JPH1179020A - High lift inspection instrument by moving point bearing boom and magnetic crawler robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make high lift inspection on the wall surfaces of a larger steel construction in a boiler furnace or the like, at high mobility and efficiency, by combining a lightweight, small-sized magnetic crawler robot and a boom. SOLUTION: A high lift inspection instrument comprises a robot controller 2 for specifying the travel motion of a magnetic crawler robot 3 at the moving point, a telescopic boom 11 for supporting the robot 3, telescopic arms 12 all for supporting the main body of the boom 11 to vary the angle of elevation thereof, a rotary base 13 on which one-side ends of the boom 11 and arms 12 are raised, and a boom controller 14 for driving the boom 11, arms 12 and base 13 on the basis of the positional information of the robot 3 sent from the robot controller 2 to thereby control the position of the mounting tip of the boom 11 in accordance with the successive displacement of the robot 3 running. The mounting tip of the boom 11 that supports the robot 3 running is made to follow the movement of the robot 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a boom supporting a moving point which moves on a plane at a high place of an object to be inspected from a reference plane, and controls the position of its mounting tip in accordance with the movement of the moving point. By moving the moving point support boom and the magnetic crawler robot (moving point) supported by the boom, the inspection work can be efficiently performed on a high-grade wall surface of a large steel structure such as in a boiler furnace. The present invention relates to an altitude inspection device using a crawler robot.

[0002]

2. Description of the Related Art Conventionally, in a boiler furnace inspection, inspection work is performed by constructing an inspection scaffold from the furnace bottom or lowering a suspended scaffold from the furnace top. And it has taken a working period.

[0003] During inspections (damage to the furnace wall, etc.) at high places in the furnace, there has been an attempt to use the magnetic crawler robot.

This magnetic crawler robot is known as an endless track type magnetic traveling device, and is equipped with a permanent magnet and has an object (large steel structure) which is in a working environment which is difficult to handle manually.
The work activity is performed by exhibiting mobility by remote control. In this case, functional means such as a welding machine, a camera, and an ultrasonic measuring machine are mounted according to the work content.

However, in this application, the vertical working reaction force (ie, the force attached to the furnace wall) is advantageous because the attractive force of the magnet is utilized. Traction) fluctuates greatly, the allowable load in the vertical (gravity) direction is reduced,
There was a risk of falling. For this reason, it is necessary to take measures for suspending from the furnace top, which has been an obstacle to practical application.

On the other hand, there has been an attempt to bring a boom of an aerial work vehicle into a furnace to secure an allowable mounting load in a vertical (gravity) direction.

The boom mounted on this aerial work vehicle is known as a means for providing a scaffolding-free construction method in construction work, electric construction work, and the like, and has a work floor (bucket) on which a worker rides. The floor is supported by a boom and is equipped with a power unit and a control unit for turning and running.

However, in this application, the security of the allowable mounting load is certainly sufficient, but the magnetic crawler robot is weak against the work reaction force.
In order to compensate for this, the boom itself becomes large in size, causing a problem in portability or mobility, which is an obstacle to practical use.

As described above, none of the above-mentioned attempts has led to improvement of the conventional work load for inspection at a high place in the boiler furnace.

[0010]

Accordingly, the present inventors have evaluated conventional attempts and sought to overcome the current situation, and have attempted to solve the disadvantages of the above two devices and to develop a device that can use the advantages of the two devices. After extensive research, the present invention was completed. The technical problem to be solved here is mainly to synchronize the position control of the magnetic crawler robot and the boom, and to make the boom structure compact in view of the requirement for carrying in the furnace and portability.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and is intended to combine a light and small magnetic crawler robot with a boom to inspect a large steel structure such as in a boiler furnace on a high wall surface. The present invention is to provide a moving point support boom and a high-altitude inspection device using a magnetic crawler robot, which can perform the operation in a flexible and efficient manner.

