JP2000111807A - Device for inspecting inside of tube - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for inspecting the inside of a tube which is freely steered in a tube and by which an optional range over a long distance can be endoscopically observed from an optional direction. SOLUTION: This device is equipped with a camera for observing the inside of a tube; and provided with a propulsion body 11 capable of propelling underwater inside the tube, a means 28 for jetting jet water flow for propulsion from the propulsion body 11, a movable nozzle 37 capable of guiding the jet water flow from the means 28 to the backward of the propulsion body 11, and direction control means respectively arranged at three or more spots in a peripheral direction at the base end 38 of the nozzle 37. Each direction control means is provided with a pressing means 54 for pressing the part 58 of the base end 38 of the nozzle 37 at a position where the. direction control means is arranged in a direction where the part 58 is separated from the propulsion body 11, and a moving means 45 moving the part 58 in a direction where the part 58 approaches to the propulsion body 11 against the pressing force of the means 54.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe inspection apparatus for inspecting the inside of a pipe in a water flowing state, and more particularly, to inspecting an inner surface of a pipe in a water flowing state in an existing water pipe by a television camera or the like. The present invention relates to an in-pipe inspection apparatus that can be used for updating an aging pipeline and maintaining and managing the pipeline.

[0002]

2. Description of the Related Art A water channel composed of cast iron pipes is generally installed buried underground. Therefore,
In order to inspect the inside of the pipe of this water channel, excavation work must be performed from the ground and the inside of the pipe must be cut off. For this reason, there is a problem that the cost is high, the night work is mainly performed, and the inhabitants of the area where the inspection is to be performed are troublesome.

[0003] For this reason, attempts have conventionally been made to inspect the inside of such a waterway without cutting or uncut water. As a device for this purpose, a push-rod television camera and a push-type tube endoscope have been conventionally developed.

[0004] Among them, the push rod type television camera has a television camera for observing the inside of the pipe at the tip side of a push rod which can be inserted into the pipe from a branch portion of a pipe such as a fire hydrant or an air valve. is there.

[0005] The push-in type tube endoscope has a television camera connected to the end of a cable that can be pushed into the pipe from the same branch in the pipe line as described above.

[0006]

However, in the conventional push-rod type television camera, since the endoscope is limited to the endoscope with the television camera installed at the distal end side of the push-rod, the viewing range is limited to the insertion portion of the push-rod. There is a problem that it is limited to a range of about 2 to 3 meters around a branch portion such as a fire hydrant or an air valve. There is also a problem in that the direction of the endoscope is limited and only the endoscope can be performed for the side view.

In the conventional push-in type tube endoscope, only the television camera is connected to the end of the cable, so that it is not possible to freely steer in the traveling direction, and it is also possible to freely observe a place to be observed in the tube. There is a problem that cannot be introspective. Further, since the propulsion is performed by rubbing the bottom of the pipe, there is a possibility that the sediment or the like is stirred.

Therefore, the present invention solves such a problem, and the in-pipe inspection apparatus can freely steer in the pipe and can view an arbitrary range over a long distance from an arbitrary direction. The purpose is to.

[0009]

In order to achieve this object, the present invention provides a propulsion body having a camera for observing the inside of a pipe and capable of propelling underwater in the pipe, and jetting a jet water stream for propulsion from the propulsion body. Means, a movable nozzle capable of guiding a jet stream from the jet stream jetting means to the rear of the propulsion body, and a movable nozzle at a base end of the movable nozzle in a circumferential direction.
Direction control means provided at more than one position, and each direction control means presses the base end portion of the movable nozzle at the position where the direction control means is provided in a direction away from the propulsion body. And a moving means for moving the base end portion of the movable nozzle in a direction approaching the propulsion body against the pressing force of the pressing means.

