JP2006111169A - Mobile truck - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile truck capable of performing smooth traveling without running-off or considerably reducing the traveling speed even when the truck passes through a curved portion of a pipe rail. <P>SOLUTION: A pair of axle pivotably-supporting members 16 which are turnable around a vertical turning shaft 15 while a driving wheel 18 and a driven wheel 20 are pivotably supported by both ends in the vertical direction are arranged on both sides in the longitudinal direction of a pipe rail 13 of a truck body 14. The truck does not run off while traveling on a curved portion of the rail, or the traveling speed is not considerably reduced, and the mobile truck 10 can perform smooth traveling. Both wheels 20 arranged on a lower part of a truck body 11 are elastically pressed against a lower pipe 12 constantly by a wheel pressing means 43. Thus, the truck body 14 stably travels to enhance the running-off preventive effect. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-propelled carriage, and more particularly, to a self-propelled carriage that can travel smoothly without causing wheel removal and a significant decrease in traveling speed even at a curved portion of a pipe rail.

Conventionally, a self-propelled cart that moves along a pipe rail having a pair of upper and lower pipes is known. A conventional self-propelled carriage is provided with a plate-shaped carriage main body on which a transported object is mounted and moved along a pipe rail having a pair of upper and lower parallel pipes, and upper corners of the carriage main body. And a pair of driven wheels that rotate in contact with the upper pipe, and a pair of driven wheels that are disposed in the lower corners of the carriage body and rotate in contact with the lower pipe; And a pair of rotation drive units that individually rotate both drive wheels. The driving cart and the driven cart are always provided so as to be orthogonal to the cart body.
At the time of traveling, both drive wheels are rotated by the both rotation drive units. Thereby, the trolley | bogie main body carrying a to-be-conveyed object drive | works along a pipe rail.

  However, in the conventional self-propelled trolley, the drive trolley and the follower trolley always project in a perpendicular state with respect to the trolley body. For this reason, when the curved portion of the pipe rail is traveling, the wheel cannot follow the direction of the pipe rail and the degree of the curve. As a result, while the self-propelled carriage passes through the curved portion of the pipe rail, the wheel is caused to derail, or the wobbling of the wheel increases and the traveling speed is remarkably reduced. Therefore, the smooth running of the self-propelled carriage has been hindered.

An object of the present invention is to provide a self-propelled carriage capable of smooth traveling without causing wheel removal or a significant decrease in traveling speed even when the curved portion of the pipe rail is traveling.
Another object of the present invention is to provide a self-propelled cart that can improve the stability of traveling of the cart body and can enhance the effect of preventing wheel removal.

  According to the first aspect of the present invention, there is provided a carriage main body having a curved portion in at least a part of the length direction and being moved along a pipe rail having a pair of upper and lower parallel pipes, and the carriage main body. A pair of wheel shaft support members that are pivotally attached to both sides of the pipe rail in the longitudinal direction around a vertical rotation shaft, and a horizontal or vertical portion of both wheel shaft support members. The outer circumferential surface of one of the pipes, which are each pivotally supported via an axle and arranged in close proximity, is in contact with the opposite side to the opposite side of the other pipe while facing the length direction of the pipe rail. A pair of drive wheels that roll, a pair of rotational drive units that individually rotate both drive wheels, and the remaining upper or lower portions of both wheel shaft support members are respectively supported via horizontal axles. And the outer circumference of the other pipe arranged in the vicinity Of, the facing side of said one pipe while abutting on the opposite side, a self-propelled truck comprising a driven wheel of a pair of rolls toward the longitudinal direction of the pipe rails.

According to the first aspect of the present invention, when the self-propelled carriage travels on the curved portion of the pipe rail, the driving wheel and the driven wheel in the two-wheel shaft support members roll against the corresponding pipe. Of the wall (outer peripheral wall), running resistance is caused by running on the curved portion of the pipe rail on one side portion or the other side portion in the axle direction. At this time, both the wheel shaft support members are pivotally supported by the carriage main body about the vertical rotation shaft.
Therefore, when a running resistance acts on one side part or the other side part of each axle direction in one set of driving wheels and driven wheels in the vertical direction as described above, the reaction force of the resistance is applied to the corresponding wheel shaft support member. Acts to generate a rotational force to avoid this resistance. As a result, the corresponding driving wheel or driven wheel behaves like a guide roller in appearance, and the self-propelled carriage travels while following the direction and degree of curve of the pipe rail.

