JP2002120719A - Intra-pipe running device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an intra-pipe running device to work certainly even with a bend in the pipe and allow establishment of certain passage. SOLUTION: The intra-pipe running device comprises an apparatus loaded vehicle 20 equipped with a running mechanism 60 furnished with a camera C as an apparatus to photograph the inside of the pipe and having wheels for running inside the pipe and a running drive vehicle 30 equipped with a running mechanism 60 connected with the rear of the apparatus loaded vehicle 20, loaded with apparatus for running of the vehicle 20 and having wheels for running inside the pipe, wherein the two sorts of vehicles 20 and 30 are coupled together by hinge coupling using connectors 36a and 36b, and each of the vehicles 20 and 30 is divided into a plurality of sections, which are coupled together by hinge coupling using connectors 21, and each running mechanism 60 is configured with a pair of front wheels 61 installed in the vehicle front part at a certain distance to the left and right, rear wheels 62 installed in the rear center of the vehicle, and a front wheel retaining mechanism 63 to retain the front wheels 61 at the vehicle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe traveling apparatus for traveling in a pipe of a buried sewer such as a water pipe or the like,
The present invention relates to an in-pipe traveling device equipped with a device such as a camera for searching inside a pipe.

[0002]

2. Description of the Related Art As an in-pipe traveling apparatus of this type, there is, for example, an apparatus previously proposed by the present applicant as shown in FIG. 14 (Japanese Patent Application No. 11-162584). The in-pipe traveling device S is equipped with a camera C as a device for capturing an image of the inside of a sewer pipe K, and is a device-equipped vehicle 1 having a pair of directional front wheels 1a and a pair of rear wheels 1b for traveling in the pipe.
A traveling drive vehicle 2 having a directional front wheel 2a and a pair of rear wheels 2b mounted thereon with a device connected to a rear position of the device-mounted vehicle 1 for driving the device-mounted vehicle 1 and traveling in a pipe; And a towing vehicle 3 having a front wheel 3a and a pair of rear wheels 3b mounted with a device which is towed by the traveling driving vehicle 2 and controls air of a driving source. The traveling drive vehicle 2 is supported and advanced by a base 4 provided with wheels 2a, a fixed head 5 attached to a front end of the base 4, and a rear end of the base 4 so as to be able to move forward and backward. A movable head 6 is located at two positions, an advanced position and a retracted position, a drive actuator 7 mounted on the base 4 to move the movable head 6 forward and backward, and is provided on each of the heads 5 and 6 to contact a tube wall. A plurality of leg portions 8 movable via a link mechanism 8a to two positions, a contact position where the heads 5 and 6 are in contact with and hold against the tube wall, and a separated position separated from the contact position; A movable actuator 9 for moving the movable head 6 to two positions, a contact position and a separation position, for alternately bringing the fixed head 5 and the leg portions 8 of the movable head 6 into contact with the tube wall and moving the movable head 6 relatively forward and backward each time; To move To row.

[0003]

In the above-described in-pipe traveling device S, there is a demand for a pipe which is not surely coped with the bending of the pipe and which is required to pass the pipe more reliably. The reason is that, first, since both the equipment-equipped vehicle 1 and the traveling drive vehicle 2 are a single vehicle, their lengths are relatively long. This is because you may not be able to run without it. For this reason, there is a demand to be able to travel as much as possible even if the pipe is bent. For example, in the case of the sewer pipe K, the pipe diameter is 200 mm to 800 mm.
In mm, there is a demand to be able to cope with the case where the maximum curvature is 45 degrees. Secondly, in the equipment-equipped vehicle 1 and the traveling drive vehicle 2, a pair of directional front wheels 1a and 2a rolling on the tube wall and a pair of rear wheels 1b and 2b rolling on the tube wall are provided. 2b is provided,
This is because, when passing through the bend of the pipe, since there is no guide from the pipe, the traveling direction of the wheel is unstable and the traveling may be unstable. The present invention has been made in view of such a problem, and an object of the present invention is to provide an in-pipe traveling device that can reliably cope with bending of a pipe and can pass the pipe more reliably.

[0004]

The technical means of the present invention for solving the above-mentioned problems is to provide a vehicle for traveling in a pipe provided with a vehicle equipped with various devices and having a traveling mechanism for traveling in the pipe. In the apparatus, the vehicle is divided into a plurality of parts, and the divided vehicles are connected to each other by hinges with a connecting body. Thereby, when the in-pipe traveling device passes through a bent portion of the pipe, the vehicle is divided into a plurality of parts, and the divided vehicles are connected by a hinge connection with a connecting body. The vehicle can be shortened, and accordingly, the vehicle can make a small turn, and the vehicle can easily travel at a curved portion. In addition, since the connecting body is rotated, the posture of the vehicle can easily change its direction with respect to other vehicles, so that the vehicle can travel stably in a curved road. And, as needed, both ends of the connecting body are pivotally supported so as to be rotatable around a vertical axis. Since the vehicle can rotate at both ends of the connecting body, the vehicle can easily change its direction with respect to other vehicles, and the vehicle can travel stably while turning. Further, if necessary, one end of the connecting body is rotatably supported around a vertical axis, and the other end of the connecting body is rotatably supported about a horizontal axis. It can turn around the vertical axis, so it can turn left and right, and in addition, it can turn around the horizontal axis, so it can follow the inclination of the vehicle in the upward direction. Can be performed. Further, a technical means of the present invention for solving the above-mentioned problem is a pipe running device provided with a vehicle equipped with various devices and having a running mechanism for running in a pipe. A pair of front wheels provided at predetermined intervals on the front left and right sides, a rear wheel provided at the center of the rear side of the vehicle, and a front wheel holding mechanism for holding the front wheel to the vehicle. A pair of support rods that rotatably support the front wheels so that they can roll the tube wall, and a support rod support mechanism that rotatably supports the support rods about an axis perpendicular to the rotation axis of the wheels. A link mechanism that connects the support rods so that the support rods rotate together, and a guide roller that is provided on each support rod via a protruding body and contacts the tube wall to rotate the support rod. It comprises. With this configuration, the in-pipe traveling device is configured to include the guide roller that rotates the support rod by contacting the pipe wall when passing through the bent portion of the pipe. Then, the guide roller abuts on the tube wall to rotate the support rod via the protruding body. This allows the left and right support rods to move and rotate via the link mechanism as if the steering wheel of the car were turned, so that the vehicle could change its direction along the curve and travel. That is, since the wheels can be controlled by being guided by the guide rollers, the wheels do not move and wobble without permission, and therefore, it is possible to stably drive the vehicle while turning.