In such a configuration, in a normal state, all the pressing means press the corresponding portion at the base end of the movable nozzle in a direction approaching the propulsion body or in a direction away from the propulsion body, so that the movable nozzle is moved. Guides the jet stream straight behind the propulsion body. As a result, the propulsion body goes straight. When the moving means moves only the corresponding portion at the base end of the movable nozzle in the direction approaching the propulsion body, the movable nozzle bends correspondingly, thereby steering the propulsion body or in a direction corresponding to the bending. It is possible to make the inside of the tube invisible. In addition, since the propulsion body can be propelled in any direction in this manner, the propulsion body is prevented from rubbing against the pipe bottom and propelled, and therefore, the churning of deposits and the like on the pipe bottom is prevented. Is done.

[0011]

FIG. 6 shows the overall configuration of an in-pipe inspection apparatus according to the present invention. Here, reference numeral 11 denotes a propulsion body having a cylindrical casing 12 having a closed structure. Casing 12
An opening 13 is formed at the front end of the device, and the opening 13 is closed by a glass window 14. A cylindrical space 15 is formed inside the casing 13 rather than the glass window 14, and a television camera 16 capable of photographing an outside area through the glass window 14 is provided in the center of the space 15. Around the television camera 16, a lighting device 17 for illuminating an area to be photographed by the television camera 16 is provided.
A plurality is provided along the circumferential direction. TV camera 16
A substrate 18 is provided further behind, and the substrate 18 has a television camera 16, a lighting device 17, and a motor 2 described later.
2. An electronic circuit for performing power conversion and communication control for a keep solenoid 45 described later is mounted.

The propulsion body 11 of this in-pipe inspection apparatus is sent into a pipe in a water-permeable state, and its control is performed outside the pipe, for example, on the ground. A power supply and communication cable (not shown) is provided between the control unit and the propulsion body 11.

The portion of the in-pipe inspection device behind the substrate 18 constitutes a propulsion unit 21 for propelling the propulsion body 11. That is, a DC motor 22 as a rotation drive source is provided inside the casing 12, and a magnet coupling 23 is connected to the DC motor 22. This magnet coupling 23 is connected to an outer peripheral rotor 24 in the casing 12 which is directly rotated by the motor 22, and is connected to the outer rotor 2 by the action of magnetic force.
Inner rotor 25 outside casing 12 which is rotated by
And

A water impervious wall 26 is provided between the rotors 24 and 25 so as to cover the inner peripheral rotor 25 outside the casing 12.
The inside and outside of 2 are completely impermeable. In other words, the outer rotor 24 is installed in the casing 12 in a completely water-blocking state, and the inner rotor 25 is installed in the water outside the casing 12, and the rotational force can be transmitted between the rotors 24 and 25. Have been.

A shaft 27 is connected to the inner peripheral rotor 25, and an impeller 28 as jet water jetting means located on the center line of the casing 12 is provided at the tip end of the shaft 27. Around the shaft 27, the casing 12 is constituted by a bottomed cylindrical rear cover 29. The rear cover 29 of the casing 12 has a water suction flow path 30 to the impeller 28.
The rear cover 29 is provided with a plurality of suction ports 31 in the circumferential direction communicating with the suction flow path 30. Behind the impeller 28, a water discharge passage 32 is provided.
Are formed in the discharge passage 32.
A stator 33 having a fixed wing structure for canceling a counter torque generated by the rotation of the rotor 8 is provided. Discharge channel 32
Nozzle device 3 at the tip of the nozzle as a jet water jet outlet
5 are provided.

FIGS. 1 and 2 show the nozzle device 35 in detail. Here, a fixed nozzle 36 is screwed to the rear end of the rear cover 29. This fixed nozzle 3
A movable nozzle 37 having a tapered shape is provided on the outer periphery of the tip end of the movable nozzle 37.
The movable nozzle 38 is provided with a cylindrical stopper 39 on the outer periphery thereof.

The stopper 39 has leg portions 40 at four positions along the circumferential direction on the base end side thereof.
0, the rear cover 29 is screwed to the rear end of the rear cover 29 at a position on the outer peripheral side of the fixed nozzle 36. When the stopper 39 is attached to the rear end of the rear cover 29, the stopper 39 integrally has a stopper piece 41 located at a distance rearward from the rear cover 29. The stopper pieces 41 are located at four positions along the circumferential direction, and at positions avoiding the leg portions 40, the radial direction is configured so as to form a plane perpendicular to the axis, that is, a plane facing the rear cover 29. It is formed to protrude.

