JP2009074236A - Self-traveling device in pipe body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a self-traveling device in a pipe body which can flexibly follow changes of a pipe diameter and a curvature of a pipe body internal surface, and travels in the pipe body while bringing peripheral surfaces of caterpillars into stable and intimate contact with the pipe body internal surface by expanding the caterpillars into a truncated chevron shape depending on the weight of a vehicular body, without incurring an increase of part counts or the upsizing of the device caused by the provision of a driving means in the vehicle body, for expanding the caterpillars supported by the vehicle body into the truncated chevron shape. <P>SOLUTION: The self-traveling device is composed of caterpillar units 15 which are supported swingingly inward and outward by two axial support portions 6 arranged in the vehicle body 2, and function to support the caterpillars 30 so as to be turnable, respectively. When the caterpillar units are laid on a flat surface, they assume positions in parallel with each other. On the other hand, when the caterpillar units are laid on a bottom surface in the pipe in a manner of being in parallel with the axial direction of the pipe body P, the caterpillar units are expanded into the truncated chevron shape corresponding to the curvature of the bottom surface in the pipe body by loads applied from the vehicle body to the respective axial support portions. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a tubular self-propelled device that performs various operations such as photographing and cleaning of the inner surface of a tubular body while self-propelled in a tubular body such as a sewer pipe.

Conventionally, various self-propelled devices that self-propelled in the pipes have been proposed for the purpose of inspecting and cleaning the pipes such as sewage pipes and blower pipes.
JP-A-5-202557 discloses a cleaning operation for sewage and the like provided with a vehicle body equipped with a suction nozzle for removing sludge in the sewage pipe and rubber crawlers (caterpillars) disposed on both sides of the vehicle body. A car is disclosed. Since the inner surface of the tubular body is curved in a direction perpendicular to the axial direction that is the traveling direction of the cleaning work vehicle, the direction of both rubber crawlers is set to a vertical direction suitable for traveling on a flat surface, The curved inner surface of the tubular body and the outer peripheral surface of the rubber crawler cannot be in close contact with each other over a wide area, and stable running becomes difficult. For this reason, both rubber crawlers are pivotally supported inward and outward by hinges provided on both sides of the vehicle body, and further, both rubber crawlers are rotated outward in the shape of a letter C by a hydraulic cylinder disposed between both rubber crawlers. By moving it, the inclination angle (expansion angle) of the rubber crawler corresponding to the curvature of the inner surface of the tube body is obtained.

Since the body of the sewage pipe or the like is narrow, it is preferable that the vehicle body that performs the cleaning work while traveling in the body is as small and simple as possible. However, if a hydraulic cylinder is mounted on the body, the number of parts increases. Increases in size and weight due to inevitably are unavoidable. In addition, when a hydraulic cylinder is disposed between both rubber crawlers, there is a limit in reducing the distance between the rubber crawlers, and there is a limit in reducing the vehicle body width, which makes it difficult to travel in a small pipe.
In addition, when the diameter of the tube through which the self-propelled device passes and the curvature of the inner surface of the tube body change, it is not possible to cope with the inclination angle of the rubber crawler set in advance using a hydraulic cylinder, and stable traveling becomes difficult. . For this reason, it is necessary to collect the self-propelled device and reset the inclination angle of the rubber crawler every time the tube diameter and the curvature change, which causes a significant decrease in workability using the self-propelled device.
JP-A-5-202557

As described above, the conventional self-propelled device including a pair of caterpillars for self-propelled in the pipe includes a hydraulic cylinder as a power source for expanding the caterpillar to an angle corresponding to the curvature of the inner surface of the pipe. ing. However, when a hydraulic cylinder is mounted on the vehicle body, an increase in size and weight due to an increase in the number of parts cannot be avoided. In addition, since the hydraulic cylinder is disposed between both rubber crawlers, there is a problem that the vehicle body width increases. In addition, each time the pipe diameter and the curvature of the inner surface of the pipe body change, it is necessary to collect the self-propelled device and reset the inclination angle of the rubber crawler, and work efficiency using the self-propelled device Was the cause of a significant drop.
The present invention has been made in view of the above, without increasing the number of parts by arranging the driving means for expanding the caterpillar supported by the vehicle body in the shape of a letter C, and without causing an increase in size. By expanding the caterpillar in a C shape according to the weight of the car body, flexibly following changes in the tube diameter and the curvature of the inner surface of the tube body, and stably keeping the caterpillar circumferential surface in close contact with the inner surface of the tube body It aims at providing the self-propelled device in a pipe which can run.

