JP2001315636A - Intra-tube travel device, and intra-tube travel system and intra-tube inspection method using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an intra-tube travel device capable of traveling in a tube changing in diameter. SOLUTION: Dynamic movement blocking devices 100a, 100c are provided in front and in the rear of a bellows 2b in a traveling drive device 100b. In the device 100c (100b), the diameter of a slip preventing cylinder 6 (6a) of barrel shape formed of an elastic body is increased when the bellows 2 (2a) is contracted, and its side face comes in contact with a tube wall to impede movement by frictional force. The devices 100a, 100c are alternately driven in a movement impeding state and a movement free state before and after the extension and contraction of the bellows 2b to advance a traveling part 1 in accordance with the moving principle of a measuring worm. Even at a part with a large tube diameter, the diameters of the side walls of the cylinders 6, 6a are enlarged to generate frictional force. In regard to a flexible tube such as an enteric canal, a suction device realizing suction and non-suction by fluid pressure is pressed to a tube wall by a link mechanism instead of friction by the slip preventing cylinder 6 so as to be sucked to the tube wall, or shunted from the tube wall.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention travels on industrial pipes such as fuel gas pipes such as city gas, water pipes, communication cable built-in pipes, cooling pipes of nuclear reactors, and in vivo pipes such as intestines. TECHNICAL FIELD The present invention relates to an in-pipe traveling apparatus suitable for the above, an in-pipe traveling system using the same, and an in-pipe inspection method.

[0002]

2. Description of the Related Art In the present specification, an in-pipe traveling device refers to an assembly of various members or devices traveling in a pipe. A combination of the in-pipe traveling apparatus and various devices provided outside the pipe for driving the in-pipe traveling apparatus is called an in-pipe traveling system.

[0003] In-pipe traveling devices for traveling in industrial pipes such as gas pipes, water pipes, cooling pipes of nuclear reactors and the like or flexible pipes such as human intestines and transporting inspection equipment or working equipment have been conventionally used. Has been studied. For example, Journal of the Japan Society of Precision Engineering, Vol. 61, No. 1, pp. 90 to 94 (hereinafter, referred to as the following).
(Referred to as the first reference) discloses a traveling unit composed of three hydraulic drive units. Each fluid pressure driving device has a rubber tube sandwiched between two parallel rigid plates, a link supported by the pair of rigid plates and extending and contracting in accordance with the expansion and contraction of the rubber tube, and a support supported by the link. With feet. When the rubber tube is extended by the compressed air, the foot is pressed against the inner surface of the tube by the link to fix the rubber tube, and when the compressed air in the rubber tube is released to the atmospheric pressure, the foot becomes the inner surface of the tube. The traveling unit travels by utilizing the departure from the vehicle.

[0004] The inventors of the present application have studied an in-pipe traveling device in which a fluid pressure driving device constituted by a bellows is driven by fluid pressure to move forward. It has been demonstrated that the bellows can be advanced by providing a plurality of friction plates on the bellows as anti-slip members for preventing the bellows from slipping due to the frictional force between each bellows and the pipe. Various types of fluid pressure driving devices and methods of controlling the fluid pressure supplied to them have also been disclosed.

[0005] For example, in the Proceedings of the Japan Society of Mechanical Engineers, IMPT-100, July 1997, "Trial Production of Pneumatically Driven Artificial Earthworms", pages 671 to 674 (hereinafter referred to as a second reference). Announced a pneumatically driven pipe running device. The running part is constituted by three connected fluid pressure drives each consisting of a bellows. The compressed air is sequentially supplied to the different bellows from the foremost bellows, and the compressed air in the different bellows is sequentially released to the atmosphere, thereby moving the traveling section forward.

Proceedings of the Japan Society of Mechanical Engineers, 1998.3
Moon, "Vehicle running characteristics of vacuum-pressure driven earthworm robot", No. 5
From page 7 to page 58 (hereinafter referred to as a third reference), a vacuum-driven in-pipe traveling device was announced. Running part is 3
The traveling part is moved forward by contracting with vacuum pressure and expanding at atmospheric pressure each of the three bellows which are constituted by two connected fluid pressure driving devices.

[0007] Proceedings of the 1998 Society of Precision Engineering Saga Local Lectures, November 1998, "Trial Production of Artificial Earthworms Combined with Pneumatic and Vacuum Pressure", pp. 107-108 (hereinafter referred to as
(Referred to as the fourth reference), an in-pipe traveling device driven by both pneumatic and vacuum pressures was disclosed. The traveling unit is constituted by three connected fluid pressure driving devices, and the traveling unit is advanced by contracting each of the three bellows constituting the fluid pressure driving devices by vacuum pressure and expanding them by air pressure.

Proceedings of the 16th Annual Conference of the Robotics Society of Japan, September 1998, "Prototype of Gas-Liquid Phase Change Type In-pipe Microrobot", pp. 1087 to 1088 (hereinafter referred to as the fifth reference). Introduced a gas-liquid phase change type pipe running device. The traveling part is constituted by one fluid pressure drive device, the liquid sealed in one sealed bellows constituting the fluid pressure drive device is changed into a gas by heating, the bellows is extended, and this gas is cooled. The traveling part is advanced by contracting the bellows when it is pressed.

The in-pipe traveling devices disclosed in the second to fifth references are suitable for high-speed traveling. In particular, the in-pipe traveling apparatus driven by both pneumatic and vacuum pressures described in the fourth reference is faster than the pneumatically driven in-pipe traveling apparatus described in Reference 2 and the in-pipe traveling apparatus driven by vacuum described in Reference 3. It can run. In addition, a traveling unit using one fluid pressure driving device disclosed in the fifth reference document has a principle of 3
It can travel at a higher speed than the traveling section using two fluid pressure driving devices.

[0010]

As a result of the inventors' subsequent research, the following has been found. (1) In the in-pipe traveling device described in the second to fifth references, one or a plurality of bellows are used, and a friction between a non-slip prevention member provided on each bellows and a pipe wall is used. To prevent the bellows from retreating. But,
The anti-slip member also generates friction with the tube wall when the bellows to which it is attached is extended or advanced. As a result, the extension speed or forward speed of the bellows decreases. If the in-pipe traveling device can be configured so as to effectively prevent the retraction of the bellows and not reduce the speed of extension or advancement of the bellows, it is expected that an in-pipe traveling device capable of traveling at a higher speed can be obtained.

(2) Industrial pipes, such as gas pipes, water pipes, communication cable built-in pipes, and cooling pipes for nuclear reactors, vary greatly in pipe diameter or pipe shape, and have a length of 100 meters or more. Is normal. For example, as shown in FIG. 1A, a distribution pipe 80a may be connected to the main pipe 80, and the diameter of the distribution pipe 80a may be less than half the diameter of the main pipe 80. Also, as shown in FIG. 7B, a curved pipe 80c may be connected to the straight pipe 80b, and the diameter of the curved pipe 80c may be twice or more the diameter of the straight pipe 80b. Further, in a pipe, for example, 80c, a communication cable 81 is provided.
b, 81c and a connecting portion 81a for connecting them may be provided, and the size of the connecting portion 81a is larger than the diameter of the communication cables 81b, 81c. Therefore, the shape of the inside of the tube 80c changes greatly depending on the place.

[0012] The diameter of a human body canal varies greatly from the small anus to the large intestine to the small intestine, and further to the duodenum, and its length reaches more than ten meters.
Moreover, unlike industrial tubing, in vivo tubing is flexible.

(2a) When the diameter of the running pipe or the shape inside the pipe changes greatly, the running apparatus in a pipe described in the first to fifth references has the following problems. The in-pipe traveling device described in the first reference sends out a fixed-length foot toward the inner wall using a link, and uses a reaction force from the inner wall to prevent the rubber tube from moving. Therefore, when the pipe diameter greatly changes depending on the place, in a place where the pipe diameter is much larger than the size of the in-pipe traveling device, the feet may not reach the pipe wall, and the in-pipe traveling apparatus may not be able to travel.

In the in-pipe traveling apparatus described in the second to fifth references, a circular anti-slip member having a diameter slightly larger than the inner diameter of the traveling pipe is provided on the outer peripheral portion of the bellows, and the anti-slip member and the traveling pipe are connected to each other. It uses frictional force to move forward. Therefore,
When the pipe diameter changes greatly depending on the location, in a portion where the pipe diameter is much larger than the size of the in-pipe traveling device, the non-slip member does not contact the pipe, and in a portion where the pipe diameter is much smaller than the size of the in-pipe traveling device, The frictional force between the non-slip member and the pipe wall becomes too large, and there is a possibility that the in-pipe traveling device cannot move in any of the pipe portions.

(2b) In the case of a tube made of a flexible material such as the intestinal tract, the in-tube traveling devices described in the first to fifth references have the following problems. Since the in-pipe traveling device described in the first reference presses the foot against the pipe wall, the pipe wall may escape from the foot, and the foot may damage the pipe wall. In the in-pipe traveling device described in the second to fifth references, if the pipe is flexible, the pipe cannot apply a sufficient frictional force to the non-slip member, and the non-slip member becomes non-slip. The function may not be fulfilled.

(2c) Further, when the length of the pipe is very long, the in-pipe traveling devices described in the first to fifth references have the following problems. These in-pipe traveling devices are fluid-driven in-pipe traveling devices in which a high-pressure side fluid source and a low-pressure side fluid source are switched by an electromagnetic valve that is stationary at a predetermined position in the vicinity thereof to supply and discharge fluid. It is usually connected to one end of a pipe, the other end of which is connected to a hydraulic drive in the running part. One end of the fluid supply / discharge pipe remains stationary, and the other end of the fluid supply / discharge pipe moves following movement of the fluid pressure driving device.

When the length of the traveling pipe is 100 m or more, the length of the fluid supply / discharge pipe also becomes 100 m or more, and the total volume of the fluid supply / discharge pipe far exceeds the volume of the bellows constituting the fluid pressure driving device. There is fear. As a result, when the high-pressure side fluid and the low-pressure side fluid are switched from the valve via the fluid supply / discharge pipe and supplied to the bellows, these fluids only enter and exit the fluid supply / discharge pipe, and the pressure inside the bellows is reduced. Might hardly change. Therefore, the bellows hardly expands and contracts, and the fluid pressure driving device does not travel.

In order to solve this problem, the inventor of the present invention arranges an electromagnetic valve for controlling a hydraulic drive for driving the in-pipe traveling device near the hydraulic drive and travels together with the hydraulic drive. I figured out a way to make it happen. In this method, the solenoid valve moves in the traveling pipe. However, since the gas pipe is filled with combustible gas, it is necessary to prevent the gas from being ignited when the solenoid valve is opened and closed. There is drinking water in the water pipe and intestinal fluid in the intestinal tract. It is necessary to prevent these liquids from being contaminated by the fluid driving the solenoid valve.

Accordingly, an object of the present invention is to provide an in-pipe traveling apparatus, a in-pipe traveling system and an in-pipe traveling apparatus suitable for high-speed traveling which can effectively prevent retraction without lowering the bellows extension or forward speed. An object of the present invention is to provide an inspection method.

It is another object of the present invention to provide an in-pipe traveling apparatus suitable for traveling in a pipe having a variable diameter, an in-pipe traveling system using the same, and an in-pipe inspection method.

Still another object of the present invention is to provide an in-tube traveling device suitable for traveling in a flexible tube such as the intestine, an in-tube traveling system using the same, and an in-tube inspection method.

Still another object of the present invention is to move a solenoid valve for switching a fluid supplied to a fluid pressure driving device in a pipe running device together with the fluid pressure driving device, and to control the inside of the pipe by the solenoid valve. It is an object of the present invention to provide an in-pipe traveling apparatus capable of preventing influence on a fluid, an in-pipe traveling system using the same, and an in-pipe inspection method.

[0023]

According to the present invention, in order to solve the problem (1), a fluid pressure which can be switched between a state in which it acts on a pipe wall to prevent its own movement and a state in which it does not, is taken. The drive dynamic movement inhibiting device is provided in front and rear of the fluid pressure driven bellows constituting the traveling portion. In order to solve the problem (2a), as the dynamic movement preventing device, another bellows which is held by the bellows and greatly expands and contracts in the traveling direction and a direction perpendicular to the traveling direction by extension of the other bellows, ie, A non-slip member that is largely pressed in a direction toward the pipe wall, and generates a frictional force between the pipe walls when the anti-slip member is pressed against the pipe wall. In order to solve the problem (2b), a fluid pressure driven suction device capable of switching between a state of adsorbing to a flexible tube and a state of not adsorbing is used as the dynamic movement preventing device. In order to solve the problem (2c), the solenoid valve is housed in a closed container, and the internal pressure of the container is made slightly higher than the pressure in the pipe.

Specifically, the in-pipe traveling apparatus according to the present invention is an in-pipe traveling apparatus having at least one traveling section driven by hydraulic pressure, wherein the traveling section responds to a change in pressure of a supplied fluid. A bellows that expands and contracts, a hydraulically driven first dynamic movement prevention device held at the front of the bellows, and a hydraulically driven second dynamic movement prevention device held at the rear of the bellows Each of the first and second dynamic movement preventing devices acts on a wall of a traveling pipe in accordance with a pressure of a supplied fluid to prevent movement of the dynamic movement preventing device. And a second state in which the movement of the dynamic movement preventing device is not blocked.