In the rear cover 29, an annular space 44 is formed around the suction passage 30, the impeller 28 and the discharge passage 32 via a partition wall 43. The annular space 44 is provided with a keep solenoid 45 as moving means. The keep solenoids 45 are provided at four positions in the circumferential direction corresponding to the stopper pieces 41 of the stopper 39, thereby forming direction control means.

FIG. 3 shows a schematic structure of the keep solenoid 45. Here, reference numeral 46 denotes a core.
7, it is fixed to the end surface of the rear cover 29 in the annular space 44. Reference numeral 48 denotes a cylindrical plunger, which is slidable in the direction of the axis of the inspection device in a pipe 49 arranged at the center of the core 46. Core 46
A fixed pole 50 is provided inside the pipe 49 at the bottom of the pipe 49. A coil 51 is arranged around the pipe 49 corresponding to the fixed pole 50. A permanent magnet 52 is arranged around the pipe 49 at a position farther from the bottom of the core 46 than the coil 51.

The tip of the plunger 48 is a core 46.
, And penetrates the end face of the rear cover 29 and reaches rearward from the rear cover 29. A flange 53 is formed at the tip of the plunger 48,
A compression coil spring 54 as a pressing means is externally fitted to a portion of the plunger 48 between the flange 53 and the rear cover 29.

When the plunger 48 reaches the rear of the rear cover 29, it operates underwater.
Then, the operation of the plunger 48 causes the pipe 49 to move.
Unless the water inside is drained or the water is introduced into the pipe 49, the smooth operation of the plunger 48 cannot be expected. Therefore, on the surface of the plunger 48, an axial groove 55 for discharging water in the pipe 49 and introducing water into the pipe 49 is formed. An O-ring 56 for stopping water is provided around the penetrating portion of the plunger 48 inside the rear cover 29. In the keep solenoid 45, a member disposed in water, such as the plunger 48, is formed of a magnetic stainless steel or the like so that it can be sucked by the coil 51 or the like and can prevent rusting in water. Have been.

As described above, the stopper 39 is connected to the rear cover 2.
1 and 2, the stopper piece 41 is positioned corresponding to the plunger 48, as shown in FIGS. When the distal end surface of the flange 53 of the plunger 48 pressed by the compression coil spring 54 contacts the stopper piece 41, the plunger 48 is configured so as not to protrude further.

At the base end portion 38 of the movable nozzle 37, similarly to the stopper piece 41 of the stopper 39, a projecting piece 58 having a configuration radially projecting so as to face the rear cover 29 at a position corresponding to the stopper piece 41. It is formed integrally. Each protruding piece 58 is formed with a hole 59 in which the plunger 48 is loosely fitted in a penetrating state, and each protruding piece 58 is formed with the plunger 48 inserted in this manner.
The flange 53 of the plunger 48 and the compression coil spring 5
4.

In such a configuration, when the in-pipe inspection apparatus is to be moved straight underwater, the power supply to the coils 51 of all the keep solenoids 45 is turned on. That is, FIGS. 1 and 3 show a state in which the energization of the coils 51 of all the keep solenoids 45 is turned off. Here, the compression coil spring 54 pushes the projecting piece 58 of the movable nozzle 37 and the flange 53 of the plunger 48. ,
The flange 53 is held in a state in which it abuts against the stopper piece 41 of the stopper 39. From this state, the coils 5 of all the keep solenoids 45 are moved as described above.
1 is turned on. Then, the flange 53 of the plunger 48 pulls the protruding piece 58 of the movable nozzle 37 toward the propulsion body 11 against the force of the spring 54. as a result,
The ejection port 60 of the movable nozzle 37 having a tapered shape is oriented in the direction of the central axis of the inspection apparatus. Therefore, when the impeller 28 is rotated by the DC motor 22 shown in FIG. 6, the propulsion body 11, that is, the inspection device goes straight.

