JPS62105044A - Movement type operating device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a mobile working device, and particularly to a mobile working device that accurately moves a working device (for example, a flaw detection device, etc.) to an arbitrary position on a workpiece such as a spherical gas holder. The present invention relates to a mobile working device suitable for detecting and inspecting weld line defects.

[Background of the invention]

Conventional 1 Work at high places such as on the surface of a spherical gas holder.

For example, when inspecting weld line defects on the surface of a spherical gas holder, first, a scaffold is installed around the periphery of the spherical gas holder.
After that, the inspection was carried out manually using ultrasonic flaw detection equipment, magnetic particle flaw detection equipment, etc. using many personnel, which required a great deal of cost and labor.

Therefore, in recent years, self-propelled high-altitude vehicles using wall adsorption means such as magnetic wheels, magnetic crawlers, or vacuum suction pads have been developed.
For example, remote-controlled flaw detection or inspection equipment is being developed.
There is a flaw detection device for a spherical tank shown in Japanese Patent Laid-Open No. 51-49778.

This involves detecting flaws on the inner and outer surfaces of a single spherical tank while remotely controlling a vehicle using a magnetic crawler as a suction means and a control unit on the ground via a cable. However, in the case of a traveling vehicle system like this example, the weight of the cable connecting the traveling vehicle and the control unit on the ground must be supported by the traveling vehicle, so the longer the traveling distance of the traveling vehicle, the larger the suction mechanism becomes. As the number of vehicles increases, the size of the vehicle itself increases, and with this comes the risk of the vehicle falling. Furthermore, it is not possible to quickly move to any point on the structure to be worked on. Furthermore.

There are various problems such as it being difficult to accurately measure the point at which the vehicle is traveling due to slippage of the wheels or crawlers. In particular, in order to deal with the problem of falling vehicles, some form of fall prevention means must be implemented.5Furthermore, there is a limit to the size of the suction mechanism, so the cable length must be limited in order to reduce the weight of the cable. Yes, the range of movement of the vehicle was narrowed.

Therefore, due to these problems, there are still very few examples of practical use.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned points, and its purpose is to be able to quickly move working equipment to any point on the structure to be worked on, and to eliminate the risk of one working equipment falling. To provide mobile work equipment.

[Summary of the invention]

The present invention includes a moving vehicle having a moving means for moving to an arbitrary location, and an extending/contracting means having one end rotatably supported by the moving vehicle, having at least one joint, and capable of freely expanding and contracting. a boom, and a working device that is supported at the tip of the boom so that it can be moved to any point on the workpiece, and that is fixed when moved to any point on the workpiece. This was done to achieve the intended purpose.

[Embodiments of the Invention] The present invention will be described in detail below based on embodiments of the drawings.

FIG. 1 shows an embodiment of the mobile working device of the present invention.

The one shown in the figure is a mobile work equipment that uses a weld line flaw detection device equipped with an ultrasonic flaw detection device.

This is an embodiment for detecting weld lines on the surface of a spherical gas holder 1, and the mobile working device has the following general configuration. That is, a flaw detection device equipped with a mobile vehicle 2 equipped with wheels 3 capable of moving on the ground as a means of transportation, a boom 4 having an articulated arm structure, and an ultrasonic probe capable of detecting weld line defects on the surface of the spherical gas holder 1. 5, and a swinging mechanism 6 that connects the boom 4 and the flaw detection device 5. Furthermore, the mobile vehicle 2 includes an ultrasonic flaw detection device 7, TV camera controllers 8, 9, TV monitors 10, 11, a mobile vehicle controller 12, a boom control hydraulic circuit 13, a hydraulic oil tank 14, a hydraulic circuit controller 15, and a water supply. pump 1
6, its water tank 17, controller for the swing mechanism 18
．． x, y, o axis scanner controller 1 in flaw detection device 5
9. A near compressor 20 etc. is installed, a boom 4, a swing mechanism 6. and the flaw detection device 5 can all be remotely operated within the mobile vehicle 2, and the swinging mechanism 6 and the cables connecting the flaw detection device 5 and each controller within the mobile vehicle 2 are connected to the boom 4. It has a structure that supports it.

When actually testing a weld line on the surface of the spherical gas holder 1, the moving vehicle 2 is stopped and the flaw detection device 5 is adsorbed to the surface of the spherical gas holder 1 to detect the weld line, as shown in FIG.

Next, the detailed structure of the boom 4 mentioned above will be explained using FIG. 2.

