Bridge inspection device

Abstract

To provide bridge inspection equipment and the like that can expand the range of inspection. [Solution] According to one aspect of the present invention, a bridge inspection device comprising: a main body configured to be installed on a bridge; an arm portion that can be transformed between a folded state and an unfolded state; and an inspection sensor attached to the arm portion, wherein the arm portion comprises: a main arm connected to the main body and having a posture that extends horizontally from the connection portion with the main body in the unfolded state; and a telescopic arm connected to the main arm and having a posture that extends downward from the connection portion with the main arm in the unfolded state, and that is extendable and retractable in the vertical direction, wherein the main arm comprises: a holding portion that holds the telescopic arm; a body portion connected so that the holding portion can swing about a swing axis parallel to the horizontal direction; a lock state that restricts the swing of the holding portion relative to the body portion; and the holding portion relative to the body portion A bridge inspection device is provided, comprising: a locking mechanism that is displaceable to an unlocked state that allows for swinging; a group of shafts including a first shaft and a second shaft, which are held by a first member of one of the holding part and the body part and are movable in directions parallel to the swing axis, and a drive source configured to move the group of shafts; the other second member of the holding part and the body part has a plurality of receiving parts into which the first shaft or the second shaft can be inserted; and the locking mechanism is configured to be displaced to a locked state when the first shaft and the second shaft move in opposite directions to each other and are inserted into the plurality of receiving parts, and to be displaced to an unlocked state when the first shaft and the second shaft move in opposite directions to each other and move away from the plurality of receiving parts.

Description

Technical Field

[0001] The present invention relates to a bridge inspection device.

Background Art

[0002] Patent Document 1 discloses a bridge inspection device capable of inspecting the lower surface portion of a bridge by an arm extended from an inspection vehicle installed on the bridge.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described bridge inspection device, the inspection range is limited due to restrictions on the weight, moment, etc. of the arm.

[0005] In view of the above circumstances, the present invention aims to provide a bridge inspection device or the like capable of expanding the inspection range.

Means for Solving the Problems

[0006] According to one aspect of the present invention, a bridge inspection device comprises a main body configured to be installed on a bridge, an arm portion that can be transformed between a folded state and an unfolded state, and an inspection sensor attached to the arm portion, wherein the arm portion has a main arm connected to the main body and having a posture that extends horizontally from the connection portion with the main body in the unfolded state, and a telescopic arm connected to the main arm and having a posture that extends downward from the connection portion with the main arm in the unfolded state and is extendable and retractable in the vertical direction, wherein the main arm has a holding portion that holds the telescopic arm, a body portion connected so that the holding portion can swing about a swing axis parallel to the horizontal direction, a locked state that restricts the swing of the holding portion relative to the body portion, and the swing of the holding portion relative to the body portion A bridge inspection device is provided, having a locking mechanism that is displaceable to an unlocked state that allows movement, the locking mechanism having a group of shafts including a first shaft and a second shaft that are held by a first member of one of the holding part and the body part and are movable in directions parallel to the pivot axis, and a drive source configured to move the group of shafts, the other second member of the holding part and the body part having a plurality of receiving parts into which the first shaft or the second shaft can be inserted, and the locking mechanism is configured to be displaced to a locked state when the first shaft and the second shaft move in opposite directions to each other and are inserted into the plurality of receiving parts, and to be displaced to an unlocked state when the first shaft and the second shaft move in opposite directions to each other and move away from the plurality of receiving parts.

[0007] With this configuration, the posture-holding strength of the arm is increased, thus extending the range that can be inspected by the arm. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic perspective view showing the transport position of the bridge inspection device 1 according to the embodiment. [Figure 2] Figure 1 is a schematic perspective view showing the inspection posture of the bridge inspection device 1. [Figure 3] This is a schematic diagram showing an example of the usage status of bridge inspection device 1. [Figure 4]This is a schematic side view of the main arm 31. [Figure 5] This is a schematic perspective view of the locking mechanism 315. [Figure 6] This is a schematic cross-sectional view showing the locked and unlocked states of the locking mechanism 315. [Figure 7] This is a schematic perspective view showing the configuration of the wires in arm section 3. [Figure 8] This is a schematic side view showing the configuration of the first wire mechanism. [Figure 9] This is a schematic diagram showing the configuration of the tension adjustment mechanism 36E. [Figure 10] This is a schematic diagram illustrating the oscillation mechanism of the second telescopic arm 33 by the second wire 37A. [Figure 11] This is a schematic diagram showing the configuration of the third wire mechanism. [Figure 12] This is a schematic perspective view showing the deployment procedure of the arm section 3 in the bridge inspection device 1. [Figure 13] This is a schematic perspective view showing the deployment procedure of the arm section 3 in the bridge inspection device 1. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described below with reference to the drawings. The various features shown in the embodiments below can be combined with each other.

[0010] <Bridge Inspection Device 1> Figure 1 is a schematic perspective view showing the transport position of the bridge inspection device 1 according to the embodiment. Figure 2 is a schematic perspective view showing the inspection position of the bridge inspection device 1 of Figure 1. Figure 3 is a schematic diagram showing an example of the bridge inspection device 1 in use.

[0011] As shown in Figure 3, the bridge inspection device 1 is used to inspect the underside, sides, etc., of bridge B. The bridge inspection device 1 also comprises a main body 2, an arm section 3, and an inspection sensor 4.

[0012] <Main body 2> The main body 2 is configured to be installed on the bridge B. The main body 2 includes a traveling device (such as a caterpillar, wheels, etc.) capable of traveling on the bridge B, a control device configured to control displacements, operations, etc. of the arm portion 3, the inspection sensor 4, etc., and a power device configured to supply power to these devices such as the traveling device, the control device, the arm portion 3, the inspection sensor 4, etc. The power device may be a battery or a device that distributes power supplied from an external power source to each device.

[0013] <Arm portion 3> The arm portion 3 is deformable between a folded state and a deployed state. The "folded state" is a state in which each part of the arm portion 3 is folded or contracted, and the arm portion 3 is disposed above the main body 2, as shown in FIG. 1. Also, the folded state is a state in which the lengths of the arm portion 3 in the vertical and horizontal directions are minimized. The transport state of the bridge inspection device 1 shown in FIG. 1 is a state in which the arm portion 3 is in the folded state, and the bridge inspection device 1 can be safely transported to any location.