Further, the technical means of the present invention for solving the above-mentioned problem is to provide a device equipped with a device such as a camera for imaging the inside of a tube and having a traveling mechanism having wheels for traveling in the tube. In-pipe including a mounted vehicle and a traveling drive vehicle equipped with a device connected to a rear position of the device-mounted vehicle and running the device-mounted vehicle and having a traveling mechanism having wheels for traveling in the pipe In the traveling device for use, the above-mentioned equipment-equipped vehicle and the traveling drive vehicle are connected to each other by a hinge connection with a connector, and at least one of the above-mentioned equipment-equipped vehicle and the traveling drive vehicle is divided into a plurality, and the divided vehicles are separated from each other. It is configured to be connected by a hinge connection with a connection body. The vehicle may be divided into either one of the equipment-equipped vehicle and the traveling drive vehicle, or both. This allows
When the vehicle of the in-pipe traveling device passes through a bent portion of the pipe, the vehicle is divided into a plurality of vehicles, and each of the divided vehicles is hingedly connected by a connecting body. Can be shortened, and accordingly, it is possible to make a small turn, and it is also possible to easily drive a curved part. In addition, since the connecting body is rotated, the posture of the vehicle can easily change its direction with respect to other vehicles, so that the vehicle can travel stably in a curved road. If necessary, the device-equipped vehicle is divided into a front vehicle and a rear vehicle, and the front vehicle and the rear vehicle are connected by the connecting body. Further, if necessary, the traveling drive vehicle is divided into a front base, a center base, and a rear base, and the center base has a piston and a cylinder that expand and contract at two positions of an advanced position and a retracted position. A drive actuator is provided, one of the front base and the rear base is connected to the piston side of the drive actuator via the connecting body, and one of the front base and the rear base is connected to the cylinder side of the drive actuator. The other is connected via the connecting body, and the front base and the rear base are respectively in contact with the tube wall and in contact with the tube wall to hold the base against the tube wall, and in separation positions separated from the contact position. A plurality of leg portions movable to two positions, a leg portion support mechanism for movably supporting the leg portions with respect to the head, and the abutment position and the separation position of the leg portions. A moving actuator for moving the second position is provided, and so as to travel in each case extend and retract the drive actuator tube is brought into contact to the tube wall alternately leg portion of the front base and the rear base.

[0006] If necessary, one or all of the above-mentioned connecting members are configured so that both ends of the connecting members are rotatably supported around a vertical axis. Since the vehicle can rotate at both ends of the connecting body, the vehicle can easily change its direction with respect to other vehicles, and the vehicle can travel stably while turning. Further, if necessary, one or all of the above-mentioned connecting members are rotatably supported on one end of the connecting member so as to be rotatable about a vertical axis, and the other end of the above-described connecting member is rotatable about a horizontal axis. It is configured to be pivotally supported. It can turn around the vertical axis, so it can turn left and right, and in addition, it can turn around the horizontal axis, so it can follow the inclination of the vehicle in the upward direction. Can be performed.

The technical solution of the present invention for solving the above-mentioned problems is to provide a vehicle equipped with a device such as a camera for capturing an image of the inside of a tube and having a traveling mechanism having wheels for traveling in the tube. And a traveling drive vehicle equipped with a traveling mechanism having a device connected to a rear position of the device-equipped vehicle for traveling the device-equipped vehicle and having wheels for traveling in the tube. In the device, at least one of the traveling mechanism of the device-equipped vehicle and the traveling drive vehicle, a pair of front wheels provided at predetermined intervals on the front left and right sides of the vehicle, and a rear wheel provided at the rear center of the vehicle, A front wheel holding mechanism for holding the front wheel to a vehicle, the front wheel holding mechanism comprising: a pair of support rods for rotatably supporting the front wheels so that the front wheels can roll the tube wall; Connect the rod directly to the rotation axis of the wheel. A support rod supporting mechanism rotatably supporting about an axis, a link mechanism connecting the support rods so that the support rods rotate together, and a pipe provided on each support rod via a projecting body. And a guide roller for rotating the support rod in contact with the wall. With this configuration, when the in-pipe traveling device is configured to include the guide roller for rotating the support rod by contacting the pipe wall when passing through the bent portion of the pipe, the vehicle may approach the bent portion of the pipe. Then, the guide roller abuts on the tube wall to rotate the support rod via the protruding body. This allows the left and right support rods to move and rotate via the link mechanism as if the steering wheel of the car were turned, so that the vehicle could change its direction along the curve and travel. That is, since the wheels can be controlled by being guided by the guide rollers, the wheels do not move and wobble without permission, and therefore, it is possible to stably drive the vehicle while turning.

If necessary, at least one of the equipment-equipped vehicle and the traveling drive vehicle is divided into a plurality of parts, and the divided vehicle is provided with a traveling mechanism having the front wheel, rear wheel, and front wheel holding mechanism. I have. In each of the divided vehicles, the wheels can be controlled by being guided by the guide rollers, so that it is possible to further stably drive the vehicle while turning. Further, if necessary, the traveling drive vehicle is divided into a front base, a center base, and a rear base, and a drive having a piston and a cylinder that expands and contracts at two positions of an advanced position and a retracted position on the central base. An actuator is provided, and one of the front base and the rear base is connected to the piston side of the drive actuator via a connecting body, and the other of the front base and the rear base is connected to the cylinder side of the drive actuator. Two positions are connected to each other through the connecting body, and the front base and the rear base are in contact with the tube wall and holding the base against the tube wall, respectively, and in a separated position separated from the contact position. A plurality of leg portions that can be moved to the head, a leg portion support mechanism that movably supports the leg portions with respect to the head, and the leg portions in two positions of the contact position and the separation position. A moving actuator for moving the leg portion of the front base and the rear base alternately in contact with the pipe wall, and expanding and contracting the drive actuator each time to travel through the pipe. A traveling mechanism having the front wheel, rear wheel, and front wheel holding mechanism is provided on at least one of the rear bases. In any one of the front base, the center base and the rear base, the wheels can be controlled by the guide rollers, so that the vehicle can be more stably driven on a curve. In this case, it is effective to provide the front base and the rear base with the traveling mechanism having the front wheel, the rear wheel, and the front wheel holding mechanism. Since the wheels can be controlled by being guided by the guide rollers before and after the traveling drive vehicle, traveling on a curved road can be performed more stably.

[0009] If necessary, the moving actuator is constituted by a cylinder device having a piston which expands and contracts in the front-rear direction, and the plurality of legs are provided opposite to each other with the piston shaft of the cylinder device interposed therebetween. The leg support mechanism is constituted by one leg and the other leg, and the leg support mechanism is extendably connected between the cylinder device and the one leg, and the leg is brought into contact with the piston by extension. And the one side connecting link mechanism capable of moving the leg portion to the separated position by reducing the piston, and the one side connecting link mechanism between the cylinder device and the other leg portion independently of the one side connecting link mechanism. The other side which is telescopically connected and which can move the leg portion to the contact position by extending the piston and move the leg portion to the separated position by contracting the piston And forming a link mechanism, and constitutes a spring for constantly urging the leg portion of the leg portion and the other side of the one side to the contact position. As a result, even when the distance between the pipe wall and the piston changes due to the accumulation of mud or the like on the lower side of the pipe wall, the one-side connecting link mechanism and the other-side connecting link mechanism respectively correspond to the leg portions. Since it can be extended and contracted independently at the contact position, this difference in distance can be absorbed by the extension and contraction of the link mechanism, so that the situation where the leg does not contact can be prevented, and the contact of the leg with the pipe wall can be prevented. And the holding can be ensured. Furthermore, since the one-side link mechanism and the other-side link mechanism are independently extendable and contractible, the center of the device is hardly displaced up and down, so that the device can be prevented from tilting as much as possible, so that it is more stable. Can be achieved.