[0012]

SUMMARY OF THE INVENTION In order to solve the problem, the present invention provides a boom supporting a moving point which moves on a surface at a high place of an object to be inspected from below, and moves a mounting end thereof to the movement of the moving point. A movable point support boom that is also position-controlled so that it can follow, and a telescopic boom that supports the movable point.
An extensible tripod arm supporting one point of the body part of the boom, and a rectangular frame. Each leg end of the boom and the arm is rotatably erected and installed on the surface below the moving point. A movable gantry, a boom drive controller for controlling expansion and contraction operations of the boom and the tripod arm based on the position information of the movable point, and a gantry drive controller for controlling a planar movement of the movable gantry. It is characterized by the following.

[0013] The magnetic crawler robot which travels and moves on a high place wall of a large steel structure such as in a boiler furnace is supported by a boom, and its mounting tip is made to follow the movement of the magnetic crawler robot. A high-altitude inspection device by a magnetic crawler robot, and a robot control device that instructs the magnetic crawler robot to travel, and a telescopic boom that supports the magnetic crawler robot,
An extensible tripod arm that supports one point of the body part of the boom, and a rectangular frame. Each leg end of the boom and the tripod arm is rotatably erected and supported to face downward from the magnetic crawler robot. A mobile gantry that is mounted on the top and that can move the magnetic crawler robot for moving legs at four corners of the frame so that it can move in a plane, and the position control of the mounting tip of the boom according to the sequential displacement of the magnetic crawler robot that travels A boom drive controller for controlling the extension and retraction of the boom and the tripod arm based on the position information of the magnetic crawler robot obtained from the robot controller, and a gantry for controlling the planar movement of the movable gantry. A drive controller is provided.

[0014]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a schematic structural view showing a moving point support boom and a high-altitude inspection device using a magnetic crawler robot supported by the moving point support boom. In the figure, solid lines between components indicate signal lines, but do not necessarily mean that the wires are wired.

FIG. 2 is an explanatory side view showing a moving point support boom and an operating subject of the high-altitude inspection device.

FIGS. 3A and 3B are a side view and a front view, respectively, showing the inspection operation inside the boiler furnace by the apparatus of the present invention. In order to understand the scale of the apparatus, dimensions are illustrated in the drawings.

FIG. 4 is an explanatory front view showing the allowable range of the motion of the magnetic crawler robot in the apparatus of the present invention.

As shown in FIGS. 1, 2 and 3, the moving point support boom (1) is configured as a telescopic cantilever for a magnetic crawler robot (3), and is a boiler furnace to be inspected. A telescopic boom (11) that supports a magnetic crawler robot (3), which is a moving point that moves on a surface (wall surface) at a height of a wall (W), and an elevation angle or a swing angle of the boom (11) is variable. Telescopic arm (12) for supporting the body of the boiler, and a rectangular frame which is installed on the bottom wall (L) of the boiler and includes a boom (11) and a tripod arm (12). (13) a movable gantry that supports a magnetic crawler robot (131) for movable legs at the four corners of the frame and that can move in a plane while supporting the end to be rotatable.
In order to control the position of the attachment end of the boom in accordance with the sequential displacement of the traveling magnetic crawler robot (3),
A boom drive controller (14) for controlling the boom (11) and the tripod arm (12) based on position information of the magnetic crawler robot (3), and a gantry drive for controlling a plane movement of the movable gantry (13). It has a controller (15).

The moving point support boom (1) and the robot controller (2) cooperate to constitute a high-altitude inspection device (X) applied to the boiler furnace wall (W).

Here, the position information (position control) of the magnetic crawler robot (3) is obtained from the robot controller (2) which instructs the magnetic crawler robot (3) to travel via existing communication means. .

Further, the magnetic crawler robot (3) may be a known one, but it is sufficient if it has the ability to bear the work reaction force, and the size can be further reduced. The driving source is a motor, and power is supplied from an external power supply via an electric wire (not shown) laid on the body of the moving point support boom (1). Note that the magnetic crawler robot (131) for the movable leg attached to the movable gantry (13) is another power source, but the same.