[0014] The "deployed state" is a state in which each part of the arm portion 3 is deployed or extended, and the arm portion 3 spreads in the horizontal and vertical directions, as shown in FIGS. 2 and 3. Also, the deployed state is a state in which the inspection sensor 4 attached to the arm portion 3 is close to the inspection target. The use state of the bridge inspection device 1 shown in FIGS. 2 and 3 is a state in which the arm portion 3 is in the deployed state, and the bridge B can be inspected by the inspection sensor 4.

[0015] In both the folded state and the deployed state, the arm portion 3 is supported in a cantilever manner by the main body 2. That is, the arm portion 3 is connected and supported to the main body 2 only at one end (the main body connection portion 311B of the base portion 311) of the main arm 31 described later.

[0016] As shown in FIGS. 2 and 3, the arm portion 3 includes a main arm 31, a first telescopic arm 32, a second telescopic arm 33, and a third telescopic arm 34.

[0017] <Main Arm 31> The main arm 31 is the part of the arm section 3 that is connected to the main body 2. Figure 4 is a schematic side view of the main arm 31. Figure 4A shows the state of the main arm 31 when the arm section 3 is folded. Figure 4B shows the state of the main arm 31 when the arm section 3 is extended.

[0018] As shown in Figure 3, the main arm 31 has a posture in which it extends horizontally from the connection point with the main body 2 when the arm portion 3 is deployed (i.e., its longitudinal direction is aligned with the horizontal direction). As shown in Figure 4B, the main arm 31 has a base portion 311, a first body portion 312, a second body portion 313, and a holding portion 314.

[0019] <Base section 311> The base portion 311 is connected to the upper part of the main body 2. As shown in Figure 4B, the base portion 311 has a base frame 311A, a main body connecting portion 311B, and a first joint portion 311C.

[0020] The base frame 311A ​​is a frame that holds the first fuselage section 312, etc. The main body connecting section 311B is fixed to the lower end of the base frame 311A. The main body connecting section 311B is connected to the main body 2 so as to be rotatable around a rotation axis parallel to the vertical direction. The first joint section 311C is fixed to the upper part of the base frame 311A. The first fuselage section 312 is connected to the first joint section 311C so as to be able to swing around a pivot axis parallel to the horizontal direction with respect to the base section 311.

[0021] <1st body part 312> The first fuselage section 312 is pivotably connected to the base section 311 as described above. As shown in Figure 4B, the first fuselage section 312 has a first fuselage frame 312A and a second joint section 312B.

[0022] The first fuselage frame 312A is a frame that holds the second fuselage section 313 and the like. The first longitudinal end (one end) of the first fuselage frame 312A is fixed to the first joint section 311C of the base section 311. The second joint section 312B is fixed to the second longitudinal end (the end opposite to the first end) of the first fuselage frame 312A. The second fuselage section 313 is connected to the second joint section 312B so that it can pivot around a pivot axis parallel to the horizontal direction relative to the first fuselage section 312.

[0023] <Second body part 313> As described above, the second fuselage section 313 is pivotably connected to the first fuselage section 312. As shown in Figure 4B, the second fuselage section 313 has a second fuselage frame 313A.

[0024] The second fuselage frame 313A is a frame that holds the retaining part 314, etc. The first longitudinal end (one end) of the second fuselage frame 313A is fixed to the second joint part 312B of the first fuselage part 312. The second longitudinal end (the end opposite to the first end) of the second fuselage frame 313A is fixed to the third joint part 314B of the retaining part 314, which will be described later.

[0025] In the folded state of the arm section 3 shown in Figure 4A, the second fuselage section 313 is positioned to overlap the first fuselage section 312 from above. On the other hand, in the deployed state of the arm section 3 shown in Figure 4B, the rotation of the second joint section 312B causes the second fuselage section 313 to extend further horizontally from the end of the first fuselage section 312 (so that the first fuselage section 312 and the second fuselage section 313 form a single arm that extends continuously horizontally).

[0026] <Holding part 314> The holding part 314 is connected to the second body part 313 so as to be able to swing about a pivot axis parallel to the horizontal direction. The holding part 314 also holds the first telescopic arm 32. As shown in Figure 4B, the holding part 314 has a holding frame 314A, a third joint part 314B, an arm connecting part 314C, and a plurality of receiving parts 314D.

[0027] The holding frame 314A is a frame that holds the first telescopic arm 32, etc. The third joint 314B is fixed to the central part of the holding frame 314A. The second torso 313 is connected to the third joint 314B so that the holding part 314 can swing around a pivot axis parallel to the horizontal direction relative to the second torso 313. The arm connecting part 314C is fixed to the end of the holding frame 314A (the lower end in the deployed state). The first telescopic arm 32 is connected to the arm connecting part 314C so that the first telescopic arm 32 can rotate around the holding part 314.

[0028] In the folded state of the arm section 3 shown in Figure 1, the holding section 314 is positioned so that the first telescopic arm 32 it holds overlaps the main arm 31 (first torso section 312 and second torso section 313) from above. On the other hand, in the unfolded state of the arm section 3 shown in Figure 2, the rotation of the third joint section 314B causes the holding section 314 to be positioned so that the longitudinal direction of the first telescopic arm 32 it holds is vertical.

[0029] The receiving portion 314D shown in Figure 4B is provided in the region of the retaining frame 314A that overlaps horizontally with the second torso portion 313 when deployed. The receiving portion 314D is a through hole into which the first shaft 315A or the second shaft 315B of the locking mechanism 315, which will be described later, can be inserted when the arm portion 3 is deployed.

[0030] The multiple receiving portions 314D are arranged on each of the two horizontally opposing walls of the holding frame 314A so as to be aligned horizontally (in the extension direction of the main arm 31) when viewed from a direction parallel to the pivot axis of the holding portion 314 (the axial direction of the shaft group) when the arm portion 3 is deployed.

[0031] Furthermore, the receiving portion 314D is not limited to a through hole, as long as it is shaped to allow insertion of the first shaft 315A or the second shaft 315B, but may also be a recess provided on the inner surface of the retaining frame 314A (the surface facing the locking mechanism 315). In addition, the receiving portion 314D may be a single opening (slit) into which multiple first shafts 315A or multiple second shafts 315B can be inserted simultaneously.