As described above, when the protruding piece 58 of the movable nozzle 37 is drawn straight toward the propulsion body 11 to perform straight traveling, the gap between the movable nozzle 37 and the fixed nozzle 36 can be made as small as possible. Therefore, it is possible to prevent a reduction in the propulsion force due to the leakage of water from the gap as much as possible. Note that, even in the power-off state shown in FIGS. 1 and 3, the ejection port 60 of the movable nozzle 37 faces the direction of the central axis of the inspection device.
In this state, the inspection device can be moved straight.

In a case where the protruding piece 58 of the movable nozzle 37 is pulled straight toward the propulsion body 11, the vehicle is allowed to travel straight.
After the pulling, the coil 51 of the keep solenoid 45
Even when the power is turned off, the plunger can be held by the action of the permanent magnet 52 to keep the straight running state, as will be described in detail in the case of bending described later.

When steering the traveling direction of the propulsion body 11 or looking at an arbitrary direction in the pipe, it is necessary to turn the propulsion body 11 in a required direction.
In that case, as shown in FIG. 4 and FIG.
Keep solenoid 4 at the position corresponding to the direction in which you want to turn 1
5 is energized only. Then, a force acts in a direction to draw the plunger 48 toward the fixed pole 50. As a result, the plunger 48 has its flange 53
Moves the protruding piece 58 of the movable nozzle 37 toward the rear cover 29 against the force of the spring 54, and as a result, the movable nozzle 37 is bent as shown in FIG. Note that, depending on the direction in which the movable nozzle 37 is desired to be bent, the plurality of protruding pieces 58 can be moved by the plurality of keep solenoids 45.

As described above, since the movable nozzle 37 has a tapered shape, the movable nozzle 37 can be bent in an arbitrary direction inside the stopper 39 without hitting the cylindrical stopper 39. The cylindrical stopper 39 also plays a role of covering the movable nozzle 37 so that a cable for supplying power to the propulsion body 11 and communicating does not prevent the movable nozzle 37 from bending. Further, since the base end portion 38 of the movable nozzle 37 covers the outer periphery of the distal end portion of the fixed nozzle 36, even if the movable nozzle 37 is bent, the water jet ejected from the propulsion body 11 passes through the fixed nozzle 36. It is surely supplied to the movable nozzle 37.

As shown in FIG. 5, when the plunger 48 of the keep solenoid 45 is drawn to the fixed pole 50, the power supply to the coil 51 is turned off. Then plunger 4
8 is held in the same state by the permanent magnet 52. Therefore, the coil 51 of the propulsion body 11 moving in the water in the pipe
In contrast, the holding state of the plunger 48 can be maintained without continuously supplying power via the above-described power supply cable. Thereby, the movable nozzle 37 is also maintained in the bent posture without performing continuous power supply.

When the movable nozzle 37 is held in the bent state, as shown in FIG. 4, not only the projecting piece 58 moved by the flange 53 of the plunger 48 of the keep solenoid 45, but also other projecting pieces of the movable nozzle 37. 58 will also move to some extent correspondingly.
When the movable nozzle 37 is held in the bent state as described above, the axial direction of the hole 59 of the projecting piece 58 is inclined with respect to the axial direction of the plunger 48. By keeping it large, it is possible to deal with it.

By bending the movable nozzle 37 in this manner,
By controlling the traveling direction of the propulsion body 11, this propulsion body 1
It is possible to steer the vehicle 1 itself and to see in an arbitrary direction in the pipe. For example, it is possible to observe an air reservoir at the top of the pipe, observe deposits at the bottom of the pipe, observe rust bumps on the inner surface of the pipe, and check the gap between the bodies at the joint. When the pipe has a connecting ring and there is a step at the connecting ring, the step can be easily overcome.
Further, since the propulsion body 11 can be propelled in an arbitrary direction as described above, the propulsion body 11 can be prevented from being propelled by rubbing against the bottom of the tube, and therefore, agitating the sediment on the bottom of the tube. Can be prevented.