[0010] In this case, if necessary, each of the leg portions is
It is configured to include a plurality of legs alone abutting on the tube wall and a connecting rod connecting the legs alone. Since there are a plurality of legs alone, the contact with the tube wall can be ensured, and the unevenness of the tube wall can be easily coped with. Also, in this case,
If necessary, the plurality of legs are formed into a set of a pair of legs provided adjacent to each other on the left and right. Even if the tube wall is slightly uneven due to mud, rust, or the like, any one of the left and right legs can be brought into contact, and the contact with the tube wall can be ensured. Further, in this case, if necessary, a set of the above-mentioned legs is arranged one by one before and after. Even if the tube wall is slightly uneven due to mud, rust, or the like, any one of the front and rear legs can be brought into contact, and the contact with the tube wall can be ensured. Further, if necessary, a piston movement detecting means for detecting the amount of movement of the piston of the drive actuator is provided, and the piston movement detecting means is provided by a main hydraulic cylinder cooperating with the drive actuator, and a hydraulic pressure of the main hydraulic cylinder. And a slave hydraulic cylinder driven symmetrically. Accordingly, if the movement of the piston of the slave hydraulic cylinder is electrically detected, a hose is used up to the main hydraulic cylinder having the drive actuator, and electrical wiring is not required.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An in-pipe traveling device according to an embodiment of the present invention will be described below with reference to the accompanying drawings. The in-pipe traveling apparatus S according to the embodiment of the present invention shown in FIGS. 1 to 9 is used in a sewer pipe search system as shown in FIG. In the search system shown in FIG. 2, K is a sewer pipe buried underground, and M is a manhole that connects the sewer pipe K and the ground. In FIG. 2, reference numeral 10 denotes a vehicle mounted on the ground and equipped with a reel bogie 10a for sending and rewinding a camera cable, and 11 denotes an air hose and a solenoid valve for supplying air to a later-described air actuator or air nozzle to the in-pipe traveling device S. And a cable 11a such as a wire cable for pulling the electric control cable for controlling the operation and the like and the wire cable for pulling the in-pipe traveling device S from the traveling end. 12 is a compressor for supplying compressed air to the air hose, and 13 is a generator for supplying power to the ground equipment.

The in-pipe traveling device S is basically equipped with a device-equipped vehicle 20 equipped with a traveling mechanism 60 for traveling in the pipe by mounting a camera C as a device for imaging the inside of the pipe. A traveling drive vehicle 30 equipped with a traveling mechanism 60 that is connected to the rear and is equipped with a device for traveling the device-equipped vehicle 20 and travels in the pipe itself, and a towing vehicle 70 towed by the traveling drive vehicle 30 And the device-equipped vehicle 20 and the traveling drive vehicle 30 are connected to each other by a hinge connection with a connector, and the device-equipped vehicle 20 and the traveling drive vehicle 30 are each divided into a plurality, and the divided vehicles are coupled to each other. The body is connected by hinge connection. Specifically, as shown in FIG. 3, the equipment-equipped vehicle 20 includes a front vehicle 20 </ b> A equipped with a camera C and a rear vehicle 2.
0B. The bogie of the front vehicle 20A and the bogie of the rear vehicle 20B are hingedly connected by a connecting body 21. Specifically, both ends of the connecting body 21 are respectively
It is pivotally supported by a pin 22 so as to be rotatable around a vertical axis. The camera C is provided on the carriage so as to be able to move up and down by a link mechanism 23 of the pantograph. Reference numeral 24 denotes a drive unit of the camera C, which is mounted on the front vehicle 20A. Reference numeral 25 denotes a control box for processing image data from the camera C so that the data can be transmitted to the optical fiber cable, and is mounted on the rear vehicle 20B. Reference numeral 26 denotes an air nozzle attached to the front vehicle 20A for injecting air downward and blowing water collected in the pipe to the camera C to wash the camera C.

The driving vehicle 30 is, as shown in FIG.
It is divided into a front base 30A, a central base 30S, and a rear base 30B. The central base 30S has a piston 3 that expands and contracts at two positions, an advanced position F and a retracted position R.
Air-driven actuator 3 having a cylinder 1 and a cylinder 32
3 is installed. Numeral 34 denotes a central base 30S whose tip is connected to the tip of the piston 31 and is parallel to the piston 31 and
Is a guide rod slidably provided in the guide hole 34a provided in the first hole. Reference numeral 35 denotes an accumulator of a nitrogen gas accumulating type which is connected to the pressure reducing side of the piston 31 of the drive actuator 33 and accumulates pressure when the piston 31 extends.
The accumulator 35 is attached to the lower surface of the central base 30S. The use of the accumulator 35 eliminates the need for return piping to the ground equipment, so that the number of piping in the pipeline can be reduced, space is secured, and the equipment can be easily run. A front base 30A and a rear base 30 are provided on the piston 31 side of the drive actuator 33.
Either one of B (in the embodiment, the rear base 30B)
Are connected by a hinge connection via a connecting body 36. Specifically, one end of the connecting body 36 is connected to the piston 31
Is pivotally supported by a pin 37 so as to be rotatable around a vertical axis,
The other end of the connecting body 36 is pivotally supported by a pin 38 on the rear base 30B so as to be rotatable around a horizontal axis. On the other hand, the central base 30 on the cylinder 32 side of the drive actuator 33
The other of the front base 30A and the rear base 30B (the front base 30A in the embodiment) is connected to S by a hinge connection via a similar connecting body 36. Specifically, one end of the connecting body 36 is rotatably supported by a pin 37 at the front end of the central base 30S so as to be rotatable around a vertical axis, and the other end of the connecting body 36 is connected to the front base 30A by a horizontal shaft. It is pivotally supported by a pin 38 so as to be rotatable around. Furthermore,
The equipment-equipped vehicle 20 and the traveling drive vehicle 30 are also connected to each other by two connecting bodies 36a and 36b that are connected to each other by a hinge connection. Specifically, as shown in FIG. 3, one end of one connecting body 36a is pivotally supported by a pin 37 so as to be rotatable around a vertical axis to the front base 30A. One end of the other connecting body 36b is pivotally supported by a pin 37 so as to be rotatable around a vertical axis to the rear vehicle 20B. The other end of one connecting body 36a and the other end of the other connecting body 36b are pivotally supported by pins 38 so as to be rotatable around a horizontal axis.