By using the bellows for the traveling part,
Since the expansion of the bellows due to the fluid pressure can be increased, the bellows can run at high speed. In addition, bellows,
Extension and contraction can be realized in a short time, which is effective for high-speed running.
In particular, when a negative pressure fluid is used when the bellows contracts, the contraction can be realized at high speed. Furthermore, only one of the first and second dynamic movement preventing devices can be set to the first state and the other to the second state in accordance with the forward movement of the in-pipe traveling device, and the other of the first and second dynamic movement preventing devices can be set to the second state. It is possible to prevent the unnecessary movement inhibiting force from being generated by the dynamic movement inhibiting device. As a result, the in-pipe traveling device can move forward at a high speed. For example, when the bellows is extended, only the second dynamic movement preventing device can be maintained in the first state, and the first dynamic movement preventing device can be maintained in the second state. There is no force generated by the movement inhibiting device to inhibit the movement of the first dynamic movement inhibiting device, and the first dynamic movement inhibiting device moves forward at high speed. When the bellows is contracted, only the first dynamic movement preventing device can be maintained in the first state, and the second dynamic movement preventing device can be maintained in the second state. No force is generated to prevent the movement of the second dynamic movement, and the second dynamic movement prevention device moves forward at a high speed. Therefore, the in-pipe traveling device can travel at high speed.

In a preferred aspect of the in-pipe traveling device according to the present invention, each of the first and second dynamic movement preventing devices includes another fluid-driven bellows fixed to the bellows,
Coupled to the other bellows, and in accordance with the other bellows expansion and contraction, it is possible to switch between a state in which a frictional force is generated by contacting the pipe wall and a state in which the pipe is retracted from the pipe wall and does not generate the frictional force. A dynamic anti-slip device configured to:
Is provided. Since this dynamic movement preventing device is configured using the other bellows and the non-slip member, the structure is simple.

[0027] Specifically, the dynamic anti-slip device includes an elastic member coupled to the other bellows and disposed along an axial direction of the other bellows.
The length of the elastic member along the axial direction of the other bellows and the distance between the side surface of the elastic member and the tube wall are formed so as to change in accordance with the expansion and contraction of the other bellows, At least a portion of the side surface of the elastic member facing the tube wall is formed so as to generate a frictional force when the portion comes into contact with the tube wall. This dynamic anti-slip device can dynamically switch between generation and non-generation of a frictional force at each pipe location even when the pipe diameter varies from place to place. More specifically, the elastic member is formed of a cylindrical body coaxial with the other bellows.

Alternatively, the dynamic anti-skid device is coupled to the anti-slip member and the other bellows, and moves the anti-slip member toward the pipe wall depending on a change in the length of the other bellows. Or moving means for moving in a direction away from the tube wall. This dynamic anti-slip device can generate a large frictional force when the moving member strongly presses the elastic member against the tube wall.

In another preferred embodiment of the in-pipe traveling device according to the present invention, each of the first and second dynamic movement preventing devices is provided so as to face the pipe wall, and is adapted to reduce the pressure of the supplied fluid. An adsorbing device is provided which can switch between a state of adsorbing to the tube wall and a state of not adsorbing the tube wall according to the necessity. The first and second dynamic movement preventing devices can realize the first and second states by using the suction device even in a flexible tube such as the intestinal tract, and the in-tube traveling device is It can run at high speed even in such a flexible pipe.

More specifically, the suction device provided in each of the first and second dynamic movement preventing devices has a suction cup, and is fixed to the suction cup, and forms a fluid chamber in front of the suction cup. A flexible membrane, and an opening for supplying a fluid to the fluid chamber, wherein the membrane is adsorbed to the pipe wall together with the suction cup according to a fluid pressure in the fluid chamber, A state is switched between a state where the suction cup expands and the suction wall is prevented from being adsorbed to the pipe wall. Such an adsorption device can prevent the fluid in the tube from being released outside by the membrane.

More specifically, each of the first and second dynamic movement preventing devices is connected to another hydraulically driven bellows fixed to the bellows, and to the other bellows,
Moving means for moving the suction device provided in the dynamic movement preventing device in a direction toward or away from the tube wall in accordance with extension or contraction of the other bellows. Good. Such an in-pipe traveling device can dynamically switch between generation and non-generation of friction with the pipe wall at each location even when the pipe diameter varies depending on the location.

Alternatively, each of the first and second dynamic movement preventing devices is held by the bellows, and the suction device included in the dynamic movement preventing device and the in-pipe traveling device are inside the pipe. In the meantime, an elastic member for continuing to press against the tube wall may be further provided. Such an in-pipe traveling device has a simple structure, and can dynamically switch between generation and non-generation of the attraction force on the pipe wall at each location even when the pipe diameter varies depending on the location.

More specifically, the suction device provided in each of the first and second dynamic movement preventing devices includes a suction cup held by the elastic member and a suction cup fixed to the suction cup. A fluid membrane for forming a fluid chamber in the front, an opening for supplying fluid to the fluid chamber, and a friction reducing member fixed to the outside of the membrane, wherein the membrane is provided inside the fluid chamber. A state where the suction cup is adsorbed to the pipe wall together with the suction cup according to the fluid pressure, and a state where the suction cup is expanded to prevent the suction cup from being adsorbed to the pipe wall and the friction reducing member is pushed out toward the pipe wall. And switch. Such a suction device can prevent the fluid in the tube from being released to the outside by the film, and when the film is inflated, the friction between the tube wall and the film is reduced by the friction reducing member. Can be reduced.

More specifically, the bellows and the other bellows provided in each of the first and second dynamic movement preventing devices are formed of double bellows. Such a dynamic movement preventing device can be used to pass the inside of the double bellows through a fluid supply / discharge pipe, a signal line, and the like.

Alternatively, the other bellows provided in each of the bellows and the first and second dynamic movement preventing devices may be composed of a plurality of bellows arranged in parallel with each other. Such a dynamic movement preventing device can also be used to pass the space between the bellows through the fluid supply / discharge tube and the signal line.

More specifically, the in-pipe traveling device according to the present invention comprises: an inspection device for inspecting the inside of the traveling pipe;
A vibration isolating member for preventing vibration of the inspection device. Thereby, vibration at the time of extension and contraction of the bellows can be suppressed.

More specifically, the in-pipe traveling device according to the present invention is connected to the traveling portion so as to be movable together,
Further, there is further provided an electromagnetic valve connected to a fluid supply pipe for supplying a working fluid from the outside, and for controlling whether or not the working fluid supplied by the fluid supply pipe is supplied to the traveling section. As a result, the traveling distance of the in-pipe traveling device becomes longer, and even if the fluid supply pipe becomes longer, the pressure of the fluid in the in-pipe traveling device can be changed at high speed, and the in-pipe traveling device can travel in a longer pipe. it can.

More preferably, the apparatus further includes a container movably connected to the bellows, wherein the solenoid valve is housed in the container, and the pressure of the fluid existing in the pipe is contained in the container. Higher pressure fluid is full. Accordingly, it is possible to prevent the flammable fluid in the pipe from igniting during the operation of the valve, or to prevent the fluid in the pipe from being contaminated by the working fluid supplied to the in-pipe traveling device.

Another preferred embodiment of the in-pipe traveling apparatus according to the present invention is a pipe traveling apparatus comprising a plurality of traveling sections each of which is a plurality of traveling sections, each of which is movably connected to one of the traveling sections. A plurality of solenoid valves, each of which is connected to a fluid supply pipe for supplying a working fluid from the outside, and the solenoid valve is connected to the working fluid supplied by the fluid supply pipe. This is for controlling whether or not to supply to the traveling section. In this way, by using a plurality of traveling parts, even when traveling in a long pipe and the length of the fluid supply pipe is increased and the weight of the fluid supply pipe is increased, the traction force required by each traveling part can be reduced. . Further, by using a valve that moves together with each traveling unit, the pressure of the fluid supplied to the traveling unit can be changed at a high speed, so that the traveling unit can move at a high speed.

The in-pipe traveling system according to the present invention includes any one of the above-described in-pipe traveling apparatuses, a fluid supply device for supplying a working fluid to the in-pipe traveling apparatus via a fluid supply pipe, and an in-pipe traveling apparatus. A control device for supplying an electric signal for controlling the operation to the in-pipe traveling device.

The driving method of the in-pipe traveling device according to the present invention comprises:
A method of driving any of the above-described in-pipe traveling devices, wherein a first step of supplying a fluid pressure for setting the first dynamic state to the second dynamic movement preventing device;
A second step of supplying a fluid pressure for bringing the dynamic movement preventing device to the second state into the second state, and wherein the first dynamic movement preventing apparatus is in the second state; A third step of providing a fluid pressure for expanding the bellows when the target movement preventing device is in the first state;
A fourth step of supplying the first dynamic movement preventing device with the fluid pressure for setting the first state, and a fluid for setting the second dynamic movement preventing device to the second state. A fifth step of providing pressure; and wherein the bellows is located when the first dynamic movement inhibiting device is in the first state and the second dynamic movement inhibiting device is in the second state. A sixth step of supplying a fluid pressure for contracting the first step, and a seventh step of repeating the first step to the sixth step.
And a step. This allows the in-pipe traveling device to travel at a high speed like a scale insect and without receiving unnecessary force from the pipe wall.

The inspection method according to the present invention includes a step of guiding the inspection device into the pipe to be inspected by any of the above-described in-pipe traveling devices, and inspecting the inside of the pipe by the inspection apparatus. This allows inspection of long tubes. More specifically, the inspection method according to the present invention includes a plurality of traveling distance detection devices for detecting traveling distances of the inspection device along different paths on the traveling pipe wall together with the inspection device. The method further includes a step of guiding the inside of the pipe and detecting a position in the space of the inspection device using a plurality of traveling distances detected by the plurality of traveling distance detection devices. Thus, the position of the inspection device can be detected using a simple device such as a travel distance measuring device.

[0043]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The in-pipe traveling apparatus according to the present invention, the in-pipe traveling system using the same, and the in-pipe inspection method according to the present invention will be described in further detail with reference to some embodiments shown in the drawings. In the following, the same reference numbers represent the same or similar ones. Also, the second
In the second and subsequent embodiments, only the differences from the first embodiment will be mainly described.

<First Embodiment of the Invention> In FIG. 2, a traveling section 1 according to the present invention comprises a positive / negative pressure switching valve 7h, 7i,
7j, positive pressure fluid supply pipe 71A, negative pressure fluid supply pipe 72A
And connected to various devices 71 to 74 located outside the tube via control signal lines 73A to 73C and 74A. The traveling unit 1 includes a dynamic movement prevention device 100a, a traveling drive device 100b, and a dynamic movement prevention device 100c. The traveling drive device 100b has a bellows 2b and is a fluid pressure driven device that expands or contracts the bellows 2b by fluid pressure. In the following, the running pipe 80 is used unless otherwise specified.
Is assumed to be located in a horizontal plane, but the traveling pipe according to the present invention is configured to be able to travel even when the position of the traveling pipe 80 changes three-dimensionally.

The dynamic movement preventing devices 100a and 100c
This is a device which can be realized by switching between a movement inhibition state in which the self-movement is prevented by acting on the wall of the traveling pipe 80 and a free movement state in which the movement is not allowed. In the present embodiment, the dynamic movement preventing devices 100a and 100c use a non-slip member to generate friction between the tube wall and a movement-inhibited state in which self-movement is prevented, and the friction between the tube wall and the movement-inhibited state. An example of a dynamic non-slip device that switches between a free movement state and a free movement state that does not cause a problem is used.

Dynamic movement preventing device 100a or 100c
Has a non-slip tube 6a or 6 formed in a hollow cylindrical shape as a non-slip member, and a bellows 2a or 2. The bellows 2a or 2 is a driving device for changing the positional relationship between the side surface of the non-slip cylinder 6a or 6 and the inner wall of the pipe 80, and is provided inside the non-slip cylinder 6a or 6 and is coaxial with the bellows 2b. Is provided. Dynamic movement prevention device 10
Reference numeral 0a or 100c denotes a fluid pressure driven device that expands or contracts the bellows 2a or 2 by fluid pressure and changes the shape of the anti-slip cylinder 6 or 6a by the extension or contraction.

The front and rear ends of the bellows 2 are hermetically sealed by disk-shaped plates 3 and 3b, respectively. The disk-shaped plate 3b is also used to seal the front end of the bellows 2b, and the rear end of the bellows 2b is hermetically sealed by the disk-shaped plate 3a. The disk-shaped plate 3a is also used to seal the front end of the bellows 2a, and the rear end of the bellows 2a is hermetically sealed by the disk-shaped plate 4. Bellows 2, 2
a and 2b are made of metal, rubber or plastic. The disk-shaped plates 3, 3a, 3b, 4 are made of metal or plastic.

A plurality of ring-shaped reinforcing members 5, 5a, 5b are contained in the inside of all the peaks of the bellows 2, 2a, 2b. The reinforcing members 5, 5a, 5b are provided to prevent the bellows from being compressed when the internal pressure of the bellows becomes low. The reinforcing members 5, 5a, 5b are effective when the bellows is made of a flexible member such as rubber or plastic, and can be omitted when the bellows is made of metal. It is desirable to manufacture the bellows 2, 2a, 2b so as to incorporate the reinforcing members 5, 5a, 5b.

The non-slip cylinders 6 and 6a are provided coaxially with the bellows 2 and 2a, respectively. Both ends of the anti-slip cylinder 6 are provided at the front and rear of the bellows 2 at the disk-shaped plates 3.
And 3a, and both ends of the non-slip cylinder 6a are bellows 2
It is fixed to disk-shaped plates 3a and 4 provided in front and rear of a. The non-slip cylinders 6 and 6a are made of an elastic material, and are expanded or contracted by the bellows 2 or 2a.
It expands or contracts in the axial direction so as to have the same length as the bellows 2 or 2a, and the side bulge is reduced or increased in accordance with the change in the length. At least a portion of the outer side surface of the non-slip cylinder 6a or 6 facing the inner surface of the tube 80 is formed so as to generate a strong frictional force when it comes into contact with the tube wall.