[0032] <Locking mechanism 315> The main arm 31 further includes a locking mechanism 315, as shown in Figure 5. Figure 5 is a schematic perspective view of the locking mechanism 315. As shown in Figure 2, the locking mechanism 315 is located inside the second fuselage section 313. Specifically, the locking mechanism 315 is housed in the portion of the second fuselage frame 313A shown in Figure 4B that horizontally overlaps with the retaining frame 314A of the retaining section 314.

[0033] The locking mechanism 315 is displaceable between a locked state that restricts the swinging of the holding part 314 relative to the second body part 313 and an unlocked state that allows the swinging of the holding part 314 relative to the second body part 313. In the "locked state," the relative swinging of the first telescopic arm 32 relative to the main arm 31 and the main body 2 is locked. In the "unlocked state," the relative swinging of the first telescopic arm 32 relative to the main arm 31 and the main body 2 is permitted.

[0034] As shown in Figures 5A and 5B, the locking mechanism 315 includes a group of shafts including a plurality of first shafts 315A and a plurality of second shafts 315B, a first movable base 315C, a second movable base 315D, a first bearing 315E, a second bearing 315F, a transmission member 315G, a drive source 315H, a plurality of first guides 315I, a plurality of second guides 315J, a third guide 315K, a shaft support member 315L, and a mounting bracket 315M. Figure 5A is a perspective view of the locking mechanism 315 viewed from above in the deployed state of the arm portion 3 shown in Figure 2, and Figure 5B is a perspective view of a part of the configuration of the locking mechanism 315 in Figure 5A viewed from below.

[0035] <Shaft Group> Multiple first shafts 315A and multiple second shafts 315B are held in the second fuselage section 313 via shaft support members 315L, etc., which will be described later. The first shafts 315A and the second shafts 315B are each movable in a direction parallel to the pivot axis of the holding section 314. Specifically, the central axes of each shaft group (first shafts 315A and second shafts 315B) are parallel to the horizontal direction, and their directions of movement are also parallel to the horizontal direction.

[0036] The shapes of the first shaft 315A and the second shaft 315B are the same. That is, the diameter and length of the second shaft 315B are the same as the diameter and length of the first shaft 315A. In Figure 5A, the shaft group is cylindrical, but the shaft group may also be prismatic. Furthermore, the first shaft 315A and the second shaft 315B are positioned so that they overlap (their axes coincide) when viewed from their direction of movement (axial direction).

[0037] The shaft group has multiple first shafts 315A and multiple second shafts 315B, respectively, which are arranged so as to be aligned horizontally (in the extension direction of the main arm 31) when viewed from a direction parallel to the pivot axis of the holding part 314 (the axial direction of the shaft group) when the arm part 3 is deployed. This increases the rigidity (attitude holding strength) of the connection between the second body part 313 and the holding part 314 when the lock state is reached (when the shaft group is inserted into the multiple receiving parts 314D). The direction in which the multiple first shafts 315A and the multiple second shafts 315B are aligned intersects (specifically, perpendicular to) their direction of movement.

[0038] In Figure 5A, the multiple first shafts 315A and multiple second shafts 315B are all the same shape. However, as long as the shapes of the paired first shafts 315A and second shafts 315B are the same, it is not necessary for all first shafts 315A and second shafts 315B to be the same shape. Also, in Figure 5A, there are three first shafts 315A and three second shafts 315B, but the number of these shafts is not limited to three. Furthermore, in Figure 5A, the multiple first shafts 315A and multiple second shafts 315B are arranged at equal intervals, but it is not necessary for them to be arranged at equal intervals. However, arranging multiple shafts at equal intervals enhances the stability of the locked state of the locking mechanism 315.

[0039] The locking mechanism 315 is configured to be displaced to a locked state when the multiple first shafts 315A and multiple second shafts 315B move in opposite directions to be inserted into the multiple receiving portions 314D, and to be displaced to an unlocked state when the multiple first shafts 315A and multiple second shafts 315B move in opposite directions to be separated from the multiple receiving portions 314D.

[0040] Figure 6 is a schematic cross-sectional view showing the locked and unlocked states of the locking mechanism 315. In the locked state shown in Figure 6A, the multiple first shafts 315A and the multiple second shafts 315B move away from each other, so that the multiple first shafts 315A are inserted into the multiple receiving portions 314D provided on one side wall of the holding portion 314 (the upper side wall in the figure), and the multiple second shafts 315B are inserted into the multiple receiving portions 314D provided on the other side wall of the holding portion 314 (the lower side wall in the figure). This restricts the relative movement (oscillation) between the second body portion 313 and the holding portion 314.

[0041] In the unlocked state shown in Figure 6B, the multiple first shafts 315A and the multiple second shafts 315B move closer to each other, causing the multiple first shafts 315A and the multiple second shafts 315B to move away from the multiple receiving portions 314D of the holding portion 314. This allows relative movement (oscillation) between the second body portion 313 and the holding portion 314.

[0042] As shown in Figure 4A, when the arm portion 3 is not in the deployed state (folded state, or an intermediate state between the deployed and folded state), the receiving portion 314D is located in a position that does not overlap with the first shaft 315A and the second shaft 315B (a position in which these shafts cannot be inserted), depending on the posture of the holding portion 314. On the other hand, as shown in Figure 4B, when the arm portion 3 is in the deployed state, the receiving portion 314D is located in a position that overlaps with the first shaft 315A and the second shaft 315B.

[0043] <First mobile base 315C and second mobile base 315D> The first movable base 315C shown in Figure 5A holds multiple first shafts 315A. When the first movable base 315C moves in the axial direction of the first shafts 315A, the multiple first shafts 315A move simultaneously.

[0044] The second movable base 315D holds multiple second shafts 315B. When the second movable base 315D moves in the axial direction of the second shafts 315B, the multiple second shafts 315B move simultaneously.

[0045] The first movable base 315C and the second movable base 315D are held so as to be movable only in the direction of movement of the shaft group. Specifically, the first movable base 315C and the second movable base 315D are restricted from moving in the longitudinal direction of the main arm 31 by the first guide 315I or the second guide 315J, which will be described later.