Reference numeral 40 denotes a front base 30A and a rear base 3.
A pair of leg portions respectively provided in OB. 4 and 9
As shown in FIG. 10, the leg portion 40 has two positions, a contact position X that abuts on the tube wall Ka to hold the bases 30A and 30B against the tube wall Ka and a separation position Y that is separated from the contact position X. Front base 30A and rear base 3
0B. Reference numeral 50 denotes a leg support mechanism that movably supports the leg 40 with respect to the front base 30A and the rear base 30B. Reference numeral 51 denotes a movement actuator that moves the leg 40 to two positions, a contact position X and a separation position Y. is there. The movement actuator 51 includes a piston 51a that expands and contracts in the front-rear direction, and is configured by an air cylinder device that expands and contracts the piston 51a. The movement actuator 51 includes a front base 30A and a rear base 30B.
Is mounted by connecting the cylinder 51b to the cylinder. Further, the leg portion 40 is moved to the contact position X and the separation position Y.
The accumulator 35, which accumulates pressure when the piston 51a is extended, is connected to the compression / reduction side of the piston 51a of the movement actuator 51 that moves to the two positions.

Each of the pair of leg portions 40 includes one leg portion 40 (A) and the other leg portion 40 (B) which are provided to face each other up and down with the axis of the piston 51a of the moving actuator 51 interposed therebetween. It is configured. Each leg portion 40 is configured to include a plurality of resin legs 41 that are in contact with the tube wall Ka. Specifically, each leg portion 40 is configured by arranging a set of a pair of leg units 41 provided to be adjacent to each other on the left and right, one set each for the front and rear. The left and right front and rear connecting rods 4
2 are connected by a left and right connecting rod 43.

The leg supporting mechanism 50 is connected between the moving actuator 51 and the one leg 40 (A) so as to be extendable and contractible. The leg 51 is moved to the contact position X by the extension of the piston 51a, and the piston 51a is contracted. Leg section 40
To the separation position Y. The one side link mechanism 53 (A) includes a first link 5 having one end pivotally supported by the distal end of the piston 51a and the other end pivotally supported by one end of the front and rear connection rod 42.
4 and a second link 55 having one end pivotally supported by the cylinder 51b and the other end pivotally supported by the other end of the front and rear connecting rod 42. The leg support mechanism 50 is connected between the movement actuator 51 and the other leg 40 (B) and independently of the one-side connecting link mechanism 53 (A) so as to be extendable and contractible. The part 40 is moved to the contact position X, and the leg part 40 is
Is provided with the other-side connecting link mechanism 53 (B) that can move to the separation position Y. The other side link mechanism 53 (B) has a first link 5 whose one end is pivotally supported by the tip of the piston 51a and whose other end is pivotally supported by one end of the front and rear coupling rod 42.
4 and a second link 55 having one end pivotally supported by the cylinder 51b and the other end pivotally supported by the other end of the front and rear connecting rod 42. Further, the leg support mechanism 50 is provided with a spring 56 composed of a leaf spring that constantly biases the one leg 40 and the other leg 40 toward the contact position X. The spring 56 has one end fixed to the cylinder 51b and the other end fixed to an intermediate portion of the front and rear connecting rod 42 in a state of being compressed in an arc shape.

Next, the traveling mechanism 60 will be described in detail. The traveling mechanism 60 is connected to the front vehicle 20 of the equipment-equipped vehicle 20.
A and the rear vehicle 20B and the front base 30A and the rear base 30B of the traveling drive vehicle 30, respectively. The traveling mechanism 60 includes, as shown in FIGS. 6 to 9, a pair of front wheels 61 provided on the front left and right sides of the vehicle at predetermined intervals.
The vehicle includes a rear wheel 62 provided at a rear center of the vehicle and a front wheel holding mechanism 63 for holding the front wheel 61 to the vehicle. As shown in FIG. 9, the rear wheel 62 is rotatably supported by a support rod 64 so that the rear wheel 62 can roll on the tube wall Ka. The support rod 64 is fixed to the vehicle. Although FIG. 9 shows the case of the traveling drive vehicle 30, the same applies to the case of the device-equipped vehicle 20. The front wheel holding mechanism 63 includes a pair of support rods 65 that rotatably support each front wheel 61 so that the front wheel 61 can roll on the tube wall Ka, and rotate each support rod 65 around an axis orthogonal to the rotation axis of the front wheel 61. A support rod support mechanism 66 having a roller bearing 66a for supporting the support rods;
A link mechanism 67 for connecting the supporting rods 65 so as to rotate together, and a guide roller 68 provided on each of the supporting rods 65 via a protruding body 68a to contact the tube wall Ka and rotate the supporting rod 65. It is comprised including. 69 is a guide roller different from the guide roller 68 provided in each vehicle.

As shown in FIG. 5, 70 is a central base 30.
S is a towing vehicle that is towed via a chain 71 (FIG. 1) and has a control box 72 equipped with a solenoid valve for controlling the supply of working air to the driving actuator 33 and the moving actuator 51. 73,
A sub tug 76 is mounted on the rear side of the main tug 73 via a connector 74 and has a regulator 75 for adjusting air pressure. One end of the connecting body 74 is the sub tractor 7
6, and the other end is pivotally supported by a main towing vehicle 73 with a pin 77 so as to be rotatable around a vertical axis. Main towing vehicle 73
A pair of front wheels 78a and a pair of rear wheels 78b are provided on the left and right sides in the width direction, and in the pair of front wheels 78a and the pair of rear wheels 78b, Are provided so that the wheel shafts are inclined symmetrically with respect to the vertical axis so as to expand downward. In addition, a set of a pair of wheels 79 is provided on the rear side of the sub towing vehicle 76 so as to expand downward from each other.

The ground unit is provided with a control unit (not shown) for controlling the solenoid valve of the control box 72. In the control unit, the drive actuator 33
When the rear base 30B is located at the advanced position F by controlling the solenoid valve of the moving actuator 51 and the front base 30
A and leg part 40 of one of rear base 30B (in the embodiment, rear base 30B) is positioned at contact position X, and front base 30A and rear base 30B are positioned.
The leg 40 of the other one (the front base 30A in the embodiment) is located at the separation position Y, and the rear base 30B
Is positioned at the retreat position R, the leg portion 40 of one of the front base 30A and the rear base 30B (the rear base 30B in the embodiment) is positioned at the separation position Y, and the front base 30A and the rear base 30B. Leg portion 4 of the other one (front side base 30A in the embodiment)
0 is located at the contact position X.

Further, in the in-pipe traveling apparatus S according to the embodiment of the present invention, as shown in FIGS. 1, 4 and 5, a piston movement detecting means for detecting the amount of movement of the piston 33a of the drive actuator 33. 80 are provided. The piston movement detection means 80 is symmetrically driven by the hydraulic pressure of the main hydraulic cylinder 81 via a hose 82 provided on the main towing vehicle 73 and a main hydraulic cylinder 81 provided in parallel with the driving actuator 33 and cooperating with the driving actuator 33. And a slave hydraulic cylinder 83. Thus, the movement of the piston of the slave hydraulic cylinder 83 is electrically detected. Therefore, the drive actuator 3
Hose 82 is used up to the main hydraulic cylinder 81 with 3
Since electrical wiring is not required, the complexity of wiring is reduced accordingly. Further, the control unit includes a piston movement detecting means 80.
A function is provided for determining whether or not the driving of the driving actuator 33 and the traveling of the traveling drive vehicle 30 correspond to each other based on the detection result of the above. If it is determined that it is not compatible, an abnormal signal is transmitted, and an alarm is issued by an alarm lamp, an alarm buzzer, or the like. These functions are realized by functions of a sequence circuit or a microcomputer.
Therefore, in the unlikely event that there is some trouble, for example, when the device is damaged by an obstacle and does not move,
Since it is determined that the driving of the driving actuator 33 and the traveling of the traveling drive vehicle 30 do not correspond to each other, an abnormal signal is transmitted, and this can be recognized by an alarm, so that the response can be taken immediately.