When the bulge on the side surface of the non-slip tube 6 or 6a increases, friction occurs between the side surface of the non-slip tube 6 or 6a and the inner wall of the tube 80, and the dynamic movement preventing device 100a or 100c The frictional force enters a movement inhibition state in which the self movement is inhibited. On the other hand, when the bulge on the side of the non-slip cylinder 6 or 6a is reduced, the side of the non-slip cylinder 6 or 6a does not contact the inner wall of the pipe 80, and the dynamic movement preventing device 100
c or 100a is free to move without generating any frictional force with the pipe wall.

An inspection device 40 for inspecting the tube wall is fixed to the outside of the front disk 3 in the dynamic movement preventing device 100c. A vibration isolating member 41 for preventing vibration of the inspection device 40 when the bellows 2 expands and contracts around the inspection device 40.
Is attached.

Behind the traveling section 1, a positive / negative pressure switching valve 7 is provided.
h, 7i and 7j are provided. As described later, these valves are stored in a container 30 (FIG. 15) supported by a low friction element such as a wheel, and the container 30 travels using the fluid supply / discharge pipes 8h, 8i, 8j. Towed by part 1. As a result, these valves move forward with the running part 1. When the size of these valves can be reduced, the container 30 (that is, the valves 7h, 7i, 7j) may be fixedly provided on the traveling unit 1. When the length of the traveling pipe is short, these valves may be kept stationary outside the pipe. Each of the valves 7h, 7i, and 7j is an electromagnetic control valve having two supply ports and one output port, and outputs one of the two supply ports according to a control signal supplied to each valve. Connect to mouth via internal route.

In this embodiment, a positive pressure fluid having a pressure higher than the atmospheric pressure is used as the high pressure fluid, and a negative pressure fluid having a pressure lower than the atmospheric pressure is used as the low pressure fluid. The positive pressure generating device 71 is a device configured by, for example, a compressor and supplying a positive pressure fluid. As a positive pressure fluid, for example, air,
An inert gas such as nitrogen or argon is used. The positive pressure fluid may be water. The positive pressure generator may optionally be a cylinder containing compressed nitrogen or other inert gas. The positive pressure generating device 71 includes a flexible positive pressure fluid supply pipe 71.
A is connected to one of two supply ports provided in each of the valves 7h, 7i, 7j through A.

The negative pressure generating device 72 is a device for supplying a negative pressure fluid, and is constituted by, for example, a vacuum pump device. The negative pressure generator 72 is connected to the other of the two supply ports provided in each of the valves 7h, 7i, 7j through a flexible negative pressure fluid supply pipe 72A. The positive pressure generator 71 and the negative pressure generator 72 are connected to an atmospheric pressure tank 75.

Flexible fluid supply / discharge pipes 8h, 8i, 8j are provided through the discs 3, 3a, 3b, and are connected to the output ports of the positive / negative pressure switching valves 7h, 7i, 7j, respectively. The other end of each fluid supply and discharge pipe is a bellows 2
a, 2b, and 2 are open. Therefore, the bellows 2a, 2b or 2 is connected to the positive pressure generator 7 via the valve 7h and the fluid supply / discharge pipe 8h, the valve 7i and the fluid supply / discharge pipe 8i, or the valve 7j and the fluid supply / discharge pipe 8j.
The positive pressure fluid supplied by 1 and the negative pressure fluid supplied by the negative pressure generator 72 are switched and supplied.

When the bellows, for example, 2a is connected to the negative pressure generator 72 via the valve 7h, the fluid in the bellows 2a is discharged to the negative pressure generator 72, and the pressure in the bellows 2a becomes negative. Although the pressure decreases toward the negative pressure determined by the pressure generating device 72, the negative pressure fluid may also be referred to herein as supplying the bellows 2a to the bellows 2a for simplification.

The traveling control device 73 transmits a control signal for traveling the traveling section 1 to the valves 7h, 7i, 7j via lines 73A, 7J.
Supply via 3B, 73C. The inspection control device 74
Control signals are supplied to the inspection device 40 via line 74A, or inspection result signals are received therefrom via line 74A. When illumination is used for inspection, a power supply line for illumination light is also included in this line 74A. Lines 73A, 73B, 73
C and 74A are bundled to form a signal line group 300. A part thereof is guided to the front of the traveling unit 1 through a cutout portion described later provided on the side surface of the non-slip cylinder 6, 6a. The positive pressure fluid supply pipe 71A and the negative pressure fluid supply pipe 72A are
Even when the traveling unit 1 moves forward, it is long enough so that each of the leading ends can move forward. The same applies to the signal line 300.

FIG. 3A is a side view of a non-slip cylinder 6 suitable for use in the traveling section 1 of FIG. FIG. 2B is a cross-sectional view taken along a line AA in FIG. The non-slip cylinder 6a also has the same structure as the non-slip cylinder 6. The non-slip cylinder 6 is a hollow cylinder whose center portion is slightly swelled like the side surface of a beer barrel. The non-slip cylinder 6 is formed of a double cylinder. The inner cylinder 6B is an elastic member made of an elastic metal, for example, stainless steel for spring or phosphor bronze for spring, and may be simply referred to as a spring cylinder below. The thickness is determined so that the spring cylinder 6B can be elastically contracted by an axial force. For example, it is 0.1 mm.

The outer cylinder 6A is made of a member having elasticity and a large frictional force, for example, rubber. Hereinafter, the outer cylinder 6A may be simply referred to as a rubber cylinder. The rubber cylinder 6A is formed so as to have a large number of hemispherical projections 6E having a radius of 0.3 to 3 mm at the center of the surface. These projections 6E are provided to increase the frictional force between the side wall of the anti-slip cylinder 6a and the inner surface of the tube 80. Protrusion 6
E is formed integrally with the rubber cylinder 6A. Rubber is suitable for integrally forming the projection 6E, but other materials may be used. The thickness of the rubber cylinder 6A is, for example, 0.3 to 3 mm.
It is. The rubber cylinder 6A is formed by, for example, using an adhesive.
B is fixed. The spring cylinder 6B is provided to enhance the elasticity of the rubber cylinder 6A so that the rubber cylinder 6A is strongly pressed against the tube wall.

The non-slip cylinder 6 is provided with a plurality of notches 6C extending in the axial direction and a plurality of notches 6D wider than the notches 6C. In order to actually produce the non-slip cylinder 6, before fixing the outer cylinder 6A and the inner cylinder 6B to each other, a plurality of linear cutouts and a plurality of notches wider than those are formed at positions corresponding to each other. create. These cuts and cuts are provided to allow the non-slip tube 6 to be deformed as described below. Further, as shown in FIG. 3A, a plurality of cuts are made in the signal line 300.
Is provided in order to form a space that allows the air to pass forward along the axial direction. When a plurality of running parts are connected as described later, the positive-pressure fluid supply pipe 71A and the negative-pressure fluid supply pipe 72A also pass through the space formed by the cut portions and are guided to the front travel part. Can be.

The two obtained cylinders are fixed to each other with, for example, an adhesive so that the positions of the notches and the cuts coincide with each other. When the obtained double cylinder is crushed along the central axis, the notches and cuts thereof are enlarged, and FIG.
As shown in (b), a non-slip cylinder 6 whose central portion is slightly bulged in a barrel shape is obtained. The reason why the anti-skid cylinder 6 is formed into a barrel shape is to prevent the side surface of the anti-slip cylinder 6 from being deformed inward when a further crushing force is applied to the anti-skid cylinder 6 later along the axial direction. This is to ensure that the side surface of the anti-slip cylinder 6 is deformed outward.

The anti-slip cylinder 6 thus generated is slightly curved outward as shown in FIG. 3B when no axial force is applied. Therefore, when both ends are brought closer in the axial direction from this state, the protrusion 6E on the side surface of the non-slip cylinder 6 moves largely in the radial direction and comes into contact with the traveling pipe 80 to generate a large frictional force. .

When the non-slip cylinder 6 passes near a foreign substance such as a cable connecting portion 81a provided in the pipe shown in FIG. 1B, the non-slip cylinder 6 is formed of an elastic body. In addition, since the plurality of cuts 6C and the notches 6D are provided, the non-slip cylinder 6 can be deformed according to the external shape of the foreign matter. The anti-slip cylinder 6 can return to its original shape after passing through the foreign matter.

The traveling of the traveling section 1 is realized as follows. In the dynamic movement prevention device 100a, a negative pressure fluid is supplied to the bellows 2a, the bellows 2a contracts, and the non-slip cylinder 6a is compressed in the axial direction of the pipe 80, whereby the diameter of the side wall of the non-slip cylinder 6a increases. Become. When the central portion of the side wall is pressed against the inner wall of the tube 80, the contraction of the bellows 2a stops. A strong frictional force is generated between the side wall of the non-slip cylinder 6a and the tube wall, and the dynamic movement preventing device 100a is in a state where the movement is prevented by the frictional force.

On the other hand, a positive pressure fluid is supplied to the bellows 2,
When the bellows 2 is extended, the non-slip cylinder 6 is also extended in the axial direction, does not come into contact with the inner wall of the tube 80, and the dynamic movement preventing device 100c enters a free movement state where movement is not prevented. In this state, when the positive pressure fluid is supplied to the bellows 2b and the bellows 2 expands, the dynamic movement preventing device 100a
The bellows 2b does not move backward due to the frictional force, but expands. The dynamic movement prevention device 100c also advances due to the extension of the bellows 2b.

Thereafter, when a negative pressure fluid is supplied to the bellows 2, the bellows 2 contracts. When the bellows 2 contracts,
The non-slip tube 6 is compressed in the axial direction of the tube 80, whereby the diameter of the side wall of the non-slip tube 6 increases, and the central portion of the side wall is pressed against the inner wall of the tube 80, and the non-slip tube 6 and the tube wall A strong frictional force is generated between the dynamic movement preventing device 100c
Is in a state where movement is blocked.

On the other hand, when the positive pressure fluid is supplied to the bellows 2a and the bellows 2a is extended, the non-slip cylinder 6a is also extended in the axial direction, and the side wall thereof does not come into contact with the inner wall of the pipe 80, so that the movement is free. Becomes Bellows 2b in this state
When the negative pressure fluid is supplied to the bellows 2b, the bellows 2b contracts, and the dynamic movement preventing device 100a also advances in accordance with the contraction of the bellows 2b.

The above operation is repeated, and the traveling section 1 moves forward. As can be seen from these operations, the bellows 2b extends and the dynamic movement preventing device 100c moves forward while the dynamic movement preventing device 100a is prevented from moving, and the forward dynamic movement preventing device 100c moves. , The operation of the bellows 2b contracting and the dynamic movement preventing device 100a moving forward is repeated. Therefore, the traveling unit 1
You will move forward like a scale insect.

The bellows 2b is extended and the dynamic movement preventing device 1
00c moves forward, the dynamic movement inhibiting device 100c
Is kept in a state where there is no friction with the tube wall, and when the bellows 2b is contracted and the dynamic movement preventing device 100a moves forward, the dynamic movement preventing device 100a has no friction with the tube wall. Is kept. Therefore, the traveling unit 1 can travel without generating unnecessary friction between the traveling unit 1 and the pipe wall, and the traveling speed is increased.

More specifically, the traveling unit 1 is driven, for example, as follows. Of course, it may be driven by another method. FIG. 4 shows a temporal change of a signal (thick solid line) supplied by the travel control device 73. In addition, bellows 2,
The time change of the pressure (thin solid line) of 2a, 2b is shown. Immediately before the time t1, it is assumed that the signals 73A, 73B, and 73C are all "-1", and the bellows 2, 2a, and 2b are supplied with the negative pressure fluid, and these bellows are all contracted. . Therefore, both the non-slip cylinder 6 and the non-slip cylinder 6a are contracted, and the side walls thereof are both tubes 8
0, and the dynamic movement preventing devices 100c, 100
a is in a movement inhibition state B in which movement is inhibited by friction.

Thereafter, at time t1, the signal 73C is changed to "1", and a positive pressure fluid is supplied to the bellows 2,
Bellows 2 expands. The anti-slip cylinder 6 is also extended, and the friction between the side wall and the pipe wall disappears, and the dynamic movement preventing device 100
c becomes the free movement state F.

At time t2, the signal 73B is changed to "1", and the positive pressure fluid is supplied to the bellows 2b. Since the dynamic movement preventing device 100c is in the free movement state F, the extension of the bellows 2b is not hindered by the dynamic movement preventing device 100c. Since the dynamic movement preventing device 100a is in the movement preventing state B, the bellows 2b does not retract at its rear end, but extends so that its front end advances. With the extension of the bellows 2b, the dynamic movement preventing device 100c also advances. Thus, the dynamic movement preventing device 10
0c indicates that the vehicle has moved forward as compared with time t1.

Signal 73B is output at time t2 after time t1.
Is "1" because at time t1, the bellows 2 starts to expand, the non-slip cylinder 6 fully expands, and the non-slip cylinder 6
This is to extend the bellows 2b at a time after the frictional force between the bellows 2 and the pipe wall is completely eliminated.

Time t3 after the bellows 2b has fully expanded
, The signal 73C becomes “−1” and the bellows 2c
Is supplied with a negative pressure fluid. Since the dynamic movement prevention device 100a is in the movement prevention state B and the bellows 2b is extended, the bellows 2c contracts so that its front end approaches the rear end. The non-slip cylinder 6 shrinks accordingly,
The side wall is in the movement inhibition state B having friction with the tube surface.

