JP2011246033A - Device moving through pipe - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device that moving through a pipe smoothly even in a conduit having a significant change in diameter, a bent pipe, and a pipe that bends at a right angle in an elbow-shape.SOLUTION: The device 1 moves through the pipe 8 and includes a wheel frame 2 having a wheel 3, a body frame 4 supported on the wheel frame 2, a drive wheel 5 rotationally driven by a motor M, and a drive frame 6 disposed relatively to the body frame 4 and in which the drive wheel 5 is disposed rotatably. When the device 1 moves through the pipe 8, an adjusting mechanism 7 is always biased in a direction to increase the distance L1 between the body frame 4 and the drive frame 6 according to the size of an inner diameter D of the pipe 8, so that the wheel 3 and the drive wheel 5 are butted against an inner wall 8a of the pipe 8.

Description

  The present invention relates to an in-pipe moving apparatus that moves in a pipe.

  2. Description of the Related Art Conventionally, in a harbor, when transporting concrete or the like of construction material that has been transported by sea to a destination on land, a method of transporting using piping (pipeline) is often used. In the piping, the inner wall is corroded by the concrete transported, or the inner wall is damaged by sand or gravel contained in the concrete. If the corrosion or damage is left untreated, the pipe wall has a hole, and the concrete leaks to the outside through the hole.

  In order to solve this problem, it is necessary to periodically inspect the degree of erosion in the pipe and repair the pipe according to the degree of erosion. At present, the erosion inspection of the inner wall of the pipe is performed by welding according to the experience of the inspector by cutting the part estimated to be eroded and confirming the erosion status, and if no defective part is found on the inner wall of the pipe as a result. Repair and restore the cut part.

As described above, in the method of inspecting the pipe by cutting the pipe or restoring it by welding, man-hours such as a cutting work and a welding work are added, resulting in a reduction in work efficiency.
Therefore, conventionally, an in-pipe moving device has been proposed that can inspect and measure the inside of a pipe while moving through the pipe without cutting a portion that seems to be a failure (for example, a patent) References 1-3).

  The in-pipe moving device (in-pipe work robot) described in Patent Document 1 is a work robot that performs repair painting, defect detection, position measurement, and the like on the inner wall surface of a pipe while traveling in a large pipe. A traveling carriage having the above and a work carriage loaded with a paint tank are connected to each other.

  The in-pipe moving device (in-pipe moving body) described in Patent Document 2 floats on the water surface in a manhole by an air tank and rubber wheels, and an open / close leg provided with a rubber wheel at the tip opens and closes by driving an extendable air cylinder. And it moves by the water flow.

  The in-pipe moving device (pipe moving mechanism) described in Patent Document 3 is provided with a leaf spring between two structures provided with a motor for rotating a wheel to separate the two structures from each other. It is a device that moves inside the pipe while being pressed against the inner wall surface of the pipe.

Japanese Patent Laid-Open No. 5-68917 (FIG. 1) Japanese Unexamined Patent Publication No. 7-112169 (FIG. 1) Japanese Patent Laid-Open No. 9-11890 (FIG. 1 and claim 1)

  The pipes to which the in-pipe moving device described in Patent Documents 1 to 3 is moved include a horizontal pipe, a vertical pipe, an elbow pipe bent at a right angle, a reducer whose inner diameter changes stepwise, and the like. Therefore, it is desired that the in-pipe movement apparatus can freely move in correspondence with the pipes having any shape.

  However, although the in-pipe moving device described in Patent Document 1 can be set for a position of an arbitrary pipe diameter, a traveling carriage that travels with a work arm provided with a spray nozzle for painting and a blasting device, This is a large work robot that is connected to a work carriage equipped with a fuel tank. For this reason, the pipe to which the in-pipe moving device of Patent Document 1 moves is a pipe having a larger inner diameter than the concrete transfer pipe.

Such a large work robot in the pipe is heavy, and can only be used when the running wheels roll on the lower inner wall of a large-diameter pipe arranged horizontally. It cannot be used in places where the vertical direction of the work robot is reversed in the piping.
In other words, when the traveling wheel side is on the upper side, the in-pipe work robot is not strong enough to support the traveling carriage and the working carriage by the work arm, the pressure roller, etc. The situation that is used as such is not considered.

  In addition, in the in-pipe moving device described in Patent Document 2, since the open / close leg provided with the rubber wheel at the tip moves by opening and closing by driving the telescopic air cylinder, the moving speed is slow and the working efficiency is not high.

In addition, the in-pipe moving device described in Patent Document 3 is provided with a leaf spring that urges the plurality of structures in a direction away from each other between the plurality of structures provided with wheels, and the spring force of the leaf spring is provided. Rotate the wheel while pressing it against the inner wall of the pipe, and run in the pipeline.
However, since the in-pipe moving device uses the elastic deformation of the leaf spring to separate the plurality of structures from each other, the amount of deformation of the leaf spring is small, and the distance that can be separated is small. Small diameter pipes of 2 inches or less are targeted.

  In the in-pipe moving device that presses the wheel against the inner wall of the pipe by such a leaf spring, the expansion and contraction of the wheel is slight, so that it is necessary to run the in-pipe moving device for a pipe line in which the inner diameter changes greatly, such as a reducer. It is difficult to ensure the pressing force, and it is difficult to travel on a pipe line in which the inner diameter of the pipe changes greatly.

  Therefore, the present invention was devised in view of the above circumstances, and even in pipes such as pipes with greatly changed inner diameter, curved pipes, pipes bent at right angles to an elbow shape, etc., smoothly. It is an object to provide an in-pipe moving device that can be moved.