Accordingly, when the inside of the sewer pipe K is imaged by the in-pipe traveling device S according to the embodiment of the present invention,
This is performed as follows. First, basic traveling will be described. The solenoid valve of the control box 72 is controlled by a command from the control unit. First, the moving actuator 51 is actuated to position the leg 40 of the rear base 30B at the contact position X and the leg of the front base 30A. 40 is positioned at the separation position Y. At this time, the leg portion 40 of the rear base 30B is moved from the separation position Y to the contact position X. In this case, in each leg portion 40, since a pair of leg units 41 arranged side by side is located in front and back, even if the tube wall Ka is slightly uneven due to mud, rust, or the like,
Any one of the legs 41 can be brought into contact, and the contact with the tube wall Ka is ensured. Also, as shown in FIG. 10, even if the distance between the tube wall Ka and the piston 51a changes due to the accumulation of mud or the like below the tube wall Ka, the one-side connecting link mechanism 53 (A ) And the other side link mechanism 53 (B) can be independently extended and contracted at the contact position X of the leg portion 40,
This distance difference can be absorbed by the expansion and contraction of the connecting link mechanism 53, so that the situation where the leg portion 40 does not abut can be prevented, and the abutment of the leg portion 40 against the tube wall Ka can be ensured and held. Can be ensured.
Further, since the one-side connecting link mechanism 53 (A) and the other-side connecting link mechanism 53 (B) are independently expandable and contractible, the center P is hardly displaced up and down, so that the device can be prevented from tilting as much as possible. Therefore, stability is achieved.

In this state, the drive actuator 33 is operated to move the rear base 30B to the advanced position F.
As a result, the rear base 30B is held on the tube wall Ka by the leg portion 40, so that the central base 30S, the front base 30A, the leg portion 40, the device-equipped vehicle 20, and the towing vehicle 70 move forward. In this case, in each traveling mechanism 60, a pair of front wheels 61 on the front left and right sides of the vehicle and a rear wheel 62 provided at the rear center of the vehicle roll on the tube wall Ka. Because it becomes a point support,
The vehicle moves stably. Next, the movement actuator 51 is operated to position the leg portion 40 of the front base 30A at the contact position X. Also in this case, each leg 40
In this case, since the pair of leg units 41 arranged side by side is located in front and back, even if the tube wall Ka is slightly uneven due to mud, rust, or the like, any of the leg units 41 can abut, and The contact with the wall Ka is ensured. Also, as shown in FIG. 10, even if the distance between the tube wall Ka and the piston 51a changes due to the accumulation of mud or the like below the tube wall Ka, the one-side connecting link mechanism 53 (A ) And the other side link mechanism 53 (B) can be independently extended and contracted by the urging force of the spring 56 or against the urging force of the spring 56 at the contact position X of the leg part 40, respectively. The situation of non-contact is prevented and the holding is ensured, and the center P is unlikely to shift up and down. Therefore, the situation where the device is tilted is prevented as much as possible, thereby achieving stability.

Then, the moving actuator 51 is operated to move the leg portion 40 of the rear base 30B to the separated position Y. In this state, the drive actuator 33 is operated to move the rear base 30B to the retreat position R. As a result, the front base 30A is held on the tube wall Ka by the leg portion 40, so that the rear base 30B advances with the leg portion 40. Also in this case, the traveling mechanism 6
At 0, a pair of front left and right front wheels 61 of the vehicle and a rear wheel 62 provided at the rear center of the vehicle roll on the tube wall Ka, but the front wheel 61 and the rear wheel 62 are supported at three points. , The vehicle moves stably. In this way, the leg portions 40 of the front base 30A and the rear base 30B are alternately brought into contact with the tube wall Ka, and each time the device is run while the piston 33a of the drive actuator 33 is moved forward and backward.

Next, a case where the in-pipe traveling device S passes through a bent portion of the pipe will be described with reference to FIGS. First, as shown in FIGS. 11 (1) and 11 (2), when the front vehicle 20A of the device-equipped vehicle 20 approaches a bent portion of the pipe, the guide roller 68 of the traveling mechanism 60 of the front vehicle 20A is turned into the pipe wall Ka. Abuts the protruding body 6
The support rod 65 is rotated via 8a. As a result, the left and right support rods 65 rotate via the link mechanism 67 as if the steering wheel of the automobile were turned, and the front vehicle 20A changed its direction along the curve and traveled. Go. In this case, since the wheels are controlled by being guided by the guide rollers 68, the wheels do not move freely and do not wobble, so that the running is stably performed. In this case, the front vehicle 20A and the rear vehicle 20B
And are connected by a hinge connection with a connecting body 21, and
Since both ends of the connecting body 21 are supported by the pins 22 so as to be rotatable around the vertical axis, respectively, the posture of the front vehicle 20A is changed with respect to the rear vehicle 20B because the connecting body 21 rotates. It is easy to change the direction, and in this respect, the running is performed stably.

Next, as shown in FIG. 11 (3), when the rear vehicle 20B of the equipment-equipped vehicle 20 approaches the bent portion of the pipe, the guide roller 68 of the traveling mechanism 60 of the rear vehicle 20B is turned on the pipe wall. It comes into contact with Ka, and rotates the support rod 65 via the protruding body 68a. As a result, the left and right support rods 65 rotate via the link mechanism 67 as if the steering wheel of the automobile were turned, and the front vehicle 20A changed its direction along the curve and traveled. Go. in this case,
Since the wheels are controlled by being guided by the guide rollers 68, the wheels do not move and wobble without permission, so that the running is stably performed. Further, in this case, the front vehicle 20A and the rear vehicle 20B are connected
The rear vehicle 20B and the front base 30A of the traveling drive vehicle 30 are connected by hinges.
b, the connection 2
1, 36a, 36b rotate, so that the rear vehicle 20B
Is easy to change the direction with respect to the front vehicle 20A and the front base 30A, and also in this point, the traveling is performed stably. As described above, the device-equipped vehicle 20 is connected to the front vehicle 20.
A and the rear vehicle 20B are divided, so that each vehicle can be shortened.
It is possible to easily drive a curved part.