As shown in the figure, the boom 4 includes a main column 21, a first boom 22.
It is roughly composed of a second boom 23, a third boom 24, and an auxiliary boom 25. More specifically, the main column 21 is connected to a pedestal 26 fixed to the mobile vehicle 2, and the main column 21 is structured to rotate by a rotation mechanism 27 built into the pedestal 26. The pillar 21 and the first boom 22 are joints 2
8a, and the first boom 22 is moved up and down by a hydraulic cylinder 29a using the joint 28a as a fulcrum.

Furthermore, the second boom 23 is connected to the tip of the first boom 22 via a joint 28b, and the second boom 23 moves up and down using the joint 28b as a fulcrum by a hydraulic cylinder 29b.

This second boom 23 has three booms 23a, 23b, 2
3c, and is expanded and contracted by a double-shaft hydraulic cylinder 30a. Next, the third boom 24 is connected to the tip of the second boom 23 via a joint 28c, and the third boom 24 is moved up and down by a hydraulic cylinder 29c using the joint 28c as a fulcrum. This third boom 24 has three booms 24a.

24b and 24c, and is expanded and contracted by a double-shaft hydraulic cylinder 30b. Furthermore, an auxiliary boom 25 is attached to the tip of the third boom 24, and the flaw detection device 5 is further connected to the tip via the swinging mechanism 6. Furthermore, joint 28
An intermediate cable winding drum 31a is located near a and 28c.
, and 31b, the second boom 23 and the third
The boom 24 can be expanded/contracted and bent.

As described above, the boom 4 used in this embodiment has three joints 28a, 28b, and 28c, is extended and contracted by the double-axis hydraulic cylinders 30a and 30b, and is further equipped with the rotation mechanism 27. The structure is such that flaw detection can be performed while the mobile vehicle 4 is stopped within the operating range indicated by diagonal lines in FIGS. 3 and 4.

FIG. 5 is a block diagram schematically showing a control system for the boom 4 shown in FIG. 2. That is, the control system of the boom 4 includes a boom rotation hydraulic cylinder 31. 1st boom up/down hydraulic cylinder 32, 2nd boom up/down hydraulic cylinder 33, 3rd boom up/down hydraulic cylinder 32,
It is provided with a hydraulic cylinder 34 for raising and lowering the boom, a hydraulic cylinder 35 for extending and retracting the second boom, and a hydraulic cylinder 36 for extending and contracting the third boom, and these are operated by hydraulic pressure adjusted by a six-unit control valve 37. On the other hand, the opening degree of the six-series control valve 37 is adjusted by a valve switch 38, and the valve switch 38 is controlled by a boom controller 39. Note that 40 is ft[.

With the above configuration, the boom controller 39 adjusts the velocity of the flow flowing into each of the hydraulic cylinders, and controls the operating speed and position of each boom.

Next, details of the swinging mechanism 6 of the embodiment shown in FIG. 1 will be explained using No. 6rJA.

The mechanism shown in FIG. 6 has the following configuration. ,
That is, the swinging mechanism 6 has two joints 41, 42, and each joint 41, 42 has a drive motor 43.42 equipped with a speed reduction mechanism. and 44 are attached to the drive motor 43, and an encoder 45. Each of the drive motors 44 is equipped with an encoder 46 . Furthermore, a seat 4 is provided at the tip of the joint 42.
7 is attached and the metal fitting 48 fixed to the seat 47 is used as a flaw detection device! ! 5 is supported. In addition, there is a TV in seat 47.
A camera 49 is provided.

The operation of the swinging mechanism 6 having such a configuration is as follows. First, the output shaft of the drive motor 43 attached to the joint 41 is directly connected to the arm 50, and the outer frame of the drive motor 43 is fixed to the auxiliary boom 25, so the output of the drive motor 43 is connected to the arm 50. 50 and joint 41
The arm 50 moves up and down using the fulcrum as a fulcrum. On the other hand, the output shaft of the drive motor 44 attached to the joint 42 is directly connected to the seat 47, and the outer frame of the drive motor 42 is fixed to the arm 5o, so the output of the drive motor 44 is directly connected to the seat 47.
7, and the seat 47 moves to the left and right using the joint 42 as a fulcrum. Therefore, as for the operating range of the swing mechanism 6, the operation by the drive motor 43 with the joint 41 as the fulcrum is within the shaded range shown in FIG. This is the shaded area shown in the figure. In addition, 1 drive motor 43° 44 of the swinging mechanism 6,
and encoders 45 and 46 are electrically connected to the swing mechanism controller 18 of the embodiment shown in FIG.
Furthermore, the TV camera 49 is electrically connected to the TV camera controller 9.

Next, details of the flaw detection apparatus 5 of this embodiment shown in FIG. 1 will be explained using FIGS. 9 and 10.