[0046] <First bearing 315E and second bearing 315F> The first bearing 315E is attached to the first moving base 315C. The first bearing 315E has a rotation axis parallel to the vertical direction (perpendicular to the direction of movement of the shaft group) when the arm portion 3 is extended.

[0047] The second bearing 315F is attached to the second moving base 315D. Similar to the first bearing 315E, the second bearing 315F has a rotation axis parallel to the vertical direction (perpendicular to the direction of movement of the shaft group) when the arm portion 3 is extended.

[0048] The first bearing 315E and the second bearing 315F are respectively inserted into the guide holes of the transmission member 315G.

[0049] <Transmission member 315G> The transmission member 315G is connected to the shaft group via the first movable base 315C, the second movable base 315D, the first bearing 315E, and the second bearing 315F. The transmission member 315G is also connected to the drive source 315H and is configured to be movable along the longitudinal direction of the main arm 31.

[0050] The transmission member 315G transmits the driving force of the drive source 315H to the shaft group by moving linearly in response to the driving force of the drive source 315H. Specifically, the transmission member 315G is configured to convert the longitudinal motion of the main arm 31 into motion in the width direction (the direction of movement of the shaft group) of the main arm 31.

[0051] Specifically, the transmission member 315G has two guide holes into which the first bearing 315E and the second bearing 315F are inserted, respectively. The guide holes are configured to guide the first bearing 315E and the second bearing 315F in the direction of movement of the shaft group as the transmission member 315G moves. The first bearing 315E and the second bearing 315F move relative to each other inside the guide holes as the transmission member 315G moves. Each of the two guide holes has a shape that faces inward in the width direction of the second fuselage portion 313 (approaching the central axis of the second fuselage portion 313) along the direction in which the transmission member 315G moves to displace the locking mechanism 315 from the unlocked state to the locked state (hereinafter referred to as the "locking direction"). In other words, the two guide holes have a shape in which the distance between them decreases along the locking direction.

[0052] The transmission member 315G is configured to insert the first shaft 315A and the second shaft 315B into the plurality of receiving portions 314D by a first movement in a locking direction perpendicular to the direction in which the first shaft 315A and the second shaft 315B move, and to separate the first shaft 315A and the second shaft 315B from the plurality of receiving portions 314D by a second movement in the opposite direction to the first movement (hereinafter referred to as the "release direction"). This allows for rapid transitions of the locking mechanism 315 from the unlocked state to the locked state, and from the locked state to the unlocked state, using linear motion.

[0053] As shown in Figure 6A, when the transmission member 315G moves in the locking direction (to the right in the figure), the guide holes simultaneously guide the first bearing 315E and the second bearing 315F toward the outside of the second body portion 313. As a result, the multiple first shafts 315A move toward the multiple receiving portions 314D together with the first moving base 315C, while the multiple second shafts 315B move toward the multiple receiving portions 314D together with the second moving base 315D.

[0054] As shown in Figure 6B, when the transmission member 315G moves in the release direction (to the left in the figure), the guide hole simultaneously guides the first bearing 315E and the second bearing 315F toward the inside of the second body portion 313. As a result, the multiple first shafts 315A move away from the multiple receiving portions 314D together with the first moving base 315C, while the multiple second shafts 315B move away from the multiple receiving portions 314D together with the second moving base 315D.

[0055] <Drive source 315H> The drive source 315H is configured to move the shaft group. Specifically, the drive source 315H is configured to move the shaft group by moving the transmission member 315G.

[0056] As the drive source 315H, any device that generates a driving force to linearly move the transmission member 315G by supplying power or the like can be used. In the lock mechanism 315 of Figure 5, the drive source 315H is a solenoid actuator capable of both pushing and pulling. This allows for faster switching of the lock and enables miniaturization of the lock mechanism 315.

[0057] <First guide 315I, second guide 315J, and third guide 315K> The first guide 315I shown in Figure 5B supports the first movable base 315C and is configured to guide the linear movement of the first movable base 315C. The first guide 315I is a rail-shaped member that extends in the direction of movement of the shaft group. In the example in Figure 5B, two first guides 315I are positioned apart in a direction perpendicular to the direction of movement of the shaft group (the longitudinal direction of the second body section 313).

[0058] The second guide 315J supports the second movable base 315D and is configured to guide the linear movement of the second movable base 315D. The second guide 315J is a rail-shaped member that extends in the direction of movement of the shaft group. In the example in Figure 5B, two second guides 315J are positioned apart in a direction perpendicular to the direction of movement of the shaft group.

[0059] The third guide 315K supports the transmission member 315G and is configured to guide the linear movement of the transmission member 315G. The third guide 315K is a rail-shaped member that extends in the direction of movement of the transmission member 315G. The third guide 315K is positioned between the first guide 315I and the second guide 315J in the direction of movement of the shaft group (the longitudinal direction of the first guide 315I and the second guide 315J).

[0060] <Shaft support member 315L and mounting bracket 315M> The shaft support member 315L shown in Figure 5A supports the first movable base 315C, the second movable base 315D, the transmission member 315G, etc., via the first guide 315I, the second guide 315J, the third guide 315K, etc. The shaft support member 315L is fixed to the inner surface of the second fuselage section 313.

[0061] The drive source 315H is attached to the mounting bracket 315M. The mounting bracket 315M is fixed to the inner surface of the second fuselage section 313.

[0062] <First telescopic arm 32> The first telescopic arm 32 shown in Figure 3 is connected to the main arm 31 and, in the extended state of the arm portion 3, has a posture that extends downward from the connection portion (holding portion 314) with the main arm 31.

[0063] The first telescopic arm 32 is extendable and retractable in the vertical direction (the longitudinal direction of the first telescopic arm 32) when the arm section 3 is deployed. Furthermore, the first telescopic arm 32 is capable of rotation around its longitudinal axis relative to the main arm 31.

[0064] In the folded state of the arm section 3 shown in Figure 1, the first telescopic arm 32 is folded so as to overlap the main arm 31 from above, when it has been retracted to its minimum length. In the extended state of the arm section 3 shown in Figures 2 and 3, the first telescopic arm 32 is extended to any length depending on the shape of the bridge B, the location of the inspection point, etc.