As a result, the self-propelled carriage is prevented from being derailed even during the passage of the curved portion of the pipe rail, and the traveling speed is not significantly lowered due to the rattling during traveling. Thereby, a self-propelled cart can be always smoothly run along a pipe rail.
In addition, when making a trolley | bogie run on the meandering pipe rail, the operation | movement mentioned above is repeated, changing the rotation direction of both wheel shaft supporting members sequentially.

The use of the self-propelled carriage is not limited. It changes suitably according to the to-be-conveyed object conveyed with a self-propelled cart.
As the object to be transported, for example, a monitoring camera and various packages for delivery (work, product, etc.) can be adopted.
The curved portion of the pipe rail may be formed in a part of the length direction of the pipe rail, or may be formed over the entire length direction of the pipe rail.

As the cross-sectional shape orthogonal to the length direction of the pipe, for example, a circle, an ellipse, a polygon more than a triangle can be adopted. Among these, a pipe having a circular cross section is preferable because the running resistance of the driving wheel and the driven wheel is small.
The distance between both pipes is not limited. For example, a plurality of spacing members (spacers) having a uniform length may be used, and the parallel state may be maintained over the entire length of the pipe.
As the material of the cart body, various metals such as iron, stainless steel, and hard aluminum can be employed. Various synthetic resins such as ABS, PEEK, and polycarbonate may be used. Furthermore, various ceramics may be used.
The cart body may be plate-shaped or block-shaped.

The material, shape, and size of the wheel shaft support member are not limited as long as the drive wheel and the driven wheel can be supported. As the material of the wheel shaft support member, for example, the same material as that of the cart body can be adopted. Moreover, as a shape of a wheel shaft support member, a U-shape, a rectangular frame shape, etc. are employable, for example. Furthermore, the size of the wheel shaft support member may be a size that allows the incorporated drive wheel and driven wheel to abut against the corresponding upper pipe or lower pipe.
It is assumed that the rotation axis of the wheel shaft support member substantially coincides with an imaginary line that connects the axes of both pipes at the shortest distance when the self-propelled carriage travels.
It is only necessary that at least one wheel shaft support member is provided on each side of the carriage body in the length direction of the pipe rail. That is, three or more wheel shaft support members may be disposed on the cart body. For example, one wheel shaft support member may be provided in an intermediate portion in the length direction of the pipe rail of the carriage body.

Both driving wheels and both driven wheels are preferably pulley-shaped in conformity with the cross-sectional shape perpendicular to the longitudinal direction of the corresponding pipe.
The longitudinal directions of the axles of both driving wheels and both driven wheels are substantially parallel to the tangential direction of the upper end (or lower end) of the outer peripheral surface of the corresponding pipe.
Both drive wheels may be arranged on the upper part of both wheel shaft supporting members, or may be arranged on the lower part of both wheel shaft supporting members. Or while arranging in the upper part of one wheel axis support member, you may arrange in the lower part of the other wheel axis support member.

  Both drive wheels abut on the opposite side of the outer peripheral surface of one pipe arranged close to the opposite side to the other pipe. Here, one of the pipes arranged close to each other means, for example, an upper pipe when the driving wheel is arranged at the upper part of the cart body, and a lower pipe when the driving wheel is arranged at the lower part of the cart body. Say. In addition, in the outer peripheral surface of one pipe, the side opposite to the opposite side to the other pipe means that the upper side of the outer peripheral surface of the upper pipe when one pipe is the upper pipe. When one pipe is a lower pipe, it means the lower side of the outer peripheral surface of the lower pipe.

As the rotation drive unit, for example, an electric motor, a hydraulic motor, or the like can be employed. A drive source (for example, a power source or a hydraulic pressure source) of the rotation drive unit may be mounted on the self-propelled cart or may be disposed outside the self-propelled cart.
Both drive wheels are individually driven to rotate by the corresponding rotary drive units.