Thereafter, at a time t4, the signal 73A becomes "1", and a positive pressure fluid is supplied to the bellows 2a.
Is extended so that its rear end is retracted. With the extension of the bellows 2a, the non-slip cylinder 6a extends, and the dynamic movement preventing device 100a enters the free movement state F. Signal 7
3A is "1" at time t4 after time t3 because the bellows 2 is sufficiently contracted and the bellows 2a is released in a state where a sufficient frictional force is generated between the anti-slip cylinder 6 and the pipe wall. This is for stretching.

At time t5, signal 73B changes to "-1".
And the negative pressure fluid is supplied to the bellows 2b. Since the dynamic movement prevention device 100c is in the movement prevention state B, the bellows 2b contracts so that the rear end approaches the front end. The bellows 2b has moved forward compared to the time t1. In accordance with the contraction of the bellows 2b, the bellows 2a also advances while being extended. The signal 73B is "-1" at time t5 after time t4 because the bellows 2a starts to expand at time t4, the anti-slip cylinder 6a fully expands, and the friction between the bellows 2a and the pipe wall increases. At the time after the power has completely dissolved,
This is for contracting the bellows 2b.

Time t6 after the bellows 2b has sufficiently contracted
, The signal 73A becomes “−1” and the bellows 2a
Is supplied with a negative pressure fluid. Since the dynamic movement preventing device 100c is in the movement preventing state B and the bellows 2b is contracted, the bellows 2a contracts so that the rear end approaches the front end. As a result, the non-slip cylinder 6a contracts, and the side wall of the anti-slip cylinder 6a enters the movement inhibition state B having friction with the tube surface. Thus, the dynamic movement prevention device 100a has also moved forward as compared to the time t1.

With the above operation, the traveling unit 1 returns to the state immediately before the time t1, and the forward operation of one cycle is completed.
During this time, the traveling section 1 has advanced by the difference between the length when the bellows 2b is expanded and the length when it is contracted.

At time t7, signal 73C is set to "1", and the state returns to time t1. Hereinafter, the traveling unit 1 continues to move forward by repeating the above operation from time t7. The signal 73C is set to “1” at time t7 after time t6 because the bellows 2a contracts from time t6 and the non-slip cylinder 6
This is to extend the bellows 2 after a sufficient frictional force is generated between the bellows 2 and a. The traveling section 1 can be made to travel in the opposite direction. The change over time of the pressure of the fluid supplied to the bellows 2, 2a, 2b may be reversed from that illustrated above.

The traveling section 1 thus configured is connected to the traveling pipe 8.
The portions having different diameters included in 0 can be passed. That is, the diameter of the non-slip cylinders 6 and 6a is
A little smaller than the minimum value of the diameter of 0, bellows 2, 2a,
The diameter of 2b is made slightly smaller than the diameter of the non-slip cylinders 6 and 6a.

Further, the anti-slip cylinders 6 and 6a, the bellows 2,
By determining the lengths of 2a and 2b as follows,
The traveling section 1 can be made to pass through the maximum diameter portion of the traveling pipe 80. When the bellows 2 contracts to the minimum length, the diameter of the central portion of the side wall of the non-slip cylinder 6 becomes maximum.
The maximum value of the diameter of this central portion of the non-slip cylinder 6 is made slightly larger than the maximum value of the diameter of the traveling pipe. The maximum diameter of the central portion of the side wall of the anti-slip cylinder 6 increases as the difference between the length of the bellows 2 when extended and the length when contracted is greater. Therefore, by appropriately selecting the length of the bellows 2,
The maximum value of the diameter at the center of the non-slip cylinder 6 can be larger than the maximum value of the diameter of the traveling pipe. Anti-slip cylinder 6a,
The length of the bellows 2, 2a, 2b may be the same as that of the non-slip cylinder 6 for simplification.

In this way, when the bellows 2 is extended, the diameter of the side wall of the non-slip cylinder 6 becomes smaller than the minimum diameter of the traveling pipe 80, and the non-slip cylinder 6 is also formed at the minimum diameter of the traveling pipe 80. There is no contact with the tube wall, and the dynamic movement preventing device 100c can be in a free movement state.

Negative pressure fluid is supplied to the bellows 2 at the inside of the pipe where the diameter of the running pipe is the minimum value, and when the bellows 2 contracts slightly, the non-slip cylinder 6 contracts, and the diameter of the central portion of the side wall becomes equal to the running diameter. It becomes larger than the minimum diameter of the tube 80. Therefore,
The anti-slip cylinder 6 generates friction between the travel pipe 80 and the pipe wall at the minimum diameter portion, and the dynamic movement prevention device 100c enters the movement prevention state. The above also applies to the non-slip cylinder 6a. Thus, the traveling section 1 can travel on the pipe portion having the minimum diameter.

When a negative pressure fluid is supplied to the bellows 2 in the inner portion of the running pipe where the diameter of the running pipe is the maximum value, and the bellows 2 contracts greatly, the diameter of the central portion of the side wall of the anti-slip cylinder 6 becomes the maximum of the running pipe 80. Slightly larger than the diameter. Therefore, the anti-slip cylinder 6 can generate friction with the pipe wall even in the maximum diameter portion of the traveling pipe 80, and the dynamic movement preventing device 10
0c can be in the movement inhibition state. The same applies to the dynamic movement prevention device 100a. When the positive pressure fluid is supplied to the bellows 2 and 2a at the inner portion of the pipe where the diameter of the traveling pipe is the maximum value, the bellows 2 and 2a are extended, and the dynamic movement preventing devices 100c and 100a cannot be in the free running state. Needless to say. Therefore, the traveling section 1 can travel on the pipe portion having the maximum diameter.

Thus, the traveling portion 1 can travel on both the minimum diameter portion and the maximum diameter portion of the traveling pipe 80. For example, as bellows 2, 2a, 2b, diameter 30m
m, a bellows having a length of 100 mm when extended and a length of 20 mm when contracted are used. The length of the non-slip cylinder 6, 6a is 1
The diameters are set slightly larger than 20 mm. When such a bellows is used, it is possible to make the maximum diameter of the side wall of the non-slip cylinder 6 when the bellows 2 contracts to 20 mm to 45 mm or more. Therefore, the traveling portion 1 using such bellows and the non-slip cylinders 6 and 6a has an inner diameter of 90 mm from a value slightly larger than 30 mm.
It can travel on a traveling pipe that changes to a value close to.

Returning to FIG. 2, the vibration isolating member 41 is made of, for example, an elastic material, for example, a rubber disk. The disk has a circular opening in the center, and the inspection device 40 is located in the circular opening. The disk is provided with a plurality of cuts extending in the radial direction, so that the vibration isolating member 41 can be deformed according to the diameter of the traveling pipe 80. The vibration isolating member 41 is deformed into a substantially bowl shape in the pipe as shown in FIG. The diameter of the vibration isolating member 41 is determined according to the diameter of the traveling pipe 80. For example, the diameter is set slightly larger than the maximum diameter of the tube 80.

In the pipe portion where the diameter of the running pipe 80 is the minimum value, a considerable portion of the vibration isolating member 41 comes into contact with the pipe wall. On the other hand, even in the pipe portion where the diameter of the traveling pipe 80 is the maximum diameter, the peripheral portion of the vibration isolating member 41 comes into contact with the pipe wall. Therefore, in any case, the vibration isolating member 41 attenuates the vibration generated when the bellows 2 expands or contracts, and protects the inspection device 40 from the vibration, thereby enabling a stable inspection. When the diameter of the tube 80 does not change much, the vibration isolating member 41 may be formed of a rigid material having a small friction coefficient, such as tetrafluoroethylene or plastic.

The surface of the vibration isolating member 41, particularly the peripheral portion, is
Since it comes into contact with zero, it is desirable to coat with tetrafluoroethylene or the like to reduce the frictional resistance with the pipe 80. As the thickness of the vibration isolating member 41 increases, the vibration isolating effect increases, but the rigidity increases, so that the frictional force generated between the vibration isolating member 41 and the pipe wall may increase. Therefore, it is desirable to determine the thickness of the vibration isolating member 41 in consideration of the obtained vibration isolating effect and the frictional force generated between the vibration isolating member 41 and the pipe wall.

The inspection device 40 is, for example, a video camera with an illumination device for photographing the inside of a tube. Inspection device 40
May include a gyroscope for knowing its own position and posture. Note that, instead of fixing the inspection device 40 in front of the traveling unit 1, the inspection device 40 may be disposed separately from the traveling unit 1 in front of the traveling unit 1, and the inspection device 40 may be pushed and moved by the traveling unit 1. Alternatively, the inspection device 40 may be disposed behind the traveling unit 1 separately from the traveling unit 1 and may be pulled by the disk-shaped plate 4. For example, an inspection device that needs to contact the entire inner wall of the tube 80, such as an inspection device that applies eddy current,
Either pushing in front of the disc 3 or towing after the disc 4 will result.

The valves 7h, 7i, and 7j move together with the traveling unit 1 because the bellows 2, 2a, and 2b have sufficiently high pressure even if the lengths of the positive pressure fluid supply pipe 71A and the negative pressure fluid supply pipe 72A are increased. This is because the positive pressure fluid and the negative pressure fluid having a sufficiently low pressure can be supplied. That is, even if the positive pressure fluid supply pipe 71A and the negative pressure fluid supply pipe 72A are long, the insides of these pipes are filled with the positive pressure fluid and the negative pressure fluid.
Therefore, even when one of the valves, for example, 7h switches and switches the fluid supplied to the bellows 2a to which it is connected, the length of the fluid supply / discharge pipe 8h connecting the valve 7h and the bellows 2a is the same as the length of the traveling unit 1. The inner volume of the bellows 2a and the fluid supply / discharge pipe 8h is
Since the internal volume of the positive pressure fluid supply pipe 71A or the negative pressure fluid supply pipe 72A is smaller, the pressure of the bellows 2a changes at a high speed.

When the valve 7h and the like do not move together with the traveling unit 1, but are located near the positive pressure generating device 71 and the negative pressure generating device 72, the fluid supply connecting the valve 7h to the corresponding bellows 2a The length of the discharge pipe 8h increases, and its internal volume increases. For this reason, when the valve 7h switches, the bellows 2
The change in the pressure inside a becomes slow.

The bellows can be generated so as to increase the difference in length during expansion and contraction, and can be expanded and contracted at high speed by fluid pressure. Moreover, when a negative pressure fluid is used during contraction, contraction can be realized at high speed. Therefore, the traveling part using the expansion and contraction of the bellows 2b can travel at high speed. Further, since the bellows 2, 2a can be greatly expanded, the anti-skid cylinder 6, 6a can be pressed against the tube wall with a strong force, and a strong frictional force can be generated.
Furthermore, since these bellows 2 and 2a can expand and contract quickly, they can operate even if one cycle is short, and are suitable for high-speed running. The characteristics of the bellows as described above, that is, the difference in length during expansion and contraction can be increased, the expansion and contraction can be performed at a high speed by fluid pressure, and the contraction can be performed at a high speed by using a negative pressure fluid at the time of contraction. This feature is also used in other embodiments described below.

As described in the first to fourth references,
In the method in which the three bellows are sequentially extended and contracted to move forward as an earthworm, one bellows must be extended and contracted in order for the in-pipe traveling device to advance by the difference in length when one bellows is extended and retracted and when it contracts. Requires three times as long as one cycle. However, as can be seen from the time chart shown in FIG.
The traveling unit 1 can move forward by the same distance in a cycle of one cycle in which the bellows 2b in b expands and contracts. Therefore, the in-pipe traveling apparatus according to the present embodiment can advance at a higher speed than the conventional in-pipe traveling apparatus that performs an earthworm operation.

Further, in the in-pipe traveling apparatus according to the present embodiment, when the bellows 2 advances, the anti-slip cylinder 6 does not generate friction with the pipe wall. Similarly, the non-slip cylinder 6a
When the bellows 2a advances, no friction occurs between the bellows 2a and the pipe wall. In the in-pipe traveling apparatus described in the fifth reference, in which a pair of non-slip members are constantly brought into contact with one bellows and run against the pipe wall, when the bellows is extended, unnecessary friction is generated by the front non-slip member. When the bellows contracts, unnecessary friction is generated by the rear non-slip member.
Since the traveling unit 1 according to the present embodiment moves forward without generating such unnecessary friction, it can travel in the pipe at a higher speed. Further, the traveling section 1 in the present embodiment can travel in a pipe whose diameter changes within a considerable range.

<Embodiment 2 of the Invention> FIG. 5A is a side view of a non-slip cylinder 6 having another structure suitable for use in the traveling section 1 shown in FIG. FIG. 2B is a cross-sectional view along the line AA in FIG. A plurality of linear springs 60B extending in the axial direction of the elastic cylinder 60A are embedded in an elastic rubber cylinder 60A having a large frictional force. The linear spring 60B is made of, for example, an elastic metal, for example, stainless steel for spring, phosphor bronze for spring, or the like. Linear spring 60B
Is made by embedding the rubber cylinder 60A into the rubber cylinder when it is cured. The thickness of the rubber cylinder 6A is, for example, 3 mm, and the diameter of the linear spring 60B is, for example, 1 mm.

As in the non-slip cylinder shown in FIGS. 3 (a) and 3 (b), a large number of hemispherical projections 6E having a radius of 0.5 to 3 millimeters are provided on the center outer portion of the side surface of the rubber cylinder 6A. ing. Non-slip cylinder 6 has a plurality of cuts 6C
And a plurality of larger notches 6D are provided. Furthermore, when the axial force is not applied to the non-slip cylinder 6, the center of the non-slip cylinder 6 is formed to expand as shown in the figure.