The flaw detection device 5 shown in FIGS. 9 and 10 has the following structure. That is, one side of the air cylinder 51 is connected to the seat 47 provided at the tip of the swinging machine 1fIt6 mentioned above, and the other side is connected to the metal fitting 53 fixed to the frame 52 of the flaw detection device 5. This air cylinder 51 is
Exploration bias! i! 5 is adsorbed to the surface of the spherical gas holder 1 by a vacuum suction pad 54, and serves to absorb vibrations of the boom 4 caused by the engine of the moving vehicle 2, wind, etc., and prevent the vibrations from being transmitted to the flaw detection device. Of course, anything can be used as long as it absorbs vibrations. Now, four vacuum suction pads 54 are attached to the frame 52, and a vacuum generation device W155 is provided in the vicinity thereof.The negative pressure of the vacuum generation device [I55 is transmitted to the vacuum suction pads 54, and the spherical gas holder Adsorbs to the surface. On the other hand, the two probes 56 are connected to a spring mechanism 57.
A hose 59 for supplying water is connected to the probe 56 . Further, the weld line detection sensor 60 is attached to the disk 58 via a spring mechanism 57 at an angle shifted by 90 degrees with respect to the probe 56 . Furthermore, a TV camera 61 is attached to the disc 58. The disc 58 is directly connected to the output shaft of the drive motor 61, and the outer frame of the drive motor 62 is fixed to the frame 63. The frame 63 is moved in the X direction by a ball screw 65 directly connected to the output shaft of a drive motor 64. The outer frame of the drive motor 64 is fixed to a seat 66, and the seat 66 is provided with a guide shaft 67. The seat 66 is moved in the y direction by a ball screw 69 directly connected to the output shaft of a drive motor 68, and the two ball screws 69 are rotated synchronously by a chain 70. In this way, the frame 6 with the probe 56
3 is a mechanism that is operated by a drive motor 64 in the X direction and by a drive motor 68 in the Y direction.

Incidentally, a lighting 71 is attached to the frame 52, and T
It is used for illuminating the V camera 61.

The mechanisms and devices of the flaw detection device 5 described above are the x, y, and θ-axis scanner controller 1 of the embodiment shown in FIG.
Furthermore, the vacuum generator 55 and air cylinder 51 are connected to the compressor 20 , the TV camera 61 is connected to the TV camera controller 8 , and the water supply hose 59 is connected to the water supply pump 16 .

The vacuum suction pad 54 has been employed as the wall suction means of the flaw detection device 5 described above.

A magnet may be used instead.

Next, the operation of the mobile working device of this embodiment configured as described above will be explained.

FIG. 11 shows the operation of flaw detection in the upper hemisphere of the spherical gas holder 1 using the mobile working device of this embodiment. That is, after the moving vehicle 2 is stopped, the second boom 23 and the third boom 24 of the boom 4 explained in FIG. 2 are extended and bent as shown in FIG. Connection n41 of the swinging mechanism 6 described above. and adjusting the angle of 42, FIG.
Also, the gaps between the suction surfaces of the four vacuum suction pads 54 of the flaw detection device 5 described in FIG. 10 and the surface of the spherical gas holder 1 are made substantially uniform. In this case, the four air cylinders 51 of the flaw detection device ¥5 explained in FIGS. 9 and 10 are extended to the maximum. Next, while viewing the image taken by the TV camera 49 shown in FIG. 6, the boom 4 shown in FIG. 11 is operated by the controller 15 of the spring control hydraulic circuit shown in FIG. The suction pad 54 is brought into close contact with the surface of the spherical gas holder 1.

In this case, the air cylinder 5 shown in FIGS. 9 and 10
1 serves as a bumper, so it is okay to push the boom 4 a little too much.

Next, the operation of the flaw detection apparatus 5 shown in FIGS. 9 and 10 will be explained using FIGS. 12, 13, 14, and 15. First, in the state shown in FIG. 11, the vacuum suction pad 54 of the flaw detection device 5 is attracted to the surface of the spherical gas holder 1 by the negative pressure generated by the vacuum generator 55 to fix the entire flaw detection device 5. The operation when the flaw detection device 5 is fixed to the weld line IA on the surface of the gas holder 1 in the state shown in FIG. 12 will be described. First, as shown in FIG. 12, when the flaw detection device 815 is obliquely inclined with respect to the weld line IA, the straight line connecting the two contacts 56 needs to be approximately perpendicular to the weld MIA. Therefore, as shown in FIG. 13, the turning drive motor 62 is turned on and the probe 56 is turned so that the straight line connecting the two probes 56 is perpendicular to the welding line IA. In this case, instead of the turning motor 62, the swinging mechanism 6 and the flaw detection device 5 are used.
A turning mechanism may be provided between the two and the entire flaw detection apparatus 5 may be turned.At the 0th order, the X-axis drive motor 64 and the X-axis drive motor 68 are turned on.

