automatic painting suspension system according to claims 1 and 2, characterized in that a robot device is mounted on the central slide frame.