In the case of the non-slip cylinder shown in FIGS. 3A and 3B, a notch 6C and a notch 6D are provided in the spring cylinder 6B itself, and a plate-like spring member is provided around the notch 6C or the notch 6D. Are exposed, the positive pressure fluid supply pipe 71A, the negative pressure fluid supply pipe 72A and the signal line 300
There is a possibility that the spring cylinder 6B may be damaged by contact with the spring cylinder 6B. However, in the case of the non-slip cylinder shown in FIGS. 5A and 5B, since the linear spring 60B is used, the positive pressure fluid supply pipe 71A,
The negative pressure fluid supply pipe 72A and the signal line 300 are
The risk of being damaged by B is small. Further, FIG.
The non-slip tube 6 shown in FIG. 3B requires only one tube material, and is easier to manufacture than the non-slip tube shown in FIGS. 3A and 3B.

It is also possible to use a plate spring instead of the linear spring 60B. Further, in the first and second embodiments, the rubber cylinder 6A or 60A may be formed so that the rubber cylinder exists only near the protrusion 6E. Furthermore,
Instead of the anti-slip cylinder 6, an elastic member having a non-cylindrical shape may be used. For example, an elastic member that is disposed along the axial direction of the bellows 2 and realizes a state in which the bellows 2 comes into contact with the tube wall or not in accordance with the expansion and contraction of the bellows 2, for example, a leaf spring or another spring member may be used. It is sufficient that the surface of the elastic member that contacts the tube surface is formed to have a frictional force or that a member having a frictional force is provided on the surface.

<Third Embodiment of the Invention> In this embodiment, a non-slip member moved by a link mechanism is used instead of the non-slip cylinders 6 and 6a in the first embodiment.

In FIG. 6, the dynamic movement preventing device 100a
Are a plurality of non-slip members 65 provided facing the pipe wall.
a, a bellows 2a, and a link mechanism 90a for moving the non-slip member 65a toward or in the opposite direction to the tube wall according to the expansion and contraction of the bellows 2a. Similarly, the dynamic movement preventing device 100c turns the plurality of non-slip members 65 provided to face the tube wall, the bellows 2, and the anti-slip members 65 and the tube wall in accordance with the expansion or contraction of the bellows 2 into and out. And a link mechanism 90 for moving in the opposite direction.

Each of the non-slip members 65 and 65a is formed of a substantially semi-cylindrical plate whose surface facing the tube wall is formed in a cylindrical shape according to the shape of the tube wall, and whose bottom is flat, and which has elasticity and frictional force. For example, produced by rubber. On the cylindrical surface, a plurality of hemispherical projections 6E are provided integrally with a substantially semi-cylindrical plate. Although two non-slip members 65 are shown in the dynamic movement prevention device 100c in the figure, it is desirable to use more anti-slip members in practice. For example, it is desirable to provide four non-slip members 65 at 90-degree intervals in the circumferential direction of the tube. This is the same for the non-slip member 65a.

The link mechanism 90 has a pair of levers 9 and a pair of levers 10. One end of the pair of levers 10
The pair of levers 9 are rotatably connected to the other ends of the levers 10 by a pair of joints 11, which are connected to the disc-shaped plate 3 b behind the bellows 2. One end of the pair of levers 9 is connected to the disk-shaped plate 3 in front of the bellows 2.
Are rotatably coupled by a common joint 11a,
The other ends of the pair of levers 9 are rotatably connected to the back surfaces of the pair of non-slip members 65 by a pair of joints 11b.

The link mechanism 90a also has a pair of levers 9a and a pair of levers 10a, which are constructed similarly to the link mechanism 90. These levers are composed of a disk-shaped plate 3a in front of the bellows 2a and a disk-shaped plate in the rear. 4 and a pair of non-slip members 6
5a, a pair of joints 11c, a common joint 11
d, connected by a pair of joints 11e. Levers 9, 9a, 10, 10a and joints 11, 11
a to 11e need not be rigid. The whole is made of rubber or plastic so that it is flexible and easy to bend, and in the long part that needs to keep its shape, there is a bone that can be deformed like stainless steel for spring or phosphor bronze for spring but can return to its original shape. May be included.

In a state where the bellows 2 is extended, the non-slip member 65 is largely pushed out toward the pipe wall by the link mechanism 90, and comes into strong contact with the pipe wall to generate a frictional force. In a state where the bellows 2 is contracted, the non-slip member 65 is returned inside from the inner wall of the traveling pipe 80 by the link mechanism 90, and does not generate a frictional force. This is the same for the bellows 2a.

A plurality of support rods 20a are fixed to the disk-shaped plate 3b in front of the bellows 2, and a hemispherical shell-like inspection device support member 20 is attached to the tip of the support rods 20a.
Is fixed. Although two support rods 20a are shown in the figure, in practice, it is desirable to use four or more support rods. The traveling unit 1 shown in FIG.
Is fixed in front of the inspection device support member 20, but is not shown in FIG. 6 for simplicity.

Flexible fluid supply / discharge pipes 8h, 8i, 8j connected to the output ports of the positive / negative pressure switching valves 7h, 7i, 7j
Are connected to the inside of the bellows 2a, 2b, 2 through fluid paths provided in the disk-shaped plates 3a, 3b, 3 respectively.

In the first embodiment, when the bellows 2a or 2 included in the dynamic movement preventing device 100a or 100c contracts, the central portion of the side surface of the non-slip cylinder 6 or 6a faces the pipe wall. Is moved to generate a frictional force between the non-slip tube 6 or 6a and the pipe wall, and the dynamic movement prevention device 100a
Or 100c was in the movement inhibition state. However, in the present embodiment, when the bellows 2a or 2 in the dynamic movement preventing device 100a or 100c is extended, the non-slip member 65 or 65a is moved toward the pipe wall, and the dynamic movement preventing device 100a or 100c is in the movement inhibition state.

For this reason, the operation of the traveling section 1 in the present embodiment is different from the operation of the traveling section in the first embodiment.
However, also in the present embodiment, the traveling unit 1 can travel like a scale insect. That is, the rear dynamic movement preventing device 100
When the bellows 2b is extended and the dynamic movement preventing device 100c moves forward in a state where the movement of the bellows 2a is stopped, and the bellows 2b contracts in the state where the dynamic movement preventing device 100c in the front is stopped from moving, The operation in which the target movement preventing device 100a moves forward may be repeated.

Specifically, the traveling section 1 is driven, for example, as follows. Of course, it may be driven by another method. FIG. 7 shows a temporal change of a signal (thick solid line) supplied by the traveling control device 73. In addition, bellows 2, 2
The change over time of the pressures (thin solid lines) a and 2b is shown. In the figure, immediately before time t1, signals 73A, 73B, 7
3C is "1", "-1", and "1", respectively. A positive pressure fluid is supplied to the bellows 2 and 2a. These bellows 2 and 2a are all extended, and the bellows 2b are negative. It is assumed that the pressurized fluid is supplied and the bellows 2b is contracted. Therefore, both the non-slip members 65a and 65 are in contact with the tube 80, and the dynamic movement preventing device 100a
And 110c are in a movement inhibition state B in which movement is inhibited by friction.

Thereafter, at time t1, the signal 73C is changed to "-1", a negative pressure fluid is supplied to the bellows 2, the bellows 2 is contracted, the non-slip member 65 is retracted from the pipe wall, and the bellows 2 is disconnected from the pipe wall. No friction occurs between them, and the dynamic movement prevention device 100c enters the free movement state F.

At time t2 after the friction is completely eliminated, a positive pressure fluid is supplied to the bellows 2b. Since the dynamic movement preventing device 100c is in the free movement state F, the extension of the bellows 2b is not hindered by the dynamic movement preventing device 100c. Since the dynamic movement preventing device 100a is in the movement preventing state B, the bellows 2b extends such that its front end is separated from the rear end without retreating its rear end. With the extension of the bellows 2b, the dynamic movement preventing device 100c also advances. Thus, the dynamic movement prevention device 100c has moved forward as compared to the time t1.

Time t3 after the bellows 2b has fully expanded
, The signal 73C becomes "1", and the positive pressure fluid is supplied to the bellows 2c. Since the dynamic movement inhibiting device 100a is in the movement inhibiting state B and the bellows 2b is extended, the bellows 2c extends so that its front end is separated from its rear end. As a result, the non-slip member 65 is moved toward the pipe wall, causing friction between the non-slip member 65 and the pipe surface, and the state becomes the movement inhibition state B.

At time t4 after the above-mentioned friction is completely generated, the signal 73A becomes "-1", negative pressure fluid is supplied to the bellows 2a, and the bellows 2a is moved so that its rear end approaches the front end. Shrink. With the shrinkage of the bellows 2a,
The non-slip member 65a retreats from the pipe wall, and the non-slip member 6
5a and the friction between the pipe wall are eliminated, and the dynamic movement preventing device 100
a becomes the free movement state F. At time t5 after the friction is completely eliminated, the signal 73B becomes “−1”, and the negative pressure fluid is supplied to the bellows 2b. Since the dynamic movement prevention device 100c is in the movement prevention state B, the bellows 2b contracts so that the rear end approaches the front end. The bellows 2b has moved forward compared to the time t1. In accordance with the contraction of the bellows 2b, the bellows 2a also advances while contracting.

Time t6 after the bellows 2b has sufficiently contracted
, The signal 73A becomes "1", and the positive pressure fluid is supplied to the bellows 2a. Since the dynamic movement prevention device 100c is in the movement prevention state B and the bellows 2b is contracted, the bellows 2a extends so that the rear end portion is away from the front end portion. As a result, the non-slip member 65a moves toward the pipe wall, generates friction between the anti-slip member 65a and the pipe surface, and enters the movement inhibition state B. Thus, the dynamic movement prevention device 100a has also moved forward as compared to the time t1.

At time t7 after the above-mentioned friction is sufficiently generated, the traveling unit 1 returns to the state at time t1, and the forward operation of one cycle is completed. During this time, the traveling unit 1
This means that b has advanced by the difference between the length at the time of extension and the length at the time of contraction. Hereinafter, the traveling unit 1 continues to move forward by repeating the above operation from time t7.

In the present embodiment, as in the first embodiment, in order to enable the vehicle to travel even when the diameter of the traveling pipe 80 changes, the link is determined according to the maximum value and the minimum value of the pipe diameter. What is necessary is just to determine the amount of change in the length of the mechanisms 90, 90a and the bellows 2, 2a, 2b during contraction and extension, and the diameter of these bellows. That is, the link mechanism 90 is determined so that the non-slip members 65, 65a when the bellows 2, 2a are contracted do not touch the inner wall of the minimum diameter of the pipe. In this way, when the bellows 2 or 2a is contracted, the non-slip member 65 or 65a does not generate friction even with the tube wall having the smallest diameter, and the dynamic movement preventing device 100c or 10a
0a is free to move.

Further, when the bellows 2, 2a are extended, the non-slip members 65, 65a come into contact with the inner wall of the maximum diameter of the pipe,
The link mechanism 90 is determined so as to generate a frictional force. Thus, when the bellows 2 or 2a is extended, the non-slip member 65 or 65a generates friction even with the pipe wall having the maximum diameter, and the dynamic movement preventing device 100c or 1a.
00a can be in the movement inhibition state.

Since the bellows 2b is used in the traveling section 1, the traveling section 1 can travel at a high speed as in the first embodiment. Further, by increasing the difference in length between the bellows 2 and 2a that drive the link mechanisms 90 and 9a when the bellows 2 and 2a extend and contract, the anti-slip members 65 and 65a can be pressed against the tube wall with a strong force. Moreover, since these bellows can expand and contract at high speed, these bellows
It can operate even when one cycle of the operation of the traveling unit 1 is short,
Suitable for high-speed driving.

The traveling unit 1 in the present embodiment is, like the traveling unit in the first embodiment, superior to the in-pipe traveling devices described in the first to fifth references. Further, the traveling section 1 in the present embodiment is superior to the traveling section in the first embodiment in the following points. That is, in the first embodiment, the side walls of the anti-slip cylinders 6 and 6a are pressed against the pipe walls by the elasticity of each of the cylinders. However, in the present embodiment, the non-slip members 65 and 65a are
0a presses against the tube wall. Therefore, in the present embodiment, it becomes possible to strongly press the non-slip members 65, 65a against the pipe wall, and it is possible to generate a larger frictional force, and the movement of the bellows 2, 2a, 2b of the traveling portion 1 is more facilitated. Completely blocked. As a result, the traveling section 1 can move forward more reliably.

<Embodiment 4 of the Invention> In the present embodiment, the third embodiment used in the in-pipe traveling apparatus according to the present invention shown in FIG.
Instead of the bellows 2, 2a, 2b, three double bellows are used.

In FIG. 8, the dynamic movement preventing device 100c
Is constituted by double bellows 2 and 2c, the traveling drive device 100b is constituted by double bellows 2b and 2d, and the dynamic movement prevention device 100a is constituted by double bellows 2a,
2e. The space between the bellows 2 and 2c is hermetically sealed by the disk-shaped plates 3 and 3b.
A fluid supply / discharge pipe 8j is connected to the space between 2c.
The space between the bellows 2b and 2d is a disc-shaped plate 3a, 3b
And a fluid supply / discharge pipe 8i is connected to the space between the bellows 2c and 2d. Bellows 2
The space between a and e is hermetically sealed by the disc-shaped plates 3a and 4 and the space between the bellows 2c and 2d is connected to a fluid supply / discharge pipe 8h.