[0065] <Second telescopic arm 33> The second telescopic arm 33, shown in Figure 3, is connected to the end (lower end) of the first telescopic arm 32 opposite to the end to which the main arm 31 is connected, and in the deployed state of the arm portion 3, it has a posture that extends horizontally from the connection portion with the first telescopic arm 32.

[0066] The second telescopic arm 33 is extendable and retractable in the horizontal direction (the longitudinal direction of the second telescopic arm 33) when the arm portion 3 is deployed.

[0067] In the folded state of the arm section 3 shown in Figure 1, the second telescopic arm 33 is retracted to its minimum length and folded together with the first telescopic arm 32 so as to overlap the main arm 31 from above. In the extended state of the arm section 3 shown in Figures 2 and 3, the second telescopic arm 33 is extended to any length depending on the shape of the bridge B, the location of the inspection point, etc.

[0068] <Third telescopic arm 34> The third telescopic arm 34, shown in Figure 3, is connected to the end of the second telescopic arm 33 opposite to the end to which the first telescopic arm 32 is connected, and in the extended state of the arm portion 3, it extends upward from the connection point with the second telescopic arm 33.

[0069] The third telescopic arm 34 is extendable and retractable in the vertical direction (the longitudinal direction of the third telescopic arm 34) when the arm portion 3 is extended.

[0070] In the folded state of the arm section 3 shown in Figure 1, the third telescopic arm 34 is retracted to its minimum length and folded together with the first telescopic arm 32 and the second telescopic arm 33 so as to overlap the main arm 31 from above. In the unfolded state of the arm section 3 shown in Figures 2 and 3, the third telescopic arm 34 is adjusted to any length according to the shape of the bridge B, the location of the inspection point, etc.

[0071] <Wire configuration> Figure 7 is a schematic perspective view showing the wire configuration of the arm portion 3. The arm portion 3 has a first wire mechanism including a first wire 36A, a second wire mechanism including a second wire 37A, and a third wire mechanism including a third wire 38A.

[0072] The first wire 36A, the second wire 37A, and the third wire 38A are each high-rigidity wire ropes. These wires are made of metal, such as stainless steel. Furthermore, these wires are arranged independently (i.e., not connected to each other and not interfering with each other).

[0073] <First Wire Mechanism> Figure 8 is a schematic side view showing the configuration of the first wire mechanism. The first wire mechanism includes a first wire 36A, a first roller 36B, a second roller 36C, a third roller 36D, and a tension adjustment mechanism 36E. The first wire mechanism is configured to suppress the deflection of the first telescopic arm 32 and the second telescopic arm 33 in the deployed state.

[0074] The first wire 36A is stretched across the main arm 31, the first telescopic arm 32, and the second telescopic arm 33. Specifically, the first wire 36A is stretched across the first roller 36B attached to the second telescopic arm 33, the second roller 36C and third roller 36D attached to the first telescopic arm 32, and the tension adjustment mechanism 36E attached to the main arm 31.

[0075] The first roller 36B is attached to the connection point between the second telescopic arm 33 and the third telescopic arm 34 (the end opposite to the end to which the first telescopic arm 32 is connected). Furthermore, the first roller 36B is attached to the second telescopic arm 33 so as to be able to pivot around a pivot axis parallel to the pivot axis of the second telescopic arm 33. As a result, the inclination of the rotation axis of the first roller 36B (the posture of the first roller 36B) changes in accordance with the extension direction of the first wire 36A, which corresponds to the change in the length of the second telescopic arm 33.

[0076] The second roller 36C is mounted on the first telescopic arm 32 at a position a certain distance away from the connection point with the second telescopic arm 33. The second roller 36C is an example of a first support part that is attached to the first telescopic arm 32 and supports the first wire 36A so that the first wire 36A is stretched between it and the second telescopic arm 33.

[0077] The third roller 36D is mounted on the first telescopic arm 32 at a certain distance from the second roller 36C. The third roller 36D is mounted on the first telescopic arm 32 and supports the first wire 36A so that the first wire 36A is stretched between it and the main arm 31. It is also an example of a second support part positioned in the longitudinal direction of the first telescopic arm 32 at a position further from the connection part with the second telescopic arm 33 than the first support part (second roller 36C) (above the arm part 3 in its extended state).

[0078] As shown in Figure 7, the first wire 36A is composed of two parallel wire ropes. In other words, each roller has two rolling elements through which two wire ropes are individually stretched.

[0079] In this way, by attaching the second roller 36C (first support part) and the third roller 36D (second support part) to the first telescopic arm 32, the first wire 36A is stably stretched between the main arm 31, the first telescopic arm 32, and the second telescopic arm 33, and the effect of suppressing the deflection of the first telescopic arm 32 can be enhanced.

[0080] The tension adjustment mechanism 36E is configured to adjust the tension of the first wire 36A. Figure 9 is a schematic diagram showing the configuration of the tension adjustment mechanism 36E. As shown in Figure 9, the tension adjustment mechanism 36E includes a winding device 36F and a tension sensor 36G.

[0081] The winding device 36F is an electric winch configured to wind and unwind the first wire 36A. The winding device 36F has a self-locking mechanism to prevent the pulley from rotating in the reverse direction. The self-locking mechanism is composed of, for example, a worm gear connected to a motor.

[0082] The tension sensor 36G is configured to detect the tension of the first wire 36A. The tension sensor 36G contacts the first wire 36A and measures the tension of the first wire 36A by the pressure it receives from the first wire 36A (displacement of the internal spring). Specifically, the tension sensor 36G measures the tension of the first wire 36A stretched between a pair of rollers.

[0083] The winding device 36F is configured to wind the first wire 36A based on the tension of the first wire 36A detected by the tension sensor 36G. As a result, as shown in Figure 8, an upward force is generated at the first roller 36B, suppressing the deflection of the second telescopic arm 33, and a horizontal force toward the main body 2 is generated at the second roller 36C and the third roller 36D, suppressing the deflection of the first telescopic arm 32.

[0084] Specifically, in the deployed state of the arm section 3, the tension adjustment mechanism 36E adjusts the amount of winding of the first wire 36A by the winding device 36F so that the tension of the first wire 36A is maintained within a certain range (a range in which the deflection of the first telescopic arm 32 and the second telescopic arm 33 is suppressed).