The remaining upper or lower part of the cart body means the lower part of the cart body when both drive carriages are arranged on the upper part of the cart body. Moreover, when both drive trolley | bogies are arrange | positioned at the lower part of a trolley | bogie main body, the upper part of a trolley | bogie main body is said.
Both driven wheels abut on the opposite side of the outer peripheral surface of the other pipe arranged close to the opposite side to the one pipe. Here, the other pipe arranged in the vicinity means, for example, the upper pipe when the driven wheel is arranged at the upper part of the cart body, and the lower pipe when the driven wheel is arranged at the lower part of the cart body. Say. In addition, the other side of the outer peripheral surface of the other pipe opposite to the opposite side to the one pipe means the upper side of the outer peripheral surface of the upper pipe when the other pipe is an upper pipe. When the other pipe is a lower pipe, it means the lower side of the outer peripheral surface of the lower pipe.

  According to a second aspect of the present invention, the cart body is provided with elastic pressing means for elastically pressing both driving wheels or both driven wheels disposed at the lower portion of the cart body against the lower pipe. The self-propelled carriage according to claim 1.

  According to the second aspect of the present invention, the two driving wheels or the two driven wheels disposed in the lower portion of the carriage main body are always elastically pressed against the lower pipe by the wheel pressing means. As a result, it is possible to enhance the effect of preventing the wheel disposed at the lower part of the cart body from being removed.

The structure of the elastic pressing means is not limited. For example, as those which give elasticity to both driving wheels or both driven wheels, for example, various springs (coil springs, leaf springs, bamboo springs, etc.), various elastic synthetic resins (including rubber and sponges) are included. ) And the like. In addition, various actuators such as an air cylinder can be employed.
The elastic pressing means may be directly actuated by the rotating shafts of both driving wheels or the bearings of both driving wheels.

  According to the first aspect of the present invention, the both sides of the pipe rail of the carriage body in the longitudinal direction are rotatable about the vertical rotation shaft, and the driving wheel and the follower are provided at both ends in the vertical direction. Since the pair of wheel shaft support members, each of which is supported by the wheels, are provided, the self-propelled carriage can be smoothly traveled without being derailed during traveling and without significantly reducing the traveling speed.

  In particular, according to the second aspect of the invention, the wheel pressing means is configured to elastically press both the wheels disposed in the lower portion of the cart body against the lower pipe at all times. The running stability of the carriage and the effect of preventing wheel removal can be enhanced.

Examples of the present invention will be specifically described below. Here, as an example, a self-propelled cart equipped with a camera for monitoring in a factory and moving the camera to a predetermined shooting location by automatic control or remote control of an operator in a control room is taken as an example.
For convenience of explanation, the Z1 direction is the upward direction of the self-propelled cart, the Z2 direction is the downward direction of the self-propelled cart, the X1 direction is the forward direction of the self-propelled cart, the X2 direction is the backward direction of the self-propelled cart, and the Y1 direction is self-propelled The front surface direction of the carriage and the Y2 direction are set as the back direction of the self-propelled carriage.

  In FIG. 1, reference numeral 10 denotes a self-propelled carriage according to Embodiment 1 of the present invention. This self-propelled carriage 10 has a curved portion in a part in the length direction and a pair of upper and lower parallel pipes 11, 12. A carriage main body 14 that is moved along a pipe rail 13 having a rail and a pipe rail 13 on the upper side of the carriage main body 14 on both sides in the longitudinal direction thereof, respectively, around a pair of vertical rotation shafts 15. A pair of wheel axle support members 16 that are movably attached, and upper pipes (one side) that are pivotally supported on the upper parts of both wheel axle support members 16 via a horizontal upper axle 17A and arranged in proximity to each other. 1) which rolls in the length direction of the pipe rail 13 while being in contact with the opposite side (upper side) of the outer circumferential surface of the lower pipe (the other pipe) 12 to the opposite side (upper side). A pair of drive wheels 18 and both drive wheels 18 are individually rotated. A pair of travel motors (rotation drive units) 19 and lower pipes 12 that are pivotally supported on the lower portions of both wheel shaft support members 16 via horizontal lower axles 17B and arranged close to each other. A pair of driven wheels 20 that rolls in the length direction of the pipe rail 13 while being in contact with the opposite side (lower side) of the outer peripheral surface to the opposite side to the upper pipe 11 are provided. .