Bellows 2, 2a, 2b, 2c, 2d, 2
A plurality of ring-shaped reinforcing members 5, 5a, 5b, 5c, 5d, and 5e are contained in the inside of all the mountains of e, respectively.
The inspection device 40 and the vibration isolating member 41 shown in FIG. 2 are also provided in front of the disk-shaped plate 3, but these are not shown in FIG. 8 for simplification. 8h fluid supply and discharge pipe,
8i, 8j and the line 74A are disc-shaped plates 3, 3a, 3b,
Openings 15, 15a, 15b, 15 opened in the center of 4
c to the front of the traveling section 1. Therefore, the configuration using the double bellows as in the present embodiment is extremely superior in terms of manufacturing and operation of the device. The operation of the traveling section 1 is the same as that of the first embodiment, and the description thereof is omitted.

FIG. 8 shows only one traveling unit 1. However, when connecting a plurality of running parts as shown in a tenth embodiment described later, the positive pressure fluid supply pipe 71
A, the negative pressure fluid supply pipe 72A, the signal line 300, and the like can be guided to the forward traveling section through the area inside the double bellows. For this reason, it becomes easy to connect several or several tens of main traveling units 1 to travel. Each traveling section can transport the positive pressure fluid supply pipe 71A, the negative pressure fluid supply pipe 72A, and the signal line 300. Even when the length of these pipes and signal lines becomes longer, by increasing the number of running parts,
The effect of the weight of these tubes and lines on each run is unchanged. Therefore, it is possible to travel an extremely long distance. The inspection device (not shown) is mounted on the leading traveling unit 1, pushed out by it, or towed by any traveling unit.

Note that the double bellows in this embodiment can be used in the second and third embodiments or other embodiments described later. In some cases, all the bellows used in the traveling section, for example, only some of the bellows 2, 2a and 2b may be double bellows.

<Embodiment 5> In this embodiment, a plurality of parallel bellows arranged in parallel with each other are used for the dynamic movement preventing devices 100a and 100c and the traveling drive device 100b.

FIG. 9A is a sectional view of the in-pipe traveling apparatus according to the present embodiment. In the dynamic movement prevention device 100c, for example, as shown in FIG. 4B, four bellows 2, 2g, 2f, and 2h are arranged in parallel with each other and on a circumference having the same radius. Four bellows 2, 2f, 2
g and 2h are hermetically sealed by the disk-shaped plates 3 and 3b. The dynamic movement prevention device 100a is also constituted by four bellows 2a, 2k,..., And these bellows are hermetically sealed by the disc-shaped plates 3a, 4. The traveling drive device 100b also has four bellows 2b, 2
These bellows are hermetically sealed by the disc-shaped plates 3a, 3b. The traveling unit 1 is actually composed of 12 bellows, but in FIG. 9A, for simplification, six bellows 2, 2a, 2b, 2f,
Only 2j and 2k are shown.

As shown in FIG. 9B, a circular cutout 15 is opened at the center of the disk-shaped plate 3. Similarly, circular notches 15 are also provided at the centers of the disc-shaped plates 3a, 3b, and 4.
a, 15b and 15c are open. The signal line 74A and the fluid supply / discharge pipes 8h, 8i, 8j
It is guided to the front of the traveling section 1 through 5a, 15b, 15c. Therefore, the traveling section 1 has a shape that is extremely superior in manufacturing and operation of the device, as in the fourth embodiment.

Inside each of the bellows in all the ridges, a plurality of annular reinforcing members 5, 5a, 5b, 5c, 5f, 5j,
5k etc. are included. In front of the disk-shaped plate 3, the inspection device 40 and the vibration isolating member 41 shown in FIG. 2 are also provided, but these are not shown in FIG. 9 for simplification.

FIG. 9 (a) shows only one traveling unit 1. However, when a plurality of running parts are connected as shown in a tenth embodiment described later, as in the fourth embodiment, several or dozens of main running parts 1 are connected and run. This makes it easy to travel over very long distances. In this case, an inspection device (not shown) is mounted on the leading traveling unit 1, pushed out by the traveling unit 1, or towed by any traveling unit.

FIG. 9 (a) shows three valves 7h and 7h.
i, 7j and three fluid supply / discharge pipes 8h, 8i, 8j
And three lines 73A, 73B, and 73C are shown. Each of the twelve bellows is used to separately control the expansion and contraction of each of the twelve bellows constituting the main traveling unit 1 for each bellows. You can also This way,
The running part 1 can be swung. That is, the directions of the dynamic movement prevention device 100c, the traveling drive device 100b, and the dynamic movement prevention device 100a can be controlled for each, and the traveling section 1 can travel in a direction different from straight traveling. Therefore, it is possible to enter the small-diameter distribution pipe 80a from the large-diameter main pipe 80 as shown in FIG. At this time, the own position is determined by a distance detection device (described later) included in an inspection device (not shown) or an inspection control device (74 (FIG. 2)) that processes information from a gyroscope signal. Note that a plurality of parallel bellows in the present embodiment can be used in other embodiments. Further, in some cases, all the bellows used in the traveling section, for example, only a part of the bellows 2, 2a, and 2b may be formed as parallel bellows.

<Embodiment 6> In the fifth embodiment, four bellows are arranged on the same circumference in each of the dynamic movement preventing devices 100a and 100c and the traveling drive device 100b. In the present embodiment, the bellows at the lowest position among those bellows is omitted, and FIG.
The in-pipe traveling device which can easily avoid the foreign substances 81a, 81b, 81c in the pipe shown in FIG.

FIG. 10A is a sectional view of the in-pipe traveling apparatus according to the present embodiment. In the dynamic movement prevention device 100c, for example, as shown in FIG. 3B, three bellows 2, 2g, and 2h are arranged on a circumference having the same radius.
The bellows 2f at the lowest position shown in FIG. 9A is not provided. Similarly, the dynamic movement preventing device 100a is also constituted by three bellows 2a, and the traveling drive device 100b is also constituted by three bellows 2b.

As shown in FIG. 10B, the opening 15 of the disk-shaped plate 3 is provided so as to occupy a central circular region of the disk-shaped plate 3 and a fan-shaped region located below the circular region. Similarly, the notch portions 15a, 1
5b and 15c are opened. The signal line 74A and the fluid supply / discharge pipes 8h, 8i, 8j are notched portions 15, 15a,
It is guided to the front of the traveling section 1 through 15b and 15c. If there are foreign substances 81a, 81b, 81c in the pipe, these foreign substances will be removed from the openings 15, 15 in the discs 3, 3a, 3b4.
a, 15b, and 15c, the disturbance of the traveling portion 1 by these foreign substances is reduced.

<Embodiment 7> In this embodiment, there is provided an in-tube traveling device suitable for traveling in a flexible tube such as the intestinal tract of a living body. In this pipe running device,
As the dynamic retraction preventing device, a dynamic adsorption device capable of adsorbing on the tube wall and dynamically switching between adsorption and non-adsorption is used.

In FIG. 11, it is assumed that the running tube 80 is a flexible tube such as the intestinal tract. Dynamic movement prevention device 100
a, a suction mechanism 70, a link mechanism 90 for moving the suction apparatus 70 in a direction toward the tube wall and in a direction opposite thereto,
And the bellows 2. The suction device 70 is rotatably connected to the link mechanism 90 by the joint 11b. Similarly, the dynamic movement prevention device 100a includes a bellows 2a, a link mechanism 90a, and a joint 11d.
And an adsorbing device 70a rotatably coupled to the suction device 70a.
In other words, this corresponds to the use of the suction devices 70 and 70a instead of the non-slip members 65 and 65a in the third embodiment.

The positive pressure fluid supply pipe 71A, the negative pressure fluid supply pipe 7
Valves 7k and 7m are newly provided in connection with 2A (FIG. 2). The travel control device 73 controls these valves.
Signal lines 73D and 73E connected to (FIG. 2) are newly provided.

The suction device 70 includes a conical portion 6H made of, for example, rubber having elasticity, and a film 6F made of, for example, rubber having elasticity provided so as to cover the concave portion of the conical portion 6H.
It is composed of The conical portion 6H acts as a suction cup to be adsorbed to the pipe wall. A fluid chamber 6G is formed by a film 6F in the concave portion of the conical portion 6H. An opening is provided in the concave portion of the conical portion 6H and is connected to the valve 7k via a fluid supply / discharge pipe 8k, and the positive pressure fluid and the negative pressure fluid are selectively supplied to this opening.

When the negative pressure fluid is supplied to the fluid chamber 6G, the membrane 6F is attracted toward the conical portion 6H. When the film 6F is attracted toward the conical portion 6H while the adsorption device 70 is pressed against the tube wall, a negative pressure is generated in the space between the film 6F and the tube wall, and the film 6F is removed together with the adsorption device 70. It will be adsorbed on the tube wall. When the positive pressure fluid is supplied to the fluid chamber 6G, the membrane 6F swells and prevents the adsorption device 70 from being adsorbed on the tube wall. Similarly, the adsorption device 70a also includes a conical portion 6K and a membrane 6I. A fluid chamber 6J is formed by a membrane 6I in a concave portion of the conical portion 6K, an opening is provided therein, and a fluid supply / discharge pipe 8m is formed. It is connected to the valve 7m via a valve. The suction device 70a operates similarly to the suction device 70.

Specifically, when the bellows 2 is contracted as shown in FIG. 11, the suction device 70 is retracted from the tube wall by the action of the link mechanism 90. No adsorbing force is generated. This does not depend on whether the fluid supplied to the fluid chamber 6G is a negative pressure fluid or a positive pressure fluid. Therefore, the dynamic movement preventing device 100c enters a free movement state.

On the other hand, when the bellows 2 is extended,
The suction device 70 is pressed against the tube wall by the action of the link mechanism 90. At this time, when the negative pressure fluid is supplied to the fluid chamber 6G, the membrane 6F is attracted to the concave portion of the conical portion 6H, and the pressure between the tube wall and the membrane 6F is reduced. As a result, a large suction force is generated between the suction device 70 and the tube wall. Therefore, the dynamic movement preventing device 100c enters a movement preventing state in which the movement is prevented by the attraction force.

As described above, the dynamic movement preventing device 100a,
100c is a non-slip member 65 according to the third embodiment,
It can be seen that the state becomes the movement inhibition state and the movement free state similarly to 65a. In other words, the dynamic movement prevention device 100a,
It can be said that 100c is a dynamic adsorption device that dynamically switches between adsorption and non-adsorption to the tube wall. Therefore, also in the present embodiment, the traveling unit 1 can be advanced like a scale insect like the first embodiment. That is, the bellows 2b is extended and the dynamic movement preventing device 100c moves forward while the rear dynamic movement preventing device 100a is prevented from moving, and the forward dynamic movement preventing device 100c is prevented from moving. In this state, the operation in which the bellows 2b contracts and the dynamic movement preventing device 100a moves forward may be repeated.

More specifically, the traveling unit 1 is driven, for example, as follows. FIG. 12 shows a temporal change of a signal (thick solid line) supplied by the traveling control device 73. In addition, the pressure (thin solid line) of the bellows 2a, 2b, and 2 and the temporal change of the operation state of the dynamic movement prevention devices 100a, 100c are shown. The temporal relationship between the signals 73A, 73B and 73C is the same as in FIG. 7, as can be seen from a comparison between FIG. 12 and FIG.

In the figure, immediately before time t1, signal 7
3B is “−1”, a negative pressure fluid is supplied to the bellows 2b, and the bellows 2b is contracted. Signals 73A, 7
3C is both "1", the bellows 2, 2a are supplied with a positive pressure fluid, and these bellows are in an extended state.
Therefore, the suction devices 70, 70a are connected to the link mechanism 90,
Both are pressed against the tube wall by 90a.

The signal 73D is "-1", and a negative pressure fluid is supplied to the fluid chamber 6G of the suction device 70,
0 is adsorbed on the pipe wall, and the dynamic movement inhibiting device 100c is in the movement inhibiting state B. The signal 73E is “1”, the positive pressure fluid is supplied to the fluid chamber 6J of the suction device 70a, the suction device 70a does not adsorb to the pipe wall, and the dynamic movement preventing device 100
a is in the free movement state F.

At time t1, signals 73C, 73D, 7
3E is inverted. The bellows 2 contracts and the suction device 70
Is evacuated from the tube wall and supplied with a positive pressure fluid, and there is no adsorption to the tube wall.
c becomes the free movement state F. Conversely, the suction device 70a is supplied with the negative pressure fluid while being pressed against the tube wall, adsorbs to the tube wall, and the dynamic movement prevention device 100a enters the movement prevention state B. Time t2 after the adsorption of the adsorption device 70 is completely eliminated and the adsorption device 70a is sufficiently adsorbed on the tube wall.
Signal 73B becomes "1", and the bellows 2b expands. At this time, the dynamic movement prevention device 100c also moves forward.

Time t3 after the bellows 2b has fully expanded
Signal 73C becomes "1", the bellows 2 expands, and the suction device 70 is pressed against the tube wall. However, since the positive pressure fluid is supplied to the adsorption device 70, the dynamic movement prevention device 100c remains in the free movement state F.

At time t4 after the bellows 2 has sufficiently expanded, the signals 73A, 73D and 73E are inverted. The suction device 70 is supplied with the negative pressure fluid while being pressed against the tube wall, adsorbs to the tube wall, and the dynamic movement prevention device 1.
00c is in the movement inhibition state B. The suction device 70a is supplied with the negative pressure fluid, but is retracted from the tube wall by the signal 73A, and the dynamic movement preventing device 100a is in the free movement state F.
become.