In order to achieve the above object, a first aspect of the present invention is a tubular self-propelled device that travels in an axial direction with a pair of caterpillars in contact with the inner surface of the tubular body, and includes a vehicle body and 2 provided on the vehicle body. When the caterpillar unit is placed on a flat surface, the shaft support unit is supported by each of the shaft support units so as to be swingable inward and outward, and rotatably supports the caterpillar. While each caterpillar unit is in a parallel posture, when each caterpillar unit is placed on the bottom surface of the tubular body so that the axial direction of the tubular body and each caterpillar unit are parallel to each other, Each of the caterpillar units expands in a C shape corresponding to the curvature of the bottom surface of the tubular body by a load applied to the shaft support portion.
Since both the caterpillar units are configured to freely swing (turn) inward and outward by the vehicle body, they can be changed from a parallel posture to a widened posture by a load applied from the vehicle body. Since the caterpillar unit is not inclined by using a special driving means, it is possible to avoid an increase in the size of the entire apparatus. In addition, since the inclination angle of the caterpillar unit is not fixed, even if the conditions of the inner surface of the tube change variously during traveling, the inclination angle of each caterpillar unit is individually changed to continue stable traveling. be able to. That is, it is possible to travel in a state where the inclination angle of one caterpillar unit and the other caterpillar unit is different.

According to a second aspect of the present invention, in the first aspect, the caterpillar unit includes at least two base members pivotally supported by the shaft support portion so as to be swingable inward and outward, and rotatably supported by the base member. Sprockets, a caterpillar stretched endlessly by the sprockets, and a motor supported by the base member to drive any one of the sprockets.
According to a third aspect of the present invention, in the first or second aspect, the support shafts are provided on a support base fixed to the vehicle body.
According to a fourth aspect of the present invention, in the second aspect, a swing member is supported on each of the support shafts so as to be swingable inward and outward, and each of the swing members is fixed to the base member of the caterpillar unit. It is characterized by being.
A fifth aspect of the present invention is characterized in that, in any one of the first to fourth aspects, each of the caterpillar units is urged to be in the parallel posture by an elastic member.
When traveling on a flat surface and when no external force is applied to the caterpillar unit, it is easy to return to the initial posture by configuring the parallel posture.

As described above, according to the present invention, when the tubular self-propelled device is placed on the inner surface of the tubular body and traveled, the caterpillar unit receives a load due to the weight of the vehicle body on the shaft support portion. The caterpillar can be stably driven with the lower surface of the caterpillar in close contact with the inner surface of the tubular body. Since no driving means such as a special hydraulic cylinder is used, the overall size of the apparatus can be avoided.
Even if there is a change in curvature due to partial deformation of the inner surface of the tube while traveling inside the tube, each caterpillar unit can freely change its inclination angle independently by the load from the vehicle body. It can drive | work in the state closely_contact | adhered to the pipe body inner surface. Similarly, the case where the curvature of the inner surface of the tubular body is changed by changing the pipe diameter can be dealt with similarly. Moreover, it is possible to travel in a state where the inclination angle of one of the caterpillar units and the other of the caterpillar units is different.

Hereinafter, the present invention will be described in detail with reference to embodiments shown in the drawings.
1 (a), (b) and (c) are perspective views showing the overall appearance of a self-propelled device according to an embodiment of the present invention, a perspective view showing a configuration of a caterpillar swing mechanism, and a configuration explanatory view of a drive mechanism. FIG. 2 is a diagram showing a state in which the self-propelled device in the tubular body is self-propelled on the inner surface of the tubular body. 3A, 3B, and 3C are a front view, a left side view, and a right side view of the tubular self-propelled device, and FIGS. 4A to 4F are front views of the caterpillar unit. , A plan view, an AA sectional view, a BB sectional view, a CC sectional view, and a DD sectional view.
The self-propelled device 1 in the tubular body captures, inspects, and loads the tubular body with the mounted camera in the process of traveling in the axial direction with a pair of caterpillars in contact with the inner surface of the tubular body P such as a sewer pipe. It is used for cleaning the inside of the tube by a cleaning means (a suction nozzle or the like).
The tubular self-propelled device 1 includes a vehicle body 2 having a predetermined weight or more, a T-shaped upper member 5a, and a flat plate-like lower member 5b, and a substantially E-shape in which the upper member 5a is fixed to the bottom of the vehicle body 2. Oscillating members supported so as to be able to oscillate inward and outward (vertical direction) A by respective supporting portions (hinges) 6 provided at both end portions of the supporting base (vehicle body) 5 and the lower member 5b of the supporting base 5, respectively. 10 and a caterpillar unit 15 that swings in the inward / outward direction A by being assembled to each swinging member 10.