Hereinafter, each component will be described in detail.
As shown in FIGS. 1 to 5, both pipes 11 and 12 are stainless steel tubes having a circular cross section with the same diameter. Both pipes 11 and 12 are routed through a large number of support plates 21 arranged at a constant pitch in the pipe length direction along the inner wall near the ceiling of the factory. Each support plate 21 is a rectangular plate that is long in the Y1-Y2 direction. The base part of each support plate 21 is fixed to the inner wall. Moreover, the front part of each support plate 21 is fixed in a bridged state between the opposite sides of the pipes 11 and 12.
The cart main body 14 has a square main body plate 22 in front view and a square annular frame 23 in front view that projects outwardly on the back side (Y2 side) of the outer peripheral edge of the main body plate 22. have.
A pair of storage cases 24 project from the X1 side portion and the X2 side portion of the upper portion of the front side (Y1 side) of the main body plate 22, respectively. Both storage cases 24 store batteries 25 serving as power sources for both travel motors 19 (electric motors). A camera 26 for monitoring the inside of the factory is fixed to the lower part on the front side of the main body plate 22.
A reinforcing rib 27 having a substantially wedge shape that is long in the vertical direction is formed in an intermediate portion in the X1-X2 direction on the back side of the main body plate 22.

The annular frame 23 includes an upper horizontal plate (Z1 side frame plate) 28, a lower horizontal plate (Z2 side frame plate) 29, a left vertical plate (X1 side frame plate) 30, and a right vertical plate (X2 side frame). Plate) 31. These all consist of stainless plates of the same dimensions.
Between each X1 side end of the upper horizontal plate 28 and each X1 side end of the lower horizontal plate 29, one wheel shaft support member 16 is interposed via a pair of vertical rotation shafts 15. It is provided rotatably. Two pairs of shaft holes 28a and 29a into which the corresponding rotating shafts 15 are respectively inserted are formed at both end portions on the X1-X2 side of the upper horizontal plate 28 and both end portions on the X1-X2 side of the lower horizontal plate 29. ing.

Both the wheel shaft support members 16 each have a main shaft plate 32 made of stainless steel elongated in the Z1-Z2 direction. A substantially square upper plate 33 is cantilevered in plan view on the Y2 side of the upper end portion of both shaft support plates 32. On the upper side of the center part of both upper plates 33, a short upper rotating shaft 15 is provided so as to project in the Z1 direction. Further, on the Y2 side of both upper plates 33, the end portion on the Z1 side of the motor fixing plate 34 having a substantially square shape when viewed from the front is respectively fixed. Furthermore, the end of one side of the motor fixing plates 34 (opposite side of the two wheel shaft support members 16) and the end of one side of the both shaft support plates 32 (opposite side of the two wheel shaft support members 16). Side plates 38 having a substantially square shape are respectively placed between the two portions. Storage spaces for the drive wheels 18 in the both wheel shaft support members 16 are respectively defined by the upper portion of the shaft support plate 32, the upper plate 33, the motor fixing plate 34, and the side plates 38.
The traveling motors 19 that are long in the Y1-Y2 direction are cantilevered on the Y2 side of both motor fixing plates 34 with their output shafts facing the Y1 side. Both output shafts pass through a shaft hole 34a formed in the vicinity of the center portion of the corresponding motor fixing plate 34, and further pass through the storage space to have a shaft hole 32a formed in the upper portion of the corresponding shaft support plate 32. Then, the two axial support plates 32 are slightly protruded outward from the Y1 side. As a result, both output shafts share the corresponding axle 17A on the upper side of the corresponding drive wheel 18. The tip of each output shaft is pivotally supported via a bearing 35 provided on the Y1 side of the corresponding shaft support plate 32.
When the output shafts of both travel motors 19 are rotated synchronously, the corresponding drive wheels 18 roll along the upper side of the outer peripheral surface of the upper pipe 11.

Next, both driven wheels 20 will be described. Both the driven wheels 20 are arranged at the lower part of the both-wheel shaft support member 16.
A substantially square lower plate 36 is cantilevered in a plan view on the Y2 side of the lower end portions of the two wheel shaft support members 16, respectively. Under the central part of both lower plates 36, the tip part of the short lower rotating shaft 15 is inserted through the shaft hole 36a. Further, on the Y2 side of both lower plates 36, the end portions on the Z2 side of the back plate 37 having a substantially square shape when viewed from the front are respectively fixed. Furthermore, the end of one side of the back plates 37 (opposite side of the two wheel shaft support members 16) and the end of one side of the both shaft support plates 32 (opposite side of the two wheel shaft support members 16). Between the two, side plates 38 having a substantially square shape are horizontally mounted. The storage spaces of the driven wheels 18 in the both wheel shaft support members 16 are respectively defined by the lower portions of the corresponding shaft support plates 32, the lower plate 36, the back plate 37, and the side plates 38.