The weld line detection sensor 60 is moved until the center of the weld line detection sensor 60 and the bead center of the weld line IA match. At this time, the frame 58 is moved to the position shown in FIG. 14. Next, the output of the welding line detection sensor 60 and the input to the drive motors 64 and 68 are synchronized, and while controlling the welding line IA so as not to separate from the welding line IA, the frame 58 is moved to the If you move it to the location shown in the figure, the flaw detection is complete. still,
Each drive motor 62, 64, 68 and weld line detection sensor 60 are controlled by an x-, y-, and o-axis scanner controller 1.9
It will be held at

If controlled in this way, the flaw detection device r! No matter what angle the weld line IA is inclined to i5, flaws can be detected while tracing the weld line A. Furthermore, FIG.

As shown in Fig. 17, even when detecting weld lines near the equator or in the lower hemisphere of the single spherical gas holder 1, as long as there are no obstacles, flaw detection can be performed using almost the same control as the operation explained in Figs. 11 to 15. can do.

Therefore, as long as there are no obstacles, the entire surface of the spherical gas holder can be inspected for flaws. In addition, compared to the conventional moving vehicle system, the mechanism of this embodiment has three
Since it can be moved dimensionally, the flaw detection device 5 can be quickly moved to any position on the spherical gas holder 1 for flaw detection.

FIG. 18 shows an example of application of the present invention. In the embodiment shown in FIG. 1, the cage 72 is attached to the tip of the boom 4, and the remote control box 73 and each device mounted on the ground vehicle 2 are electrically connected using a cable 74. This is what I did. With this configuration, a person rides on the casing 72, operates the boom 4, swing mechanism 6, and flaw detection device 5 using the remote control box 73, and performs flaw detection while visually checking the movement of each device. can do.

The explanation so far has been about a flaw detection device that detects weld lines by installing an ultrasonic flaw detector on the work equipment.
Of course, a general work tool such as a grinder or a paint coating device for polishing the surface of the weld bead may also be used as one work device.

According to the mobile working device of the present embodiment variously explained above, the mobile vehicle is equipped with a multi-jointed, telescopic boom, and the working device 1, for example, an ultrasonic flaw detector, is equipped with a swinging mechanism at the tip of the boom. By using a structure that holds the power supply for work equipment and other attached mechanisms, and all transmission and reception cables with the boom, it is possible to quickly attach four work equipment, such as an ultrasonic flaw detection device, to any point on the spherical gas holder. This has the effect of providing a safe mobile working device that can be moved and used for work, and there is no danger of the working equipment falling.

(Effect of the invention〕 According to the mobile working device of the present invention described above.

A moving vehicle having a moving means for moving to an arbitrary location, and one end of which is rotatably supported by the moving vehicle.

A boom having at least one joint and having telescoping means that can be freely extended and retracted, and at the tip of the boom.

Supported so that it can be moved to any point on the workpiece.

In addition, since it is equipped with a work equipment that is fixed when moved to an arbitrary point on the workpiece, it is possible to quickly move the work equipment to an arbitrary point on the workpiece, and there is no danger of the work equipment falling. This is very effective for this type of mobile work equipment.

[Brief explanation of drawings]