Then, FIGS. 12 (4) and 12 (5)
When the front base 30A of the traveling drive vehicle 30 approaches the bent portion of the pipe, the guide roller 68 of the running mechanism 60 of the front base 30A comes into contact with the pipe wall Ka, and the support rod 65 is protruded through the protrusion. Rotate. As a result, the left and right support rods 65 rotate via the link mechanism 67 as if the steering wheel of the automobile were turned, and the front base 30A changed its direction along the bend and traveled. Go. In this case, since the wheels are controlled by being guided by the guide rollers 68, the wheels do not move freely and do not wobble, so that the running is stably performed. In this case, the rear vehicle 20B and the front base 3
0A is connected to the front base 30A and the central base 30S by a hinge connection at the connecting body 36, so that the connecting body 3A is connected to the front base 30A and the central base 30S by the connecting body 36.
6a, 36b, and 36 rotate, the front base 30
The posture of A easily changes its direction with respect to the rear vehicle 20B and the central base 30S, and in this regard, the traveling is performed stably. Further, the connecting body 36 of the traveling drive vehicle 30
Is pivotally supported by the pins 38 so as to be rotatable about a horizontal axis, so that the vehicle can follow the upward inclination of the vehicle, and the traveling is stable in this respect as well.

FIG. 12 (5) and FIG.
As shown in (6), the central base 3 of the traveling drive vehicle 30
When 0S reaches the bent portion of the tube, the central base 30
Since S does not have the traveling mechanism 60 and has no wheels, it moves while being laid on the front base 30A and the rear base 30B. In this case, the center base 30S is also the front base 30.
Since the connecting body 36 is pivotally connected to the rear base 30A and the rear base 30B by the connecting body 36, the center base 30S can easily change its direction because the connecting body 36 is rotated. It is done. In addition, since the connecting body 36 of the traveling drive vehicle 30 is supported by the pins 38 so as to be rotatable around a horizontal axis, it can follow the inclination of the vehicle in the upward direction. Is performed stably.

Thereafter, as shown in FIG. 13 (7), when the rear base 30B of the traveling drive vehicle 30 approaches the bent portion of the pipe, the guide roller 68 of the traveling mechanism 60 of the rear base 30B is brought into contact with the pipe wall Ka. Then, the support rod 65 is rotated through the protrusion 68a. Thus, the left and right support rods 65 are rotated via the link mechanism 67 as if the steering wheel of the vehicle were turned, and the rear base 30 was rotated.
B changes direction along the curve and runs. In this case, since the wheels are controlled by being guided by the guide rollers 68, the wheels do not move freely and do not wobble, so that the running is stably performed. Also,
In this case, since the rear base 30B and the central base 30S are connected by a hinge connection with the connecting body 36, the rear base 30B can easily change the direction because the connecting body 36 is rotated. , And running is performed stably. Further, since the connecting body 36 is pivotally supported by the pin 38 so as to be rotatable around a horizontal axis, the connecting body 36 can follow the inclination of the vehicle in the upward direction. It is. As described above, since the traveling drive vehicle 30 is divided into the front base 30A, the center base 30S, and the rear base 30B, each vehicle can be shortened, and accordingly, the vehicle can make a small turn and bend. It will also be possible to run easily in the places where it has fallen.

Finally, FIGS. 13 (8) and 13
As shown in (9), when the towing vehicle 70 approaches the bent portion of the pipe, the towing vehicle 70 also moves to the main towing vehicle 73 and the sub towing vehicle 7.
6 are connected via a connecting body 74 by a hinge connection, and the traveling drive vehicle 30 and the main towing vehicle 73 are connected by a chain 71, so that the towing vehicle 70 also easily changes direction. However, running is performed stably. As described above, according to the in-pipe traveling device S, it is also possible to easily travel at a bent portion, and for example, 1 km
It is possible to run for a long distance exceeding, and it is possible to extremely easily maintain and manage the sewer pipes and the like.

Although the in-pipe traveling device S of the present invention is equipped with a camera C as a device, the invention is not necessarily limited to this, and various devices other than the camera C may be mounted. You can change it. In addition, it goes without saying that the in-pipe traveling device S of the present invention may be used not only for the sewer pipe K but also for any pipe.

[0031]

As described above, according to the in-pipe traveling apparatus of the present invention, the vehicle is divided into a plurality of parts, and the divided vehicles are connected to each other by hinges with the connecting members. The vehicle can be shortened, and accordingly, the vehicle can make a small turn, and the vehicle can easily travel at a curved portion. In addition, since the connecting body is rotated, the posture of the vehicle can easily change its direction with respect to other vehicles, so that the vehicle can travel stably in a curved road. When one end or the whole end of the connecting body is rotatably supported around a vertical axis, the vehicle can be turned at both ends of the connecting body, so that the vehicle can be moved relative to other vehicles. The direction can be changed more easily, and the vehicle can run stably on a curved road. Also, in one or all of the connecting bodies, one end of the connecting body is rotatably supported around a vertical axis, and the other end of the connecting body is supported rotatably about a horizontal axis. Is rotatable around the vertical axis, so that it can rotate left and right. In addition, it can also rotate about the horizontal axis, so that it can follow the inclination of the vehicle in the upward direction. Can be performed stably.

According to the traveling device for pipes of the present invention,
A traveling mechanism comprising: a pair of front wheels provided at predetermined intervals on the front left and right sides of the vehicle; a rear wheel provided at the rear center of the vehicle; and a front wheel holding mechanism for retaining the front wheels to the vehicle. A pair of support rods that rotatably support each front wheel so that it can roll the tube wall, and a support rod support that rotatably supports each support rod about an axis perpendicular to the rotation axis of the wheel. A mechanism, a link mechanism that connects the support rods so that the support rods rotate together, and a guide roller that is provided on each support rod via a protruding body and abuts against a tube wall to rotate the support rod. When the vehicle approaches a bent portion of the pipe, the guide roller comes into contact with the pipe wall and rotates the support rod via the protruding body. This allows the left and right support rods to move and rotate via the link mechanism as if the steering wheel of the car were turned, so that the vehicle could change its direction along the curve and travel. That is, since the wheels can be controlled by being guided by the guide rollers, the wheels do not move and wobble without permission, and therefore, it is possible to stably drive the vehicle while turning.

Further, when at least one of the equipment-equipped vehicle and the traveling drive vehicle is divided into a plurality of vehicles, and the divided vehicles are provided with a traveling mechanism having front wheels, rear wheels and a front wheel holding mechanism, each divided vehicle has Since the wheels can be controlled by being guided by the guide rollers, the vehicle can more stably travel on a curve. Furthermore, the traveling drive vehicle is provided with a front base, a central base,
Divided into a rear base, a central base is provided with a drive actuator having a piston and a cylinder that expands and contracts at two positions of an advanced position and a retracted position, and one of the front base and the rear base is connected to the piston side of the drive actuator. And the other of the front base and the rear base is connected to the cylinder side of the drive actuator via a connection body. The front base and the rear base are in contact with the pipe wall, respectively, to contact the pipe wall. A plurality of leg portions movable to two positions, a contact position for holding the leg against the tube wall and a separated position separated from the contact position, and a leg portion support mechanism for movably supporting the leg portion with respect to the base. And a moving actuator for moving the leg portion to two positions, a contact position and a separation position, so that the leg portions of the front base and the rear base alternately contact the tube wall. When the drive actuator is extended and contracted to travel in the pipe, and the traveling mechanism having the front wheel, the rear wheel, and the front wheel holding mechanism is provided in at least one of the front base, the center base, and the rear base, the front base is provided. In any one of the center base and the rear base, the wheels can be controlled by being guided by the guide rollers, so that the vehicle can be more stably driven on a curve. In this case, if a traveling mechanism having front wheels, rear wheels, and a front wheel holding mechanism is provided on the front base and the rear base, the wheels can be controlled by the guide rollers before and after the traveling drive vehicle, so that the vehicle can be further bent. Running can be performed stably.