[0085] <Second wire mechanism> The second wire mechanism, as shown in Figure 7, includes a second wire 37A, a first anchor 37B, and a wire winding section 37C. The second wire mechanism is configured to adjust the position of the second telescopic arm 33 relative to the first telescopic arm 32 (i.e., to control the swing of the second telescopic arm 33 relative to the first telescopic arm 32).

[0086] The second wire 37A is stretched across the first telescopic arm 32 and the second telescopic arm 33. Specifically, the second wire 37A is stretched between the first anchor 37B attached to the second telescopic arm 33 and the wire winding section 37C attached to the first telescopic arm 32. As shown in Figure 7, the second wire 37A is composed of two parallel wire ropes.

[0087] The first anchor 37B is attached at a certain distance from the connection point between the second telescopic arm 33 and the first telescopic arm 32. The end of the second wire 37A is fixed to the first anchor 37B.

[0088] The wire winding unit 37C is mounted at a certain distance from the connection point between the first telescopic arm 32 and the second telescopic arm 33 (specifically, at a position between the second roller 36C and the third roller 36D in the longitudinal direction of the first telescopic arm 32). The wire winding unit 37C adjusts the length of the second wire 37A by winding and unwinding the second wire 37A. The wire winding unit 37C is driven, for example, by a motor.

[0089] Figure 10 is a schematic diagram illustrating the oscillation mechanism of the second telescopic arm 33 by the second wire 37A. As shown in Figure 10A, when the second telescopic arm 33 is folded, the wire winding unit 37C winds up the second wire 37A, causing the second telescopic arm 33 to oscillate so that it overlaps the first telescopic arm 32. Also, as shown in Figure 10B, when the second telescopic arm 33 is extended, the wire winding unit 37C feeds out the second wire 37A, causing the second telescopic arm 33 to oscillate away from the first telescopic arm 32.

[0090] <Third wire mechanism> Figure 11 is a schematic diagram showing the configuration of the third wire mechanism. The third wire mechanism includes a third wire 38A, a second anchor 38B, a fourth roller 38C, and an elastic body 38D. The third wire mechanism is configured to generate a counterbalance against the torque generated in the second telescopic arm 33 when deployed.

[0091] The third wire 38A is stretched across the first telescopic arm 32 and the second telescopic arm 33. Specifically, the third wire 38A is stretched between the second anchor 38B attached to the first telescopic arm 32 and the fourth roller 38C attached to the second telescopic arm 33. The third wire 38A is also connected to an elastic body 38D installed on the second telescopic arm 33. As shown in Figure 7, the third wire 38A is composed of two parallel wire ropes.

[0092] The second anchor 38B is attached at a certain distance from the connection point between the first telescopic arm 32 and the second telescopic arm 33 (specifically, at approximately the same position as the third roller 36D in the longitudinal direction of the first telescopic arm 32). The end of the third wire 38A is fixed to the second anchor 38B.

[0093] The fourth roller 38C is attached to the second telescopic arm 33 at a certain distance from the connection point with the first telescopic arm 32 (specifically, at approximately the same position as the first anchor 37B in the longitudinal direction of the second telescopic arm 33).

[0094] The elastic body 38D is attached to the second telescopic arm 33 and connected to the third wire 38A, so as to be deformable in accordance with the tension of the third wire 38A. The elastic body 38D is positioned on the upper surface of the second telescopic arm 33 in its extended state so as to be able to extend and retract along the longitudinal direction of the second telescopic arm 33. The third wire 38A is connected to the second anchor 38B and the elastic body 38D via (guided by) the fourth roller 38C.

[0095] The elastic body 38D is a pull-type gas spring configured to extend and retract along the longitudinal direction of the second telescopic arm 33. This allows for a simple and lightweight configuration to generate a counterbalance against the oscillation of the second telescopic arm 33.

[0096] One end of the elastic body 38D (gas spring) is connected to the second telescopic arm 33. The other end of the elastic body 38D is connected to the third wire 38A.

[0097] As shown in Figure 11, when the second telescopic arm 33 swings away from the first telescopic arm 32 (i.e., towards its deployed position), the distance between the second anchor 38B, which is connected by the third wire 38A, and the elastic body 38D increases, causing the elastic body 38D to be pulled toward the first telescopic arm 32. In other words, the rotational motion of the second telescopic arm 33 is converted into linear motion by the third wire 38A and input to the elastic body 38D. As a result, a force is generated in the elastic body 38D that pulls the third wire 38A away from the first telescopic arm 32. This cancels out the gravitational torque generated at the joint between the first telescopic arm 32 and the second telescopic arm 33 due to the weight of the second telescopic arm 33.

[0098] <Inspection Sensor 4> The inspection sensor 4 is configured to acquire the status of the inspection target area of ​​bridge B. Examples of inspection sensors 4 include ultrasonic sensors, infrared sensors, laser scanners, visible light cameras, etc.

[0099] The inspection sensor 4 shown in Figure 3 is attached to the arm portion 3. Specifically, the inspection sensor 4 is attached to the tip of the third telescopic arm 34 (the end opposite to the end to which the second telescopic arm 33 is connected).

[0100] <How to use> The following describes how to use the bridge inspection device 1 (specifically, the procedure for changing from the transport position in Figure 1 to the inspection position in Figure 2). Figures 12 and 13 are schematic perspective views showing the deployment procedure of the arm section 3 in the bridge inspection device 1.

[0101] First, from the transport position shown in Figure 1 (with the arm section 3 folded), the arm section 3 is rotated horizontally relative to the main body 2, as shown in Figure 12A. Specifically, the entire arm section 3 is rotated to any desired position by rotating the main arm 31.

[0102] Next, as shown in Figure 12B, the main arm 31 is deployed. Specifically, first, the first fuselage portion 312 of the main arm 31 is swung relative to the main body 2 (base portion 311) so that the main arm 31 rises to a position where the arm portion 3 can be deployed. Furthermore, the second fuselage portion 313 is swung relative to the first fuselage portion 312 so that the second fuselage portion 313 extends horizontally from the end of the first fuselage portion 312. At the same time, the holding portion 314 of the main arm 31 is swung relative to the second fuselage portion 313 so that the first telescopic arm 32 connected to the main arm 31 extends downward. As a result, the main arm 31 is displaced to the state shown in Figure 12C.