The tubular self-propelled device 1 according to the illustrated embodiment is configured as a tube inner surface shape measuring device, and irradiates the tube inner surface by irradiating a laser beam on the vehicle body 2 in the circumferential direction of the inner surface of the tube P. A laser light source (light irradiating means) 3 and a CCD camera (imaging means) 4 for imaging the surface shape of the inner surface of the tube irradiated by the laser light source 3 are mounted. A control unit (calculation means) that calculates the three-dimensional surface shape of the inner surface of the tubular body based on the two-dimensional image captured by the CCD camera 4 and the position coordinates by the vehicle body 2 is connected to the tubular self-propelled device 1 by a cable.
The caterpillar unit 15 is rotatably supported by a base member 16 that is swingably supported inward and outward by the shaft support portion 6 via the swing member 10, and a bearing portion provided at each of the front and rear portions of the base member 16. In order to drive at least two sprockets 21 and 22 supported, a caterpillar (crawler) 30 stretched endlessly by the sprockets 21 and 22, and any one sprocket, in this example, the front sprocket 21 A motor 40 disposed in a base member 16 corresponding to the inside of the caterpillar, a gear mechanism 45 that transmits a driving force from the motor 40 to the driving side sprocket 21, and a battery (not shown) that drives the motor are provided.

The vehicle body 2 is set to a predetermined weight so that the rocking member 10 and the caterpillar unit 15 can be rotated outward by applying a load greater than or equal to a predetermined value to the shaft support 6 as shown in FIG. .
Alternatively, when the caterpillar is grounded on a horizontal plane, each caterpillar unit (each caterpillar unit) is made to be in a vertical posture with respect to the horizontal plane (both caterpillar units are certainly in a parallel posture) by an elastic member (not shown). May be biased inward. In this way, when traveling on a flat surface and when no external force is applied to the caterpillar unit, it is easy to return to the initial posture by configuring the parallel posture.

Each shaft support portion 6 supports the shaft 10a of the swinging member 10 so that the shaft 10a can freely rotate forward and backward in the inward / outward direction A within a predetermined angle range. Further, the rotation range of each swing member 10 is a required angle at which each caterpillar unit expands in a C shape from a posture in which the caterpillar unit 15 supported by each swing member 10 is supported vertically (parallel). For example, the range is set to 45 degrees.
That is, when the peripheral surface of each caterpillar 30 is grounded on a flat horizontal plane, each caterpillar 30 maintains an upright posture in the vertical direction, while the axial direction of the tube P and the longitudinal direction of each caterpillar are When each caterpillar is placed on the bottom surface of the pipe so as to be parallel to each other, each rocking member 10 and the caterpillar unit 15 are rotated outward by a load applied to each shaft support 6 from the vehicle body 2 so that each caterpillar is piped. It is configured to expand into a C shape corresponding to the curvature of the bottom of the body.
Instead of providing the swing member 10, a part of the base member 16 may be directly supported by the shaft support portion 6 so as to freely swing.

The base member 16 includes a substantially plate-shaped inner piece 17 and an outer piece 18, and a connecting piece 19 that integrates the inner piece 17 and the outer piece 18. The inner peripheral surface of the caterpillar 30 slides along the upper surface and the lower surface of the connecting piece 19.
The swinging member 10 that is pivotally supported by the left and right ends of the lower member 5b of the support base 5 enters the inside of the base member through a notch 16a provided inside the base member 16 of the caterpillar unit 15, and enters the base member. Screwed and fixed in place in the member 16.
Each sprocket 21, 22 is rotatably supported at its shaft portion 21 a, 22 a by a bearing portion provided on the base member 16. Each motor 40 is fixed at an appropriate position of the base member 16 so as to be located between the sprockets 21 and 22 and on the inner peripheral side of the caterpillar 30. The driving force from each motor 40 is transmitted to each sprocket 21 on the driving side via a gear mechanism 45.
The gear mechanism 45 according to this example includes a drive-side bevel gear 46 fixed to the output shaft of the motor 40 for driving the front drive-side sprocket 21, and a shaft 47 a that is rotatably supported by the base member 16. A driven bevel gear 47 having a fixed shaft center and meshed with the bevel gear 46, a gear 48 having a shaft shaft fixed by the outer end of the shaft 47a, and a bearing provided on the base member 16 are rotatably supported. And a gear 49 that meshes with the gear 48 and a sprocket gear 50 that is fixed at the end of the shaft 21 a of the sprocket 21 and meshes with the gear 49.

In the above configuration, when the tubular self-propelled device 1 is placed on the inner surface of the tubular body P and travels, the caterpillar unit 15 receives a load due to the weight of the vehicle body 2 on the shaft 10a of the swing member 10, It can be freely expanded into a C shape, and can stably travel with the lower surface of the caterpillar 30 being in close contact with the inner surface of the tubular body. Since no driving means such as a special hydraulic cylinder is used, the overall size of the apparatus can be avoided.
Even if the inner surface of the tubular body is partially deformed and the curvature is changed while traveling in the tubular body, each of the caterpillar units 15 can freely change the inclination angle individually by the load from the vehicle body 2. The vehicle can always travel while being in close contact with the inner surface of the tube body. Similarly, the case where the curvature of the inner surface of the tubular body is changed by changing the pipe diameter can be dealt with similarly. Moreover, it is possible to travel in a state where the inclination angle of one of the caterpillar units and the other of the caterpillar units is different.