The moving actuator is constituted by a cylinder device having a piston which expands and contracts in the front-rear direction. A plurality of leg portions are provided on one side and the other side provided opposite each other with the piston shaft of the cylinder device interposed therebetween. The leg portion support mechanism comprises an independently extendable one-side connection link mechanism, the other side connection link mechanism, and a spring that constantly biases the leg portion to the contact position side. In such a case, even if the distance between the pipe wall and the piston changes due to the accumulation of mud or the like on the lower side of the pipe wall, the one-side connecting link mechanism and the other-side connecting link mechanism respectively have leg portions. This distance difference can be absorbed by expansion and contraction of the link mechanism, so that it is possible to prevent the leg portion from abutting, and to prevent the leg wall from being abutted. Contact with It can ensure holding indeed to. Furthermore, since the one-side link mechanism and the other-side link mechanism are independently extendable and contractible, the center of the device is hardly displaced up and down, so that the device can be prevented from tilting as much as possible, so that it is more stable. Can be achieved.

In this case, if each leg is provided with a plurality of legs abutting on the tube wall and a connecting rod for connecting the legs alone, there are a plurality of legs, so that the leg abuts on the tube wall. Can be ensured, and it is possible to easily cope with unevenness of the tube wall. Further, in this case, when a plurality of legs alone are formed into a pair of a pair of legs provided close to each other on the left and right, even if the pipe wall is slightly uneven due to mud, rust, etc. The leg alone can be brought into contact with either of the right and left legs, and the contact with the tube wall can be ensured.
Furthermore, in this case, when a pair of leg units is arranged one by one before and after, even if the tube wall is slightly uneven due to mud, rust, etc. Contact can be made, and contact with the tube wall can be ensured.

Further, a piston movement detecting means for detecting a moving amount of a piston of the drive actuator is provided, and the piston movement detecting means is symmetrically driven by a main hydraulic cylinder cooperating with the drive actuator and a hydraulic pressure of the main hydraulic cylinder. In the case of being configured with a slave hydraulic cylinder, if the movement of the piston of the slave hydraulic cylinder is electrically detected,
A hose is used up to the main hydraulic cylinder having the drive actuator, and electrical wiring is not required, so that the wiring complexity is reduced accordingly.

[Brief description of the drawings]

FIG. 1 is a view showing a traveling device for pipes according to an embodiment of the present invention, wherein (a) is a plan view and (b) is a side view.

FIG. 2 is a diagram showing a sewer pipe search system to which the in-pipe traveling device according to the embodiment of the present invention is applied.

3A and 3B are diagrams illustrating a vehicle equipped with the in-pipe traveling device according to the embodiment of the present invention, wherein FIG. 3A is a plan view and FIG. 3B is a side view.

4A and 4B are diagrams showing a traveling drive vehicle of the in-pipe traveling device according to the embodiment of the present invention, wherein FIG. 4A is a plan view and FIG. 4B is a side view.

FIG. 5 is a view showing a towing vehicle of the in-pipe traveling device according to the embodiment of the present invention, wherein (a) is a plan view and (b) is a side view.

FIG. 6 is a plan view showing a traveling mechanism of the in-pipe traveling device according to the embodiment of the present invention.

FIG. 7 is a front sectional view showing a traveling mechanism of the in-pipe traveling device according to the embodiment of the present invention.

FIG. 8 is a side sectional view showing a traveling mechanism of the in-pipe traveling device according to the embodiment of the present invention.

FIG. 9 is a rear view showing a traveling mechanism of the in-pipe traveling device according to the embodiment of the present invention.

FIG. 10 is a front view showing the operation of the in-pipe traveling device according to the embodiment of the present invention.

FIG. 11 is a plan view showing the operation of the in-pipe traveling device according to the embodiment of the present invention.

FIG. 12 is a plan view showing the operation of the in-pipe traveling device according to the embodiment of the present invention.

FIG. 13 is a plan view showing the operation of the in-pipe traveling device according to the embodiment of the present invention.

FIG. 14 is a side view showing a prior example of the in-pipe traveling device.

[Explanation of symbols]

 S In-pipe traveling device K Sewage pipe M Manhole 10 Vehicle 10a Reel truck 11 Send-out rewind device 12 Compressor 13 Generator C Camera 20 Equipment mounted vehicle 20A Front vehicle 20B Rear vehicle 21 Connector 22 Pin 23 Link mechanism 24 Drive unit 25 Control Box 26 Air nozzle 30 Traveling driving vehicle 30A Front base 30S Central base 30B Rear base 31 Piston 32 Cylinder 33 Drive actuator 34 Guide rod 35 Accumulator 36 Connector 37 Pin 38 Pin 40 Leg 40 (A) One leg 40 (B) ) The other leg part 41 Leg alone Ka tube wall 42 Front and rear connecting rod 43 Left and right connecting rod X Contact position Y Separation position 50 Leg part support mechanism 51 Moving actuator 51a Piston 51b Cylinder 53 ( ) One side link mechanism 53 (B) The other side link mechanism 54 First link 55 Second link 56 Spring 60 Travel mechanism 61 Front wheel 62 Rear wheel 63 Front wheel holding mechanism 64 Support rod 65 Support rod 66 Support rod support mechanism 66a Roller Bearing 67 Link mechanism 68 Guide roller 68a Projecting body 69 Guide roller 70 Towing vehicle 71 Chain 72 Control box 73 Main towing vehicle 74 Connector 75 Regulator 76 Sub towing vehicle 77 Pin 78a Front wheel 78b Rear wheel

Claims (19)