[0103] Next, as shown in Figure 12D, the first telescopic arm 32 is extended to an arbitrary length. In this state, the second telescopic arm 33 is folded so as to overlap with the first telescopic arm 32 (the longitudinal direction of the first telescopic arm 32 and the longitudinal direction of the second telescopic arm 33 are parallel).

[0104] Next, as shown in Figure 13A, the second telescopic arm 33, which is connected to the first telescopic arm 32, is swung relative to the first telescopic arm 32 so that it extends horizontally. Here, the second wire mechanism, including the second wire 37A, extends the second telescopic arm 33, and the third wire mechanism, including the third wire 38A, maintains the posture of the second telescopic arm 33.

[0105] Next, as shown in Figure 13B, the first telescopic arm 32 is rotated relative to the main arm 31 so that the longitudinal direction of the second telescopic arm 33 is parallel to the longitudinal direction of the main arm 31. In this state, the second telescopic arm 33 is extended to an arbitrary length, and the third telescopic arm 34 connected to the second telescopic arm 33 is swung and extended to obtain the inspection posture (unfolded state of arm section 3) shown in Figure 2. When the second telescopic arm 33 is extended, the first wire mechanism, including the first wire 36A, controls the deflection of the first telescopic arm 32 and the second telescopic arm 33 (tension adjustment of the first wire 36A).

[0106] The rotation, oscillation, and extension of each part are performed by a drive mechanism that combines, for example, a motor, a reduction gear, and a transmission mechanism (belt, chain, wire, etc.). Furthermore, the transformation from the inspection position to the transport position is performed by reversing the above procedure.

[0107] <effect> According to the bridge inspection device 1, the locking mechanism 315, which switches between a locked state and an unlocked state by moving the shaft group, can improve the ability to maintain the posture of the joint connecting the main arm 31 and the first telescopic arm 32 in the arm section 3 (reliability of the lock against rotational moment). Furthermore, since continuous power supply to maintain the lock is not required, energy consumption during inspection work can be reduced.

[0108] Furthermore, according to the bridge inspection device 1, the stability of the second telescopic arm 33 in the extended state of the arm section 3 can be enhanced by the third wire 38A stretched across the first telescopic arm 32 and the second telescopic arm 33, and the elastic body 38D attached to the second telescopic arm 33 and connected to the third wire 38A, without the need to place heavy objects such as counterweights or additional objects such as dampers.

[0109] Furthermore, according to the bridge inspection device 1, the tension of the first wire 36A, which spans across the main arm 31, the first telescopic arm 32, and the second telescopic arm 33, can suppress the increase in weight of the main arm 31 while suppressing the deflection of the first telescopic arm 32 and the second telescopic arm 33 in the deployed state of the main arm 31.

[0110] Due to the features described above, the bridge inspection device 1 enhances the posture-holding strength of the arm section 3, thereby expanding the range that can be inspected by the arm section 3.

[0111] Although embodiments of the present invention have been described above, the present invention is not limited thereto and can be modified as appropriate without departing from the technical spirit of the invention.

[0112] The shaft group of the locking mechanism 315 (first shaft 315A and second shaft 315B) may be attached to the holding part 314. In this case, the receiving part 314D is provided on the second body part 313. Furthermore, the locking mechanism 315 does not necessarily have to have multiple first shafts 315A and multiple second shafts 315B. In other words, the locking mechanism 315 may have only one first shaft 315A and one second shaft 315B. Moreover, the locking mechanism 315 does not necessarily have to have a transmission member 315G. For example, the locking mechanism 315 may be configured to move the shaft group directly by a drive source 315H. Also, the drive source 315H does not necessarily have to be a solenoid actuator, and other drive sources can be used.

[0113] The tension adjustment mechanism 36E in the second wire mechanism does not necessarily have to have a tension sensor 36G. In other words, the tension adjustment mechanism 36E may adjust the tension of the first wire 36A using a value measured by means other than the tension sensor 36G. Also, the second wire mechanism does not necessarily have to have a third roller 36D. In other words, there may be only one point where the first wire 36A is connected to the first telescopic arm 32 (a support point on the first telescopic arm 32).

[0114] The elastic body 38D in the third wire mechanism does not necessarily have to be a gas spring; other elastic bodies can also be used.

[0115] The product may be provided in any of the following embodiments.

[0116] (1) A bridge inspection device comprising a main body configured to be installed on a bridge, an arm portion that can be transformed between a folded state and an unfolded state, and an inspection sensor attached to the arm portion, wherein the arm portion comprises a main arm connected to the main body and having a posture that extends horizontally from the connection portion with the main body in the unfolded state, and a telescopic arm connected to the main arm and having a posture that extends downward from the connection portion with the main arm in the unfolded state and is extendable and retractable in the vertical direction, wherein the main arm comprises a holding portion that holds the telescopic arm, a body portion connected so that the holding portion can swing about a swing axis parallel to the horizontal direction, a locked state that restricts the swing of the holding portion relative to the body portion, and a state that allows the swing of the holding portion relative to the body portion A bridge inspection device having a locking mechanism that is displaceable to an unlocked state, the locking mechanism having a group of shafts including a first shaft and a second shaft that are held by a first member of one of the holding part and the body part and are movable in directions parallel to the pivot axis, and a drive source configured to move the group of shafts, the other second member of the holding part and the body part having a plurality of receiving parts into which the first shaft or the second shaft can be inserted, and the locking mechanism is configured to be displaced to the locked state when the first shaft and the second shaft move in opposite directions to be inserted into the plurality of receiving parts, and to be displaced to the unlocked state when the first shaft and the second shaft move in opposite directions to be separated from the plurality of receiving parts.

[0117] (2) A bridge inspection device as described in (1) above, wherein the locking mechanism has a transmission member configured to insert the first shaft and the second shaft into the plurality of receiving portions by a first movement which moves in a direction perpendicular to the direction in which the first shaft and the second shaft move, and to separate the first shaft and the second shaft from the plurality of receiving portions by a second movement which moves in the direction opposite to the first movement, and the drive source is configured to move the group of shafts by moving the transmission member.

[0118] (3) A bridge inspection device as described in (2) above, wherein the drive source is a solenoid actuator.