Both driven wheels 20 are rotatably mounted around the axle 17B in the middle of the corresponding longitudinal lower axle 17B via a pair of spaced bearings 39.
The axles 17B of the two driven wheels 20 are long in the Y1-Y2 direction, and are horizontally mounted between the lower portion of the corresponding shaft support plate 32 and the back plate 37. Specifically, long holes 40 that are long in the Z1-Z2 direction are formed opposite to each other at the lower part of both shaft support plates 32 and the central part of both back plates 37, respectively. Between the opposed long holes 40, both side portions of the lower axle 17B are respectively inserted. At this time, both end portions of each lower axle 17 </ b> B project outside the long hole 40. Further, flat cut-out surfaces 17a along the vertical surface are formed on the X1 sides of both ends of each lower axle 17B. Each lower axle 17B has its notch surface 17a brought into contact with the X1 side forming wall of the corresponding long hole 40 when the corresponding driven wheel 20 is pushed up or lowered, so that the notch portions of the two axles 17B are brought into contact with each other. Is a lifting guide of the driven wheel 20. Circular recesses 17b are formed on both sides of both axles 17B on the Z2 side as viewed from the bottom.

  Further, a substantially square spring case 41 is disposed on the Y1 side of the lower end portion of the shaft support plate 32 as viewed from the front. In the center part on the upper side of the two spring cases 41, a circular spring housing hole 41a having the same circular shape as the concave portion 17b is formed in plan view. The lower portions of the coil springs 42 are respectively inserted into the both spring housing holes 41a. The upper parts of the two coil springs 42 are respectively inserted into the corresponding recesses 17b. Thereby, the lower axles 17B are always urged upward by the spring force of the corresponding pair of coil springs 42. Thereby, both the driven wheels 20 are always pressed toward the lower part of the outer peripheral surface of the lower pipe 12. As a result, not only the both driven wheels 20 but also the drive wheels 18 are prevented from being removed during traveling on the carriage, and the effect of preventing rattling during traveling is also enhanced. The coil spring 42 and the spring case 41 constitute an elastic pressing means 43 that elastically presses the two driven wheels 20 disposed at the lower portion of the carriage main body 14 against the lower pipe 12.

Next, the operation when the self-propelled carriage 10 according to the first embodiment of the present invention travels and the camera 26 is photographed in the factory will be described.
As shown in FIGS. 1 to 5, when the self-propelled carriage 10 is assembled to the pipe rail 13, the self-propelled carriage 10 is disposed below the both driving wheels 18 arranged below and below the action of the spring force of each coil spring 42. The pipe rails 13 are assembled so as to be sandwiched between the driven wheels 20 that have been made.
During cart travel, the output shafts (upper axle 17A) of both travel motors 19 are synchronously rotated in the same rotational direction. Thereby, both drive wheels 18 roll along the pipe 11 on the upper side of the pipe rail 13, and the carriage main body 14 travels in one of the length directions of the pipe rail 13. At this time, the driven wheels 20 are always pressed against the lower portion of the outer peripheral surface of the lower pipe 12 by the spring force of the coil spring 42 via the lower axle 17B. Therefore, when the carriage main body 14 moves due to the rolling of both the driving wheels 18, both the driven wheels 20 also rotate at the same rotational speed in the same rotational direction as the driving wheels 18. Further, when the traveling direction of the self-propelled carriage 10 is changed, the rotation directions of the output shafts of the both traveling motors 19 may be reversed.