At time t5 after the adsorption of the adsorption device 70a is completely eliminated and the adsorption device 70 is sufficiently adsorbed on the tube wall, the signal 7
3B becomes "-1", and the bellows 2b contracts. At this time, the dynamic movement prevention device 100a also moves forward. At time t6 after the bellows 2 has sufficiently contracted, the signal 73A changes to "1", the bellows 2a expands, and the suction device 7
0a is pressed against the tube wall. At time t7 after the bellows 2a has fully expanded, the state is the same as at time t1.
After time t7, the operation after time t1 is repeated.

In this embodiment, as in the first to third embodiments, the traveling portion is moved at high speed like a scale insect and without generating an unnecessary movement inhibiting force (here, an adsorbing force). You can move forward. Furthermore, in this embodiment, since the suction device is used, it is easy to generate a stronger movement inhibiting force than the frictional force generated in the first to third embodiments, The traveling section can be moved forward more reliably.

<Eighth Embodiment of the Invention> Instead of the combination of the bellows and the link mechanism used in the dynamic movement preventing device 100a in the seventh embodiment, an elastic member for pressing the suction device against the pipe wall is used. You can also. Specifically, in FIG. 13, in the dynamic movement preventing device 100c, the disc-shaped plate 3b
One end of a pair of flexible levers 9 is fixed, and the other end is rotatably connected to a pair of suction devices 70 via a corresponding joint 11b. The lever 9 is made of rubber or plastic, and is accompanied by a lever reinforcing member 9b made of stainless steel for a spring. It is desirable that the lever 9 and the lever reinforcing member 9b are manufactured integrally.

In the dynamic movement preventing device 100a, similarly,
A pair of flexible levers 9 each having one end fixed to the disk-shaped plate 3a
a, a pair of lever reinforcing members 9c, and a pair of joints 1
1d and a pair of suction devices 70a. Suction device 7
0 is constantly pressed against the inner wall of the pipe 80 by the lever 9 and the lever reinforcing member 9b. The same applies to the suction device 70a.

The lever 9, the lever reinforcing member 9b, and the traveling pipe 80
The suction device 70 is formed so as to be able to be pressed against the tube wall having the maximum diameter in the tube wall direction. Further, the lever 9 and the lever reinforcing member 9b, the suction device 70 and the bellows 2b
Is formed such that the dynamic movement preventing device 100c can pass through with the minimum diameter portion of the traveling pipe 80 pressed against the suction wall 70 against the pipe wall. The same applies to the lever 9a and the like in the dynamic movement prevention device 100a.

The opening provided in the conical portion 6H of the adsorption device 70 is connected to the fluid supply / discharge pipe 8j, and the fluid is supplied from the valve 7j to the fluid chamber 6G. Outside the film 6F, a plate-like sliding member 6L made of tetrafluoroethylene having a small coefficient of friction is joined. Similarly, the conical portion 6 of the suction device 70a
The opening provided in K is connected to the fluid supply / discharge pipe 8h, and the fluid is supplied from the valve 7h to the fluid chamber 6J. Membrane 6I
The sliding member 6M is joined to the outside of the.

As shown in FIG. 10, when the positive pressure fluid is supplied to the fluid chamber 6G and the membrane 6F is inflated, the suction device 7
The zero sliding member 6L comes into contact with the tube 80. No large frictional force is generated between the sliding member 6L and the tube 80. Therefore, the suction device 70 is free to move. When a negative pressure fluid is supplied to the fluid chamber 6G while the suction device 70 is pressed against the tube wall and the film 6F is sucked toward the conical portion 6H, a negative pressure is generated between the film 6F and the tube wall. The adsorption device 70 adsorbs on the tube wall. The size of the sliding member 6L is determined to be considerably smaller than the film 6F so as not to hinder the suction. Therefore, the suction device 70 enters the movement inhibition state.
The operation of the suction device 70a is the same.

The forward movement of the main traveling unit 1 is specifically realized as follows. FIG. 14 shows a temporal change of a signal (thick solid line) supplied by the travel control device 73 and a temporal change of the pressure of the bellows 2. In addition, a temporal change in the operation state of the dynamic movement prevention devices 100a and 100c is shown.

In the figure, the signal 73A is "-1" from time before time t1 to time t4. In this period, the signal from the travel control device 73 disappears on the line 73A, and the fluid supply / discharge pipe 8h supplies the negative pressure fluid to the fluid chamber 6J of the adsorption device 70a. Therefore, the membrane 6I is attracted to the flexible conical portion 6K of the adsorption device 70a, and creates a negative pressure between the membrane and the tube. As a result, the suction device 70a is
And the dynamic movement preventing device 100a enters the movement preventing state B. The signal 73A becomes "1" between time t4 and time t6. Since the fluid supply / discharge pipe 8h supplies a positive pressure fluid pressure to the fluid chamber 6J, the membrane 6I is pushed out and comes into contact with the pipe wall only at the tip. As a result, the adsorption device 70a and the pipe 8
No adsorptive force is generated between 0 and 0. The frictional force between the two is also smaller due to the presence of the sliding member 6L. Therefore, the dynamic movement preventing device 100a enters the free movement state F.

The signal 73C becomes "1" from time t1 to time t3, and the fluid supply / discharge pipe 8j supplies a positive pressure fluid pressure to the fluid chamber 6G of the adsorber 70, so that the membrane 6F is pushed out and only the leading end thereof is moved. Touches the pipe wall with. As a result, the dynamic movement prevention device 100c enters the free movement state F. Signal 73
C becomes “−1” from time t3 to time t7, and the fluid supply / discharge pipe 8j supplies the negative pressure fluid to the fluid chamber 6G. As a result, the dynamic movement prevention device 100c enters the movement prevention state B.

Signal 73B becomes "1" from time t2 to time t5. During this period, the bellows 2b extends and pushes out the first half of the traveling section 1 including the suction device 70 in the free movement state F. On the other hand, this signal is "-1" from time t5 to time t8. In this period, bellows 2b
Contracts and drags the latter half of the traveling section including the suction device 70a in the free movement state F. Thus, the traveling unit 1 has moved forward. After time t7, the same operation as after time t1 is repeated.

The in-pipe traveling apparatus according to the present embodiment has a seventh
The number of bellows used is smaller than that of the embodiment, and the structure is correspondingly simple.

<Embodiment 9> In this embodiment, a container suitable for accommodating a plurality of positive / negative pressure switching valves used in a plurality of embodiments described above is provided. In order to travel a long distance, the positive / negative pressure switching valve is provided so as to be movable together with the traveling unit. The traveling pipe is filled with combustible gas when the traveling pipe is a gas pipe, contains drinking water when the traveling pipe is a water pipe, and contains intestinal fluid when the traveling pipe is an intestinal tract. It is necessary to isolate the positive / negative pressure switching valve from these gases and liquids. For this reason, as shown in FIG. 15, it is desirable that a plurality of positive / negative pressure switching valves required by the traveling unit be accommodated in the container 30. In the figure, only the valve 7h is shown for simplification.

A positive pressure fluid supply pipe 71A and a negative pressure fluid supply pipe 72A are connected to a plurality of valves in the container 30. Container 30
Although a plurality of fluid supply / discharge pipes are connected to the plurality of valves inside, only the fluid supply / discharge pipe 8h connected to the valve 7h is shown in the figure for simplification. Although corresponding signal lines are connected to those valves, only the signal line 73A connected to the valve 7h is shown in the figure.

The container 30 may be a sphere made of plastic or rubber or a bellows. The container 30 is provided with a friction reducing element 30b for reducing friction with the pipe. The friction reducing element 30b may be a wheel as shown or a low-friction sled such as tetrafluoroethylene. Although the friction reducing element 30b is provided at the bottom of the container 30 in the drawing, it is also effective to provide the friction reducing element 30b at the side surface and the upper portion. Alternatively, providing radially from the container 30 is also effective.

A decompression device 31a is provided for decompressing the positive pressure fluid supplied from the positive pressure fluid supply pipe 71A and supplying it to the inside of the container 30. In order to further reduce the pressure of the fluid in the container 30 and return it to the negative pressure fluid supply pipe 72A, the pressure reducing device 31
b is provided. By adjusting the decompression devices 31a and 31b, the pressure inside 30a of the container 30 is reduced.
It can be slightly higher than the pressure in the running pipe outside of zero. Thereby, it is possible to prevent the fluid in the traveling pipe from entering the inside of the container 30. Thus, the positive / negative pressure switching valve can be isolated from the surrounding combustible gas in the gas pipe, from the drinking water in the water pipe, and from the intestinal fluid in the intestinal tract, and the combustion or contamination of the fluid in the pipe by the valve can be prevented. It is needless to say that the container 30 can be omitted when the influence of the valve 7h or the like on the fluid in the pipe is not a problem.

<Embodiment 10> In the traveling section shown in the above embodiments, when the traveling pipe 80 is long,
The weight of the positive-pressure fluid supply pipe 71A and the negative-pressure fluid supply pipe 72A increases, which may hinder the traveling of the traveling unit. Further, if there are many curved portions in the pipe to be run, friction occurs between the pipes at those bent portions and the positive pressure fluid supply pipes 71A and 72A, which may hinder the running of the running section. In the present embodiment, an in-pipe traveling device that eliminates such a problem is provided.

In FIG. 16, the traveling section 1 has the same structure as the traveling section shown in the first embodiment, and a plurality of subsequent traveling sections 1a are connected to the traveling section 1. However, for the sake of simplicity, only one subsequent running part 1a is shown in the figure. Inspection devices 40 in the traveling unit 1 are not provided in these subsequent traveling units. Devices other than the atmospheric pressure tank 70, the positive pressure generating device 71, and the negative pressure generating device 72, and the signal line group 300 are not shown for simplification.

The valves 7h, 7i, 7j of the following traveling section 1a are also accommodated in the container 30, and the fluid supply / discharge pipes 8h, 8i, 8k
The towing is carried by the traveling part 1a. These valves are further connected to a positive pressure fluid supply pipe 71A and a negative pressure fluid supply pipe 72A, and are also connected to a signal line 73A (FIG. 2) from a travel control device 73 (FIG. 2). The positive pressure fluid supply pipe 71A, the negative pressure fluid supply pipe 72A, and the signal line group 300 (FIG. 2) are provided so as to pass through the notches provided in the non-slip cylinders in the respective traveling parts. This is the same as the first embodiment.

Therefore, the following traveling parts 1a,.
All the vehicles can move forward in synchronization with the leading traveling unit 1, and when the leading traveling unit 1 retreats, it similarly retreats. The positive-pressure fluid supply pipe 71A and the negative-pressure fluid supply pipe 72A are fixed to a plurality of containers 30 (or a solenoid valve 7h or the like in the container 30) connected to the traveling unit 1 and the subsequent traveling units 1a, respectively. Since these containers 30 (or the solenoid valve 7h or the like in the container 30) are pulled by the traveling parts to which they are connected, the positive pressure fluid supply pipe 71A and the negative pressure fluid supply pipe 72
A will be towed by these running parts.

As a result, assuming that the total number of running parts is N, the force required for each of the leading running part 1 and the following running parts 1a,. Is only 1 / N of the traction force required to pull the positive pressure fluid supply pipe 71A and the negative pressure fluid supply pipe 72A. The two supply pipes 71A and 72A are connected to the following traveling pipe 1
a, is transported while being held by
The friction between A, 72A and the inner wall of the traveling pipe 80 is also reduced. When the number of subsequent traveling parts is increased so that the lengths of the positive pressure fluid supply pipe 71A and the negative pressure fluid supply pipe 72A between the traveling parts are constant along with the traveling of the leading traveling part 1, each traveling The force required by the unit to pull these supply pipes 71A and 72A can be constant regardless of the traveling distance.

The connection of the traveling parts in the present embodiment is as follows.
It goes without saying that the present invention can be applied to other embodiments other than the first embodiment. Further, as described above, it is desirable that the bellows in the plurality of traveling portions in the present embodiment be double bellows or parallel bellows.

<Embodiment 11> In the present embodiment, an inspection apparatus suitable for use in a plurality of embodiments described above is provided. In the inspection of pipes, it is important to detect the condition of pipe breakage, but it is also important to provide information on the position of pipes buried underground. In this case, the inspection device is not a visual information inspection device such as a video camera, but a distance measurement device that can measure a traveling distance and a gyroscope that can measure a traveling angle are effective inspection devices.

FIG. 17A shows a specific structure of the inspection device 40 provided in the pipe. A cable 81 such as an optical fiber is installed in the tube. The inspection device 40 includes an inspection device main body 40A, traveling devices 40d, 40e, and 40f.
And the distance measuring devices 40B and 40C and the tow rope 40g (FIG. 1)
6 (b)) and a communication cable (not shown).
The traveling device 40d and the like are devices for transporting the inspection device 40 with low friction, and for example, wheels are used. The inspection device 40 is towed by the running unit already described by the tow line 40g. The communication cable is a communication cable for communicating the detection result outside the tube.

The distance measuring devices 40B and 40C are traveling distance measuring devices that measure traveling distances along different paths on the pipe wall. Specifically, the distance measuring devices 40B, 40C
Is a device for measuring a traveling distance of a contact point between a wheel in contact with the pipe wall and the pipe wall as shown in the figure. Traveling device 40d, 4
0e, 40f adjust their feet so that the two distance measuring devices 40B, 40C are positioned horizontally. Therefore, the distance measuring devices 40B and 40C measure the traveling distance along the tube walls on both sides of the inspection device. The running angle is also measured by the distance measuring devices 40B and 40C as described below. In the following, it is assumed for the sake of simplicity that the running pipe 80 belongs to a horizontal plane.