FIG. 1 is a schematic side view showing an embodiment of the mobile working device of the present invention, FIG. 2 is a side view showing details of the boom employed in the device shown in FIG. 1, and FIG. FIG. 4 is a side view showing the operating range of the boom shown in FIG. 2, and FIG. 4 is a plan view showing the operating range of the boom shown in FIG. Figure 5 is a block diagram showing the control system of the boom shown in Figure 2, Figure 6 is a side view showing details of the swing mechanism employed in the device shown in Figure 1, and Figure 7 is the same as Figure 6. FIG. 8 is a front view showing the operating range of the swinging mechanism shown in FIG. 6, and FIG. 9 is a side view showing the operating range of the swinging mechanism shown in FIG. Side view showing details, No. 10
The figure is a plan view of FIG. 9, FIG. 11 is a side view showing the operation of this embodiment, FIGS. 12, 13, 14, and 15 are plan views showing the operation of the flaw detection device. Figures 16 and 17
The figure is a side view showing the operation of this embodiment, and FIG. 18 is a side view showing an example of application of this embodiment. 1... Spherical gas holder, LA... Welding line, 2...
moving car. 3...Wheel, 4...Boom, 5...Flaw detection device, 6
... swinging mechanism, 7... ultrasonic flaw detection device, 8,9.
...TV camera controller, 10.11...TV monitor, 12P mobile vehicle controller, 13...hydraulic circuit for boom control, 14...hydraulic oil tank, 15
... Hydraulic circuit controller, 16... Water supply pump, 17... Water tank, 18... Swing mechanism controller. 19... x, y, θ-axis scanner controller in flaw detection equipment, 20... near compressor, 21... main column,
22...First boom, 23...Second boom, 23a
. 23b, 23cm boom, 24-...Third boom, 24
a, 24 b, 24 c-boom, 25-・
・Auxiliary boom, 26... Frame, 27... Rotation mechanism,
28a. 28b, 28cm joint, 29a, 29b, 29c...
Hydraulic cylinders, 30a, 30b...Double-shaft hydraulic cylinder, 31...Boom turning hydraulic cylinder, 31a. 31b... intermediate cable winding drum, 32... first
Hydraulic cylinder for boom up/down, 33... Hydraulic cylinder for second boom up/down, 34... Hydraulic cylinder for third boom up/down, 35... Hydraulic cylinder for second boom extension/contraction, 36
... Hydraulic cylinder for third boom extension and retraction, 37... Six-series control valve, 38... Valve switch, 39.
...Boom controller, 41.42...Joint, 43
．． 44... Drive motor, 45.46... Encoder, 47.66... Seat, 48.53... Metal fitting, 49°61... TV camera, 50... Arm, 51...
Air cylinder, 52.63... Frame, 54...
Vacuum suction pad, 55... Vacuum generator, 56...
Probe, 57... Spring mechanism, 58... Disc, 60...
...Welding line detection sensor, 62, 64, 68... Drive motor, 65°69... Ball screw, 67... Guide shaft, 70... Chewing 3rd port 4th (2) 5th port No. 9121 /l Figure

Claims (1)

[Claims] 1. A moving vehicle having a means of moving to any location;
A boom that is rotatably supported at one end by the moving vehicle, has at least one joint, and has an extension means that can freely extend and contract, and a boom that is attached at an arbitrary point on the workpiece at the tip of the boom. What is claimed is: 1. A mobile working device comprising: a working device that is supported so as to be movable, and that is fixed when moved to an arbitrary point on a workpiece. 2. The mobile working device according to claim 1, wherein the working device is connected to the tip of the boom with a swinging mechanism that moves the working device up and down and left and right. 3. The scope of claims characterized in that the work equipment comprises a flaw detection device equipped with an ultrasonic probe for detecting weld line defects, and a vacuum suction device or magnet fixed to the workpiece. The mobile working device according to item 1 or 2. 4. The boom is connected to a pedestal fixed to the mobile vehicle, and has a main column that is rotated by a rotation mechanism built into the pedestal, and a hydraulic cylinder that is connected to the main column via a joint. a first boom that moves up and down using the joint as a fulcrum; a double-axis hydraulic cylinder that is connected to the first boom via a joint and moves up and down using the joint as a fulcrum by a hydraulic cylinder; A second boom is connected to the second boom through a joint, and is moved up and down using the joint as a fulcrum by a hydraulic cylinder, and is extendable and retractable by a double-axis hydraulic cylinder. The mobile working device according to claim 1, characterized in that it is comprised of a third boom that can freely operate and an auxiliary boom that is connected to the tip of the third boom. 5. An intermediate cable winding drum is provided near a joint that connects the main column and the first boom and a joint that connects the second boom and the third boom, and connects the moving vehicle and the work equipment. 5. The mobile working device according to claim 4, wherein the cable guided by the boom is wound up and released by the intermediate cable winding drum when the boom extends and contracts. 6. In the swing mechanism, one end of the arm and the tip of the boom are supported to move up and down via a joint, and the other end of the arm and the work equipment are supported to move left and right via the joint. A mobile working device according to claim 2, characterized in that: 7. The work equipment includes a vacuum suction pad attached to each corner of a rectangular frame, two probes attached to a disk via a spring mechanism, and a 90
A welding line detection sensor is attached to the disk via a spring mechanism at a different angle, and the disk to which the probe and the welding line detection sensor are attached is supported by a support frame, and the support frame The movable type according to claim 1 or 2, wherein the movable type is moved between the frames by a ball screw, and the ball screw is configured to move parallel to the frame. working equipment. 8. The mobile working device according to claim 7, wherein the working device is connected to the swinging mechanism via an air cylinder.