When the self-propelled cart 10 travels on the curved portion of the pipe rail 13, the following cart travel is performed.
That is, the driving wheel 18 and the driven wheel 20 incorporated in each wheel shaft support member 16 include pipes on one side portion or the other side portion in the axle direction of the rolling walls contacting the corresponding pipes 11 and 12. Running resistance due to running on the curved portion of the rail 13 is generated.
At this time, both the wheel shaft support members 16 are pivotally supported between the upper and lower end portions of the carriage main body 14 around the vertical rotation shaft 15. Therefore, when a driving resistance against one side portion or the other side portion in each axle direction acts on the drive wheel 18 and the driven wheel 20 in each wheel shaft support member 16 in this way, the corresponding wheel shaft support member The reaction force of the resistance acts on 16, and the rotational force to the side that avoids the resistance is generated. As a result, the corresponding drive wheel 18 and driven wheel 20 behave like a guide roller, and the self-propelled carriage 10 travels while following the direction and degree of curvature of the pipe rail 13.

As a result, the self-propelled carriage 10 can be prevented from being derailed even during the passage of the curved portion of the pipe rail 13 or the rattling during traveling is suppressed and the traveling speed is not significantly reduced. Thereby, the self-propelled carriage 10 can be smoothly run along the pipe rail 13 at all times.
Further, when the self-propelled carriage 10 is caused to travel on the meandering portion of the pipe rail 13, the above-described operation is repeated while changing the rotational direction of the both wheel shaft support members 16 as needed (FIGS. 5A and 5B). b)).

In the first embodiment, a pair of batteries 25 is employed as a drive source for both travel motors 19. However, instead of this, as shown in FIG. 6, electric power may be obtained from the outside. For example, the upper pipe 11 is made of iron having conductivity, and one strip-shaped terminal 51 is fixed to the Y2 side side portion of the upper pipe 11 via a long terminal guide 50. On the other hand, the base part of the iron arm 52 is fixed to the lower part of both motor fixing plates 34, and the conductive brush 53 is attached to the tip part of the arm 52. The brush 53 is always in contact with the exposed tip of the strip-shaped terminal 51.
As described above, since both the traveling motors 19 are driven by using the external electric power, the charging operation is unnecessary, and the voltage is always stabilized, so that the traveling stability of the self-propelled carriage 10 can be obtained. .

It is a perspective view of the use condition which notched a part of self-propelled cart concerning Example 1 of this invention. It is a longitudinal cross-sectional view which shows the use condition of the self-propelled carriage which concerns on Example 1 of this invention. It is a longitudinal cross-sectional view which shows the use condition of the self-propelled carriage which concerns on Example 1 of this invention. It is a top view which shows the use condition of the self-propelled carriage which concerns on Example 1 of this invention. (A) It is a top view in driving | running | working the rail curved part of the self-propelled trolley | bogie which concerns on Example 1 of this invention. (B) It is a top view during driving | running | working the other rail curved part of the self-propelled carriage which concerns on Example 1 of this invention. It is a principal part expanded sectional view of the self-propelled cart of the other form which concerns on Example 1 of this invention.

Explanation of symbols

10 Self-propelled carriage,
11 Pipe (one pipe),
12 pipe (the other pipe),
13 Pipe rail,
14 dolly body,
15 pivot axis,
16 wheel shaft support member,
17A, 17B axle,
18 driving wheels,
19 Traveling motor (rotary drive),
20 driven wheels,
43 Elastic pressing means.

Claims (2)

A carriage main body having a curved portion in at least a part of the length direction and being moved along a pipe rail having a pair of upper and lower parallel pipes;
A pair of wheel shaft support members attached to both sides in the longitudinal direction of the pipe rail of the carriage main body so as to be rotatable around a vertical rotation shaft;
Of the outer peripheral surfaces of one of the pipes that are pivotally supported by the upper and lower parts of both wheel shaft support members via a horizontal axle and are arranged close to each other, on the side opposite to the opposite side to the other pipe A pair of drive wheels that roll in the length direction of the pipe rail while abutting;
A pair of rotational drive units for individually rotating both drive wheels;
Of the outer peripheral surface of the other pipe that is pivotally supported by the remaining upper or lower portions of the two wheel shaft support members via a horizontal axle and is disposed in the vicinity, opposite to the opposite side to the one pipe A self-propelled carriage provided with a pair of driven wheels that roll in the length direction of the pipe rail while abutting on the side.   The self-propelled carriage according to claim 1, wherein the carriage main body is provided with an elastic pressing means that elastically presses both driving wheels or both driven wheels disposed at a lower portion of the carriage main body against a lower pipe. .

Images