Next, FIG.5, FIG.6 and FIG.7 is explanatory drawing of the self-propelled apparatus in a tubular body concerning the 2nd Embodiment of this invention, FIG. FIGS. 6A and 6B are a plan view and a side view showing the configuration of the caterpillar unit, and FIGS. 7A and 7B are a plan view and a side view showing a state in which the caterpillar unit is supported on the vehicle body. It is.
The tubular self-propelled device 1 according to this embodiment is characterized by a configuration in which shaft support portions 60 provided at both ends in the longitudinal direction of the caterpillar unit 15 are supported by the vehicle body 2 so as to be swingable inward and outward.
The caterpillar unit 15 rotatably supports the caterpillar 30 by a plurality of sprockets (not shown) rotatably supported by a base member 16, and is driven by a motor (not shown) supported by one of the sprockets by the base member 16. .

  As shown in FIG. 5, when the caterpillar unit 15 is grounded on the inner peripheral surface of the pipe P, the load from the vehicle body 2 is applied to the shaft support portion 60. It is possible to travel stably while bringing the surface into close contact with the inner surface of the tubular body. Other operations and effects are the same as those in the first embodiment.

(A), (b), and (c) are the whole appearance perspective view of the tubular self-propelled device concerning one embodiment of the present invention, a perspective view showing composition of a caterpillar rocking mechanism, and composition explanation drawing of a drive mechanism. . It is a figure which shows the state which the self-propelled apparatus in a pipe is self-propelled on the inner surface of a pipe. (A) (b) And (c) is a front view, a left side view, and a right side view of the tubular self-propelled device. (A) thru | or (f) are the front view of a caterpillar unit, a top view, AA sectional drawing, BB sectional drawing, CC sectional drawing, DD sectional drawing. It is a figure showing the state where the self-propelled device concerning a 2nd embodiment of the present invention is running in a tube. (A) And (b) is the top view and side view which show the structure of a caterpillar unit. (A) And (b) is the top view and side view which show the state which supported the caterpillar unit in the vehicle body.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Self-propelled device in a pipe | tube, 2 ... Vehicle body, 3 ... Laser light source, 4 ... CCD camera, 5 ... Support base (vehicle body), 5a ... Upper member, 5b ... Lower member, 6 ... Shaft support part, 10 ... Swing member DESCRIPTION OF SYMBOLS 10a ... Shaft, 15 ... Caterpillar unit, 16 ... Base member, 17 ... Inner piece, 18 ... Outer piece, 19 ... Connection piece, 21, 22 ... Sprocket, 21a ... Shaft, 30 ... Caterpillar, 40 ... Motor, 45 ... A gear mechanism, 46: a bevel gear, 47: a bevel gear, 47a: a shaft, 48: a gear, 49: a gear, 50: a sprocket gear, 60: a shaft support.

Claims (5)

A self-propelled device that runs in the axial direction with a pair of caterpillars in contact with the inner surface of the tube,
A vehicle body, two shaft support portions provided on the vehicle body, and a caterpillar unit that is supported by each shaft support portion so as to be swingable inward and outward, and rotatably supports the caterpillar,
When each of the caterpillar units is placed on a flat surface, each of the caterpillar units is in a parallel posture, while each of the caterpillar units is placed on the bottom surface of the tubular body so that the axial direction of the tube is parallel to each of the caterpillar units. When the caterpillar unit is placed, each caterpillar unit expands in a C shape corresponding to the curvature of the bottom surface of the tubular body by a load applied from the vehicle body to each of the shaft support portions. apparatus.   The caterpillar unit includes a base member that is pivotably supported in the inner and outer directions by the shaft support, at least two sprockets that are rotatably supported by the base member, and endlessly stretched by the sprockets. The self-propelled device according to claim 1, further comprising a caterpillar and a motor supported by the base member to drive any one of the sprockets.   The in-pipe self-propelled device according to claim 1, wherein each of the support shafts is provided on a support base fixed to the vehicle body.   The rocking member is supported on each of the support shafts so as to be rockable inward and outward, and the rocking members are fixed to the base member of the caterpillar unit. Self-propelled device in the tube.   5. The self-propelled device in a tubular body according to claim 1, wherein each of the caterpillar units is biased by an elastic member so as to be in the parallel posture. 6.

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