For example, when the outer diameter of the propulsion body 11 is about 60 mm, in order to incline the movable nozzle 37 by 5 degrees, it is necessary to move the projecting piece 58, that is, the plunger 48, by about 4 mm. The driving force depends on the structure of each part, but for example, about 100 gf is required. It is sufficient if the keep solenoids 45 are provided at three or more positions in the circumferential direction, and it is preferable that the keep solenoids 45 be provided at four positions in the circumferential direction as described above.

When the bent state of the movable nozzle 37 is released and returned to the straight state as shown in FIG. A current is applied to the coil 51 in a direction opposite to that at the time of suction so as to release the force. Then, a force in the opposite direction equivalent to the holding force by the permanent magnet 52 acts on the plunger 48 and balances, but the plunger 48 is protruded by the action of the spring 54 until it comes into contact with the stopper piece 41 of the stopper 39. Accordingly, the spring 54 pushes the projecting piece 58 of the movable nozzle 37, and the movable nozzle 37 is returned to a straight state. by this,
The propulsion body 11 returns to the straight traveling state.

[0034]

As described above, according to the present invention, the movable nozzle capable of guiding the jet water flow from the jet water flow jetting means to the rear of the propulsion body, and three or more circumferential nozzles at the base end of the movable nozzle. Pressing means for pressing a portion of the base end of the movable nozzle at the position where the direction control means is provided in a direction away from the propulsion body. And a moving means for moving a base end portion of the movable nozzle in a direction approaching the propulsion body against the pressing force of the pressing means, so that the moving means has a corresponding movable nozzle. When the base end is moved in the direction approaching the propulsion body, the movable nozzle can be bent correspondingly, so that the propulsion body is steered or the inside of the pipe in the direction corresponding to the bending is seen. Door can be. In addition, since the propulsion body can be propelled in an arbitrary direction in this way, it is possible to prevent the propulsion body from rubbing against the bottom of the pipe and propelling, and therefore, sediment on the bottom of the pipe is stirred. Can be effectively prevented.

[Brief description of the drawings]

FIG. 1 is a front view showing a main part of an in-pipe inspection apparatus according to an embodiment of the present invention.

FIG. 2 is a left side view of the portion shown in FIG.

FIG. 3 is a diagram showing a configuration of a keep solenoid in FIG. 1;

FIG. 4 is a view showing a bent state of a movable nozzle in the in-pipe inspection apparatus of FIG. 1;

FIG. 5 is a view showing an operation state of a keep solenoid operated to bend the movable nozzle in FIG. 4;

FIG. 6 is an overall view of the in-pipe inspection apparatus according to the embodiment of the present invention.

[Explanation of symbols]

 11 Propeller 28 Impeller (jet water jetting means) 37 Movable nozzle 39 Stopper 41 Stopper piece 45 Keep solenoid (moving means) 48 Plunger 54 Compression coil spring (Pressing means) 58 Projecting piece

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Yuji Izuno 2-35 Jinbucho, Yao-shi, Osaka Inside Kubota Electronic Technology Center Co., Ltd. (72) Kuniwa Takeuchi 2-35, Jinbucho, Yao-shi, Osaka Share (72) Inventor Akio Kamada 2-35 Jinmucho, Yao-shi, Osaka F-term in Kubota Electronic Technology Center (reference) 2H040 AA02 BA02 BA14 BA24 CA02 DA13 DA16 DA42 DA55 FA01 GA03 2H101 CC01 CC22 CC32 CC42 CC51 CC81

Claims (1)

[Claims] 1. A device for inspecting the inside of a pipe in a water-passing state, comprising a camera for observing the inside of the pipe and capable of propelling water in the pipe, and jetting a jet water stream for propulsion from the propulsion body. Means, a movable nozzle capable of guiding the jet stream from the jet stream jetting means to the rear of the propulsion body, and direction control means provided at three or more circumferential positions at the base end of the movable nozzle. Each direction control means has a pressing means for pressing a portion of the base end of the movable nozzle at a position where the direction control means is provided in a direction away from the propulsion body, and a pressing force of the pressing means. Moving means for moving a base end portion of the movable nozzle in a direction approaching the propulsion body in opposition to the movable nozzle.