[0119] (4) A bridge inspection device according to any one of (1) to (3) above, wherein the shaft group comprises a plurality of first shafts and a plurality of second shafts, respectively, arranged so as to be aligned horizontally in the deployed state when viewed from a direction parallel to the pivot axis.

[0120] (5) A bridge inspection device comprising: a main body configured to be installed on a bridge; an arm portion that can be deformed between a folded state and an unfolded state; and an inspection sensor attached to the arm portion, wherein the arm portion comprises: a main arm connected to the main body and having a posture that extends horizontally from the connection portion with the main body in the unfolded state; a first telescopic arm connected to the main arm and having a posture that extends downward from the connection portion with the main arm in the unfolded state and is extendable and retractable in the vertical direction; a second telescopic arm connected to the first telescopic arm and having a posture that extends horizontally from the connection portion with the first telescopic arm in the unfolded state and is extendable and retractable in the horizontal direction; a wire stretched across the first telescopic arm and the second telescopic arm; and an elastic body attached to the second telescopic arm and connected to the wire, configured to deform in accordance with the tension of the wire.

[0121] (6) A bridge inspection device as described in (5) above, wherein the elastic body is a pull-type gas spring configured to extend and retract along the longitudinal direction of the second telescopic arm.

[0122] (7) A bridge inspection device comprising: a main body configured to be installed on a bridge; an arm portion that can be transformed between a folded state and an unfolded state; and an inspection sensor attached to the arm portion, wherein the arm portion comprises: a main arm connected to the main body and having a posture that extends horizontally from the connection portion with the main body in the unfolded state; a first telescopic arm connected to the main arm and having a posture that extends downward from the connection portion with the main arm in the unfolded state and is extendable and retractable in the vertical direction; a second telescopic arm connected to the first telescopic arm and having a posture that extends horizontally from the connection portion with the first telescopic arm in the unfolded state and is extendable and retractable in the horizontal direction; a wire stretched across the main arm, the first telescopic arm, and the second telescopic arm; and a tension adjustment mechanism configured to adjust the tension of the wire.

[0123] (8) A bridge inspection device as described in (7) above, wherein the tension adjustment mechanism comprises a tension sensor configured to detect the tension of the wire, and a winding device configured to wind up the wire based on the tension of the wire detected by the tension sensor.

[0124] (9) A bridge inspection device according to (7) or (8) above, wherein the arm portion includes a first support portion attached to the first telescopic arm and supporting the wire so that the wire is stretched between it and the second telescopic arm, and a second support portion attached to the first telescopic arm and supporting the wire so that the wire is stretched between it and the main arm, and positioned in the longitudinal direction of the first telescopic arm further away from the connection portion with the second telescopic arm than the first support portion. Of course, this is not always the case.

[0125] Finally, while various embodiments relating to this disclosure have been described, these are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be implemented in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]

[0126] 1: Bridge inspection device 2: Main unit 3: Arm section 31: Main Arm 311: Base section 311A: Base frame 311B: Main body connection part 311C: First joint 312: 1st body part 312A: First fuselage frame 312B: Second joint 313:Second body part 313A: Second fuselage frame 314: Holding part 314A: Retaining frame 314B: Third joint 314C: Arm connection section 314D: Receptor part 315: Locking mechanism 315A: First shaft 315B: Second shaft 315C: First Mobile Base 315D: Second mobile base 315E: First bearing 315F: Second bearing 315G: Transmission member 315H: Power source 315I: Guide 1 315J: Guide 2 315K: Guide 3 315L: Shaft support member 315M: Mounting bracket 32: First telescopic arm 33: Second telescopic arm 34: Third telescopic arm 36A: First wire 36B: First Roller 36C: Second roller 36D: Third roller 36E: Tension adjustment mechanism 36F: Winding device 36G: Tension sensor 37A: Second wire 37B: First anchor 37C: Wire winding section 38A: Third wire 38B: Second anchor 38C: 4th roller 38D: Elastic body 4: Inspection Sensor B: Bridge

Claims

1. A bridge inspection device, The main body is configured to be installed on a bridge, An arm section that can be transformed between a folded state and an unfolded state, An inspection sensor attached to the aforementioned arm portion, Equipped with, The aforementioned arm portion is A main arm connected to the main body, having a posture that extends horizontally from the connection portion with the main body in the deployed state, A telescopic arm connected to the main arm, having a posture that extends downward from the connection point with the main arm in the deployed state, and being extendable and retractable in the vertical direction, It has, The main arm is, A holding part for holding the telescopic arm, The holding part is connected to a body part so as to be able to swing about a pivot axis parallel to the horizontal direction, A locking mechanism that can be displaced between a locked state that restricts the swinging of the holding part relative to the body and an unlocked state that allows the swinging of the holding part relative to the body, It has, The locking mechanism is A group of shafts including a first shaft and a second shaft, which are held by a first member of either the holding portion or the body portion and are movable in a direction parallel to the pivot axis, A drive source configured to move the aforementioned group of shafts, It has, The second member, which is the other of the holding portion and the body portion, has a plurality of receiving portions into which the first shaft or the second shaft can be inserted. The locking mechanism is configured such that the first shaft and the second shaft move in opposite directions to be inserted into the plurality of receiving portions, respectively, to be displaced to the locked state, and the first shaft and the second shaft move in opposite directions to be separated from the plurality of receiving portions, to be displaced to the unlocked state, in a bridge inspection device.

2. In the bridge inspection device according to claim 1, The locking mechanism includes a transmission member configured to insert the first shaft and the second shaft into the plurality of receiving portions by a first movement that moves in a direction perpendicular to the direction in which the first shaft and the second shaft move, and to separate the first shaft and the second shaft from the plurality of receiving portions by a second movement that moves in the direction opposite to the first movement. The bridge inspection device is configured such that the drive source moves the shaft group by moving the transmission member.

3. In the bridge inspection device according to claim 2, The aforementioned drive source is a solenoid actuator, in the bridge inspection device.

4. In the bridge inspection device according to any one of claims 1 to 3, The bridge inspection device comprises a plurality of first shafts and a plurality of second shafts, each arranged so as to be aligned horizontally in the deployed state when viewed from a direction parallel to the pivot axis.

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