[Claims] An in-pipe traveling device provided with a vehicle equipped with various devices and having a traveling mechanism for traveling in a pipe, wherein the vehicle is divided into a plurality of parts, and each of the divided vehicles is hinged by a connected body. An in-pipe traveling device, wherein the traveling device is connected by coupling. 2. The in-pipe traveling device according to claim 1, wherein both ends of the connecting member are supported so as to be rotatable around respective vertical axes. 3. An end of the connector is rotatably supported about a vertical axis, and the other end of the connector is rotatably supported about a horizontal axis. The in-pipe traveling device according to claim 1. 4. An in-pipe traveling device comprising a vehicle equipped with various devices and having a traveling mechanism for traveling in a pipe, wherein the traveling mechanism is provided on a front left and right side of the vehicle at predetermined intervals. A front wheel, a rear wheel provided at the center of the rear side of the vehicle, and a front wheel holding mechanism for holding the front wheel to the vehicle. The front wheel holding mechanism allows each of the front wheels to roll on the tube wall. A pair of support rods that rotatably support the support rods, a support rod support mechanism that rotatably supports the support rods about an axis perpendicular to the rotation axis of the wheel, and the support rods that rotate together. A link mechanism for connecting the support rods to each other, and a guide roller provided on each of the support rods via a protruding body to rotate the support rod by contacting the pipe wall. Traveling device. 5. A device-equipped vehicle equipped with a traveling mechanism having wheels for traveling in the tube, mounted with a device such as a camera for imaging the inside of the tube, and the device connected to a rear position of the device-equipped vehicle. A traveling drive vehicle having a traveling mechanism equipped with a device for traveling the mounted vehicle and having wheels for traveling in the pipe; and a traveling device for traveling in a pipeline, comprising: A traveling device for a pipe, wherein at least one of the device-equipped vehicle and the traveling drive vehicle is divided into a plurality of parts, and the divided vehicles are connected to each other by a hinge connection with a coupling body. . 6. The tube according to claim 5, wherein the equipment-equipped vehicle is divided into a front vehicle and a rear vehicle, and the front vehicle and the rear vehicle are connected by the connecting body. Traveling device. 7. A drive actuator which divides the traveling drive vehicle into a front base, a center base, and a rear base, and has a piston and a cylinder which extend and contract at two positions of an advanced position and a retracted position on the central base. Provided, one of the front base and the rear base is connected to the piston side of the drive actuator via the connecting body, and the other of the front base and the rear base is connected to the cylinder side of the drive actuator. The front base and the rear base are connected to each other via the connecting body, and each of the front base and the rear base has a contact position where the base is in contact with the tube wall and the base is held against the tube wall, and a separated position separated from the contact position. A plurality of leg portions movable to positions, a leg portion support mechanism for movably supporting the leg portions with respect to the head, and moving the leg portions to two positions of the contact position and the separation position. A moving actuator for moving the leg, the leg portions of the front base and the rear base alternately contact the tube wall, and the drive actuator is expanded and contracted each time to travel in the tube. 7. The in-pipe traveling device according to 5 or 6. 8. The pipe running according to claim 5, wherein one or all of the connecting members are rotatably supported at both ends of the connecting member so as to be rotatable around a vertical axis. apparatus. 9. An end of one or all of the connecting bodies is pivotally supported so as to be rotatable about a vertical axis,
The in-pipe traveling device according to claim 5, 6 or 7, wherein the other end of the connecting body is pivotally supported so as to be rotatable around a horizontal axis. 10. An equipment-equipped vehicle equipped with a traveling mechanism having wheels for traveling in the pipe, mounted with equipment such as a camera for imaging the inside of the pipe, and the equipment connected to a rear position of the equipment-equipped vehicle. A traveling drive vehicle equipped with a device for traveling the mounted vehicle and having a traveling mechanism having wheels for traveling in the tube; and a traveling device for traveling in a pipeline, wherein at least one of the device mounted vehicle and the traveling driven vehicle One traveling mechanism includes a pair of front wheels provided on the front left and right sides of the vehicle at predetermined intervals, a rear wheel provided at the rear center of the vehicle, and a front wheel holding mechanism for holding the front wheels to the vehicle. A pair of support rods that rotatably support the front wheel holding mechanism so that the front wheels can roll on the tube wall, and each of the support rods is rotatable about an axis orthogonal to a rotation axis of the wheel. Support rod support mechanism to support A link mechanism that connects the support rods so that the support rods rotate together; and a guide roller that is provided on each support rod via a projecting body and abuts against a tube wall to rotate the support rod. An in-pipe traveling device, characterized in that the traveling device is configured as follows. 11. The vehicle according to claim 1, wherein at least one of said equipment-equipped vehicle and said traveling drive vehicle is divided into a plurality of parts, and said divided vehicle is provided with a traveling mechanism having said front wheel, rear wheel and front wheel holding mechanism. Item 11. The in-pipe traveling device according to Item 10. 12. The device-equipped vehicle is divided into a front vehicle and a rear vehicle connected to the front vehicle via a connector, and the front wheels and the rear wheels are attached to at least one of the front vehicle and the rear vehicle. 12. The in-pipe traveling device according to claim 11, further comprising a traveling mechanism having a rear wheel and a front wheel holding mechanism. 13. The vehicle according to claim 13, wherein the traveling drive vehicle includes a front base,
A drive actuator having a piston and a cylinder that expands and contracts at two positions of an advanced position and a retracted position is provided on the central base, and the front base and the rear side are provided on the piston side of the drive actuator. One of the bases is connected via a connecting body, and the other of the front base and the rear base is connected to the cylinder side of the drive actuator via a connecting body, and the front base and the rear base are A plurality of leg portions each of which can be moved to two positions of an abutting position for abutting on the tube wall to hold the base against the tube wall and a separating position separated from the abutting position; and A leg portion supporting mechanism for movably supporting the leg portion, and a movement actuator for moving the leg portion to the two positions of the contact position and the separation position. The leg portions of the base are alternately brought into contact with the pipe wall, and the drive actuator is extended and contracted each time so as to run through the pipe. The front wheel, the rear wheel, 13. A traveling mechanism having a front wheel holding mechanism is provided.
An in-pipe traveling device as described in the above. 14. The in-pipe traveling device according to claim 13, wherein a traveling mechanism having the front wheel, rear wheel, and front wheel holding mechanism is provided on the front base and the rear base. 15. The moving actuator comprises a cylinder device having a piston which expands and contracts in the front-rear direction, and the plurality of leg portions are provided on one side leg portions opposed to each other with a piston shaft of the cylinder device interposed therebetween. And the other leg portion. The leg portion support mechanism is telescopically connected between the cylinder device and the one leg portion, and the leg portion is moved to a contact position by extension of the piston. A one-side link mechanism capable of moving the leg portion to the separated position by reducing the piston; and a telescopic link between the cylinder device and the other leg portion independently of the one-side link mechanism. The other-side connecting link mechanism capable of moving the leg portion to the contact position by extending the piston and moving the leg portion to the separated position by contracting the piston. , Claim characterized by being configured with a spring for constantly urging the leg portion of the leg portion and the other side of the one side to the contact position side 7,8,9,10,11,1
15. The in-pipe traveling device according to 2, 13, or 14. 16. The in-pipe traveling device according to claim 15, wherein each of the leg portions is provided with a plurality of leg pieces abutting on the pipe wall and a connecting rod connecting the leg pieces. . 17. The in-pipe traveling device according to claim 16, wherein the plurality of legs are formed into a set of a pair of legs provided adjacent to each other on the right and left sides. 18. The in-pipe traveling device according to claim 17, wherein a set of the single legs is arranged one set before and after the other. 19. A piston movement detecting means for detecting an amount of movement of a piston of the drive actuator, wherein the piston movement detection means is symmetric with a main hydraulic cylinder cooperating with the drive actuator and a hydraulic pressure of the main hydraulic cylinder. And a sub-hydraulic cylinder that is driven in a manner as described in any one of Claims 7, 8, 9, 10, 11, 12, and 1.
19. The in-pipe traveling device according to 3, 14, 15, 16, 17 or 18.