FIG. 17B is a plan view of the inspection device 40. If the tow line 40g is short, the inspection device 40 is towed immediately after the in-pipe traveling device (not shown). When the tow line 40g is longer than the traveling distance, it is preferable that the inspection device 40 is towed by another towing device (not shown) that accurately and at a constant speed, instead of towing the inspection device by the in-pipe traveling device. .

Assuming that the traveling pipe 80 is arranged horizontally
I do. X and y coordinate axes on a horizontal plane including the central axis of the traveling pipe 80
Is determined. Inspection device is the start coordinates of the tube with diameter D
(X₀, Y ₀) And a small distance S within the pipe of radius of curvature R
Let's say you have advanced. The angle at which the distance S is desired is defined as θ. Two distances
Difference in distance measured by separation measuring devices 40B and 40C
Is ε, the following equation 1 is established.

[0175]

１ = {R + (D / 2)} θ− {R− (D / 2)} θ (1)

This equation is converted into the following equation 2.

[0177]

Dθ = ε (2)

That is, the angle θ is the difference ε between the diameter D of the tube and the distance measured by the distance measuring devices 40B and 40C.
And can be expressed by the following equation (3).

[0179]

Equation 3 θ = ε / D (3)

If a more accurate angle is required,
If a gyroscope (not shown) is arranged in the inspection apparatus main body 40A, the angle θ is detected with higher accuracy.

The coordinates (x, y) of the current position of the inspection device are
It is expressed by the following equations 4a and 4b using the angle θ.

[0182]

Equation 4] _{x = x 0 + S (θ} -θ 3/6) = x 0 + S {ε / D- (ε / D) 3/6} (4a) y = y 0 + S (1-θ _{^{2/2) = y 0 +}} S {1- (ε / D) 2/2} (4b)

The minute distance S is calculated by using two distance measuring devices 40
It is the average of both traveling distances of B and 40C. In this way, the new coordinates (x, y) of the inspection device are calculated one after another, so that the position of the tube can be detected. In the above description, the traveling pipe 80 is assumed to be arranged on a horizontal plane. However, when the position of the traveling pipe 80 changes three-dimensionally,
By using one distance measuring device located in the vertical direction together and measuring the travel distance along the top of the pipe wall and the travel distance along the lowest part of the pipe wall, the method described above can be used. If it is enlarged, the position of the inspection device can be similarly detected using the distance measurement device even when the position of the traveling pipe 80 changes three-dimensionally.

It should be noted that the present invention is not limited to the above-described embodiments, and it is needless to say that these embodiments may be appropriately modified or changed without departing from the scope of the invention. For example, in the above embodiment, a positive pressure fluid having a pressure higher than the atmospheric pressure and a negative pressure fluid having a pressure lower than the atmospheric pressure are used as the fluid on the high pressure side and the fluid on the low pressure side. However, it is also possible to use a pneumatically driven hydraulic drive as described in reference 2 or a vacuum driven hydraulic drive as described in reference 3.

[0185]

As described above, according to the present invention, an in-pipe traveling apparatus capable of traveling at high speed in a pipe is obtained.
Further, an in-pipe traveling device that can travel in a pipe whose diameter changes greatly depending on a place is obtained. Further, an in-pipe traveling device capable of traveling in a flexible pipe is obtained. Further, an in-pipe traveling device capable of traveling in the pipe without affecting the fluid in the pipe is obtained.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining a change in the diameter of a traveling pipe and foreign matters in the pipe.

FIG. 2 is a sectional view of the in-pipe traveling device according to the present invention.

FIG. 3 is a view showing a structure of a non-slip cylinder used in the apparatus of FIG. 2;

FIG. 4 is a time chart of signals used in the apparatus of FIG. 2 and operation.

FIG. 5 is a view showing another non-slip cylinder usable in the apparatus of FIG. 2;

FIG. 6 is a sectional view of another in-pipe traveling device according to the present invention.

FIG. 7 is a time chart of signals used in the apparatus of FIG. 6 and operation.

FIG. 8 is a sectional view of still another in-pipe traveling apparatus according to the present invention.

FIG. 9 is a sectional view of still another in-pipe traveling apparatus according to the present invention.

FIG. 10 is a sectional view of still another in-pipe traveling device according to the present invention.

FIG. 11 is a sectional view of still another in-pipe traveling apparatus according to the present invention.

FIG. 12 is a time chart of signals and operation in the device of FIG. 11;

FIG. 13 is a sectional view of still another in-pipe traveling apparatus according to the present invention.

14 is a time chart of signals and operations in the device of FIG.

FIG. 15 is a diagram illustrating the structure of a container that houses a positive / negative pressure switching valve used in the in-pipe traveling device according to the present invention.

FIG. 16 is a sectional view of still another in-pipe traveling device according to the present invention.

FIG. 17 is a diagram illustrating a specific example of an inspection device according to the present invention.

[Explanation of symbols]

 1, 1a: traveling part 2, 2a, 2b, 2c, 2d, 2e: bellows 5, 5a, 5b, 5c, 5f, 5j, 5k: reinforcing material 6, 6a: non-slip Cylinder 6A: Rubber cylinder 6B: Spring cylinder 6C: Notch 6D: Notch 6E: Projection 6F, 6I: Membrane 6G, 6J: Fluid chamber 6H, 6K: Conical portion 6L, 6M: sliding member 7h, 7i, 7j, 7k, 7m: positive / negative pressure switching valve 8h, 8i, 8j, 8k, 8m: fluid supply / discharge pipe 9, 9a, 10, 10a ..Lever 11, 11a ... Joint 15, 15a, 15b, 15c ... Notch 20 ... Support member 30 ... Container 40 ... Inspection device 41 ... Vibration isolation member 65, 65a ... Non-slip member 70, 70a ... Suction device 71 ... Correct Generating device 71A ··· Positive pressure fluid supply pipe 72 ··· Negative pressure generating device 72A ··· Negative pressure fluid supply pipe 73 ··· Travel control device 74 ··· Inspection control device 75 ··· Atmospheric pressure tank 80 ··· -Traveling pipe 90, 90a-Link mechanism 100a-Dynamic movement prevention device 100b-Traveling drive device 100c-Dynamic movement prevention device

Claims (20)

[Claims] 1. An in-pipe traveling device having at least one fluid-pressure driven traveling portion, wherein the traveling portion extends and contracts in response to a change in pressure of a supplied fluid, and a front portion of the bellows. A first hydraulic movement prevention device driven by a hydraulic pressure held by a portion; and a second dynamic movement prevention device driven by a hydraulic pressure held by a rear portion of the bellows. A first state in which the dynamic movement inhibiting device acts on the wall of the traveling pipe to prevent the movement of the dynamic movement inhibiting device in accordance with the pressure of the supplied fluid; An in-pipe traveling device configured to be switchable between a second state in which the movement of the blocking device is not blocked. 2. Each of the first and second dynamic movement inhibiting devices is connected to another bellows driven by a fluid pressure fixed to the bellows, and is connected to the other bellows to extend and contract the other bellows. And a dynamic non-slip device configured to be switchable between a state in which the pipe wall is in contact with the pipe wall to generate a frictional force and a state in which the pipe wall retracts from the pipe wall and does not generate the frictional force. The in-pipe traveling device according to claim 1, wherein: 3. The dynamic anti-slip device includes an elastic member coupled to the other bellows and disposed along an axial direction of the other bellows, wherein the elastic member is the other of the elastic members. The length along the axial direction of the bellows and the distance between the side surface of the elastic member and the tube wall are formed so as to change in accordance with the expansion and contraction of the other bellows, and the length of the side surface of the elastic member 3. The in-pipe traveling device according to claim 2, wherein at least a portion facing the tube wall is formed so as to generate a frictional force when the portion comes into contact with the tube wall. 4. 4. The in-pipe traveling apparatus according to claim 3, wherein the elastic member is formed of a cylindrical body coaxially arranged with the other bellows. 5. The dynamic anti-skid device is coupled to a non-slip member and the other bellows, and directs the non-slip member toward the tube wall depending on a change in the length of the other bellows. Or a moving means that moves in a direction away from the pipe wall. The in-pipe traveling device according to claim 2, further comprising: 6. The first and second dynamic movement preventing devices are each provided to face the tube wall, and are in a state of adsorbing to the tube wall and not adsorbing according to a pressure of a supplied fluid. The in-pipe traveling device according to claim 1, further comprising an adsorption device that can switch between the state and the state. 7. The suction device provided in each of the first and second dynamic movement preventing devices, comprises: a suction cup; and a flexible membrane fixed to the suction cup, for forming a fluid chamber in front of the suction cup. And an opening for supplying a fluid to the fluid chamber, wherein the membrane is adsorbed to the pipe wall together with the suction cup according to a fluid pressure in the fluid chamber, and the suction pipe expands to form the suction cup. 7. The in-pipe traveling apparatus according to claim 6, wherein the apparatus is switched between a state in which the pipe wall is prevented from being adsorbed. 8. Each of the first and second dynamic movement preventing devices is connected to another bellows driven by fluid pressure fixed to the bellows, and is connected to the other bellows to extend the other bellows. Or moving means for moving the suction device provided in the dynamic movement preventing device in a direction toward or away from the tube wall in response to shrinkage. Or the in-pipe traveling device according to 7. 9. Each of the first and second dynamic movement inhibiting devices is held by the bellows, and the suction device included in the dynamic movement inhibiting device is provided with the in-pipe traveling device in a pipe. The in-pipe traveling device according to claim 6, further comprising an elastic member for continuously pressing against the pipe wall during the operation. 10. The suction device provided in each of the first and second dynamic movement preventing devices includes: a suction cup held by the elastic member; and a suction chamber fixed to the suction cup, and a fluid chamber in front of the suction cup. A flexible membrane for forming; an opening for supplying fluid to the fluid chamber; and a friction reducing member fixed to the outside of the membrane, wherein the membrane is responsive to a fluid pressure in the fluid chamber. Switching between a state in which the suction cup is sucked to the pipe wall together with the suction cup and a state in which the suction cup expands to prevent the suction cup from being sucked to the pipe wall and push the friction reducing member toward the pipe wall. The in-pipe traveling device according to claim 9, wherein: 11. The bellows and at least one of the other bellows provided in each of the first and second dynamic movement preventing devices is a double bellows. The in-pipe traveling device according to any one of the above. 12. The bellows and at least one of the other bellows provided in each of the first and second dynamic movement preventing devices comprises a plurality of bellows arranged in parallel with each other. The in-pipe traveling device according to any one of claims 2 to 10, wherein: 13. The apparatus according to claim 1, further comprising: an inspection device for inspecting the inside of the traveling pipe; and a vibration isolating member for preventing vibration of the inspection device. In-pipe traveling device. 14. The traveling part is connected to the traveling part so as to be movable together, and further connected to a fluid supply pipe for supplying a working fluid from outside, and the traveling fluid supplied by the fluid supply pipe is traveled by the traveling part. The in-pipe traveling apparatus according to any one of claims 1 to 13, further comprising an electromagnetic valve for controlling whether to supply the fluid to the section. 15. The apparatus according to claim 15, further comprising a container movably connected to the bellows, wherein the solenoid valve is housed in the container, wherein a pressure of a fluid existing in the pipe is lower than a pressure of a fluid existing in the pipe. 15. The in-pipe traveling apparatus according to claim 14, wherein the apparatus is filled with a high-pressure fluid. 16. A vehicle comprising: a plurality of traveling units each including a plurality of the traveling units; and a plurality of solenoid valves movably connected to one of the plurality of traveling units, respectively. Connected to a fluid supply pipe for supplying a working fluid from the outside, and controlling whether or not the working fluid supplied by the fluid supply pipe is supplied to a traveling unit to which the solenoid valve is connected. The in-pipe traveling device according to any one of claims 1 to 13, wherein: 17. The in-pipe traveling device according to claim 1, a fluid supply device for supplying a working fluid to the in-pipe traveling device via a fluid supply pipe, and an operation of the in-pipe traveling device. A control device for supplying an electric signal for controlling the in-pipe traveling device to the in-pipe traveling device. 18. The method for driving a pipe running device according to claim 1, wherein the second dynamic movement preventing device is brought into the first state by a fluid pressure. A first step of supplying a fluid pressure for bringing the first dynamic movement preventing device into the second state; and a step of supplying the first dynamic movement preventing device with the first dynamic movement preventing device. In the second state,
A third step of supplying a fluid pressure for expanding the bellows when the second dynamic movement preventing device is in the first state; and A fourth step of supplying a fluid pressure for achieving the first state, a fifth step of supplying a fluid pressure for achieving the second state to the second dynamic movement preventing device, One dynamic movement inhibiting device is in the first state,
A sixth step of supplying a fluid pressure for contracting the bellows to the bellows when the second dynamic movement preventing device is in the second state; and a step from the first step to the sixth step. A driving method for the in-pipe traveling device, comprising: repeating a seventh step. 19. An in-pipe traveling device according to any one of claims 1 to 16, wherein the in-pipe traveling apparatus guides the inspection apparatus into the pipe to be inspected, and the inspection apparatus inspects the inside of the pipe. In-pipe inspection method. 20. A plurality of traveling distance detecting devices for detecting traveling distances of the inspection device along different paths on the traveling pipe wall, together with the inspection device, are guided into a pipe, and the plurality of traveling distances are detected. 20. The inspection method according to claim 19, further comprising a step of detecting a position in the space of the inspection device using a plurality of traveling distances detected by a distance detection device.