Therefore, the moving point bearing boom (1)
It bears the electric wire load and is responsible for preventing the magnetic crawler robot (3) from slipping (falling) (addition of the work reaction force)
It is only necessary to have a certain degree of strength, and the size can be reduced to ensure portability.

Thus, while the magnetic crawler robot (3) traveling and moving is supported by the boom (11; 1), the mounting tip can be made to follow the movement of the magnetic crawler robot (3).

As shown in FIG. 4, the magnetic crawler robot (3) moves vertically and horizontally within the allowable action range (A).
Perform the desired inspection work. To move this range (A), the gantry drive controller (15) drives the magnetic crawler robot (131) for the movable leg to move the stance [the movable gantry (13)] of the device (X).

[0026]

According to the present invention, there is provided a magnetic crawler robot which moves on a surface (wall surface) at a high place of a large steel structure to be inspected by a boiler furnace. It is supported by a boom from a movable gantry installed on the bottom wall surface, and a desired inspection work can be performed within an allowable movement range. In particular, it has a remarkable effect in the inspection work inside the furnace of the boiler.

By combining a lightweight and compact magnetic crawler robot and a boom, the disadvantages of the conventional magnetic crawler robot and the aerial work vehicle are eliminated and the advantages are used in combination. Perform efficiently,
Since the labor and the work period can be greatly improved, it has an extremely beneficial effect on industry.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a moving point bearing boom and a high-altitude inspection device using a magnetic crawler robot supported by the moving point bearing boom.

FIG. 2 is an explanatory side view showing an operating subject of a moving point support boom and a high place inspection device.

FIGS. 3A and 3B are a side view explanatory view and a side view explanatory view showing an inspection operation inside the boiler furnace. FIGS.

FIG. 4 is an explanatory front view illustrating an action range of the magnetic crawler robot.

[Explanation of symbols]

 1 Moving Point Bearing Boom 11 Boom 12 Tripod Arm 13 Moving Frame 131 Magnetic Crawler Robot for Moving Leg 14 Boom Drive Controller 15 Mount Drive Controller 2 Robot Controller 3 Magnetic Crawler Robot (Moving Point) A Allowable Range L Boiler furnace bottom wall ( Installation surface) W Boiler furnace wall (object to be inspected) X High-altitude inspection device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G01N 29/26 501 G01N 29/26 501

Claims (2)

[Claims] 1. A moving point support boom that supports a moving point that moves on a surface at a high place of an object to be inspected from below, and controls the position of its mounting tip in accordance with the movement of the moving point. And a telescopic boom supporting a moving point, a telescopic tripod arm supporting a body of the boom, and a rectangular frame, and each leg end of the boom and the arm is rotatably erected. A movable gantry installed and supported on the surface below the moving point, a boom drive controller for controlling extension and retraction of the boom and the tripod arm based on positional information of the moving point, and a plane of the movable gantry A moving point bearing boom, comprising a gantry drive controller for controlling movement. 2. A high-altitude inspection device for performing an inspection work on a high-altitude wall surface of a large steel structure by moving a magnetic crawler robot, and a robot control device for instructing the magnetic crawler robot to perform a travel movement, and the magnetic crawler. A telescopic boom for supporting the robot, a telescopic tripod arm for supporting one point of the body of the boom, and a rectangular frame, and each leg end of the boom and the tripod arm is rotatably erected and supported. And a movable gantry which is mounted on the surface below the magnetic crawler robot and which can move the magnetic crawler robot for planes by attaching the magnetic crawler robot for moving legs to the four corners of the frame; In addition, in order to control the position of the attachment end of the boom,
A boom drive controller for controlling the extension and retraction of the boom and the tripod arm based on the position information of the magnetic crawler robot obtained from the robot control device; and a gantry drive controller for controlling a planar movement of the movable gantry. A high-altitude inspection device using a magnetic crawler robot, wherein a mounting end of the magnetic crawler robot follows the movement of the magnetic crawler robot while supporting the traveling magnetic crawler robot.