  In order to solve the above-described problem, the in-pipe moving device according to claim 1 is an in-pipe moving device that moves in a pipe, and includes a wheel mount including wheels, and a main frame supported on the wheel mount. And a drive wheel that is rotationally driven by a motor, a drive frame that is disposed relative to the main body frame and in which the drive wheel is rotatably disposed, and is interposed between the main body frame and the drive frame. And an adjustment mechanism that adjusts an interval between the main body frame and the drive frame, and the adjustment mechanism has a size of an inner diameter of the pipe when the in-pipe moving device travels in the pipe. Accordingly, the wheel and the driving wheel are pressed against the inner wall of the pipe by constantly energizing the main body frame and the driving frame in the direction of increasing the distance between them.

  According to such a configuration, the in-pipe moving device is configured so that the adjustment mechanism always urges the main body frame and the driving frame in the direction of separating the main frame and the driving frame when moving in a pipe whose inner diameter changes. When the distance between the main body frame with the drive frame and the drive frame with the driving wheel is automatically adjusted, the outer circumferential surface of the wheel and the driving wheel is pressed against the inner wall of the pipe with an appropriate pressing force, and the motor rotates. A propulsive force is generated by the frictional force between the outer peripheral surface of the drive wheel and the inner wall of the pipe, and can travel and move in the pipe.

  The in-pipe movement device according to claim 2 is the in-pipe movement device according to claim 1, wherein the adjustment mechanism includes a cylinder having a base end fixed to one of the main body frame or the drive frame, A tip end portion is fixed to the other of the main body frame or the driving frame, and a cylinder rod that moves forward and backward by the cylinder is provided.

  According to such a configuration, when the cylinder rod of the adjustment mechanism is driven by the cylinder to advance and retreat, the in-pipe movement device automatically sets the interval between the main frame on which the wheels are arranged and the drive frame on which the driving wheels are arranged. Since it can be adjusted, the wheel and the drive wheel can be pressed against the inner wall of the pipe with an appropriate pressing force. For this reason, if a driving wheel rolls, an in-pipe movement apparatus will move in a pipe line.

  The in-pipe moving device according to claim 3 is the in-pipe moving device according to claim 1 or 2, wherein the wheel mount is connected to the main body mount so as to be rotatable in a horizontal direction by a connector. It is characterized by being.

  According to this configuration, the in-pipe moving device is configured such that when the wheel base is rotatably connected to the main body base, the side surface of the wheel is attached to the inner wall of the pipe when traveling on a curved pipe line. When abutting against and pressing against the inner wall, the wheel cradle rotates horizontally with the wheel and the main body cradle around the connector, so the direction of the wheel is automatically changed according to the curve of the pipeline. Can do.

  The in-pipe moving device according to claim 4 is the in-pipe moving device according to any one of claims 1 to 3, wherein the wheel mount rotates in a horizontal direction at a lower central portion of the main body mount. The wheel is arranged so as to be movable, and the wheel is arranged so as to be rotatable in front, rear, left and right of the wheel mount.

  According to this configuration, the wheel mount is supported in a stable state by the four wheels arranged on the front, rear, left and right sides of the wheel mount. The main body frame is guided by the inner wall surface of the piping when the wheel frame is pressed against the curved wall surface of the wheel while traveling because the wheel frame is pivotally arranged in the lower center part. The wheel mount is rotated in the direction in which the pipe is bent, and the wheel mount is rotated together with the wheel mount to change the direction of the wheel. For this reason, since the in-pipe moving device can freely change the direction of movement in accordance with the bending state of the pipe, it can move smoothly even if the pipe is bent.

  The in-pipe moving device according to claim 5 is the in-pipe moving device according to any one of claims 1 to 3, wherein the wheel mount includes a front end portion and a rear end portion at a lower portion of the main body mount. Each of the wheels is rotatably arranged, and the wheels are rotatably arranged on the front, rear, left and right of the wheel mount.

  According to such a configuration, the wheel mount is supported in a stable state by the four wheels by disposing the wheels on the front, rear, left and right sides. In addition, the main body frame is supported by two wheels, which are arranged at the front end and the rear end of the lower part, so that a total of eight wheels are pressed against the inner wall of the pipe to support the in-pipe moving device against the pipe. Therefore, the movement of the in-pipe moving device can be stabilized. Since the two wheel platforms are rotatably arranged on the main unit frame, the direction of the front and rear wheel platforms can be freely changed when the in-pipe moving device travels on a curved pipeline. Even if the pipe is bent, it can move smoothly.

  The in-pipe movement apparatus according to claim 6 is the in-pipe movement apparatus according to any one of claims 1 to 5, wherein the drive wheel is rotatably arranged on the drive frame and the drive is performed. A drive shaft having a wheel attached thereto, a driven vehicle attached to the drive shaft, and a driving vehicle attached to a motor shaft of the motor are provided, and the driven vehicle and the driving vehicle are: The rotation is transmitted by a driving mechanism including a belt or a chain.

  According to such a configuration, the in-pipe moving device is configured such that the driving wheel is arranged on the outside of the central portion of the driving base, so that even if the driving wheel is one, the driving wheel is piped if the motor rotates. The in-pipe moving device moves while rolling while abutting against the inner wall surface.

  The in-pipe movement apparatus according to claim 7 is the in-pipe movement apparatus according to any one of claims 1 to 6, wherein the drive gantry includes a drive gantry body on which the motor is disposed; A pair of brackets installed at the front ends of the cylinder rods of the pair of adjusting mechanisms mounted on the front end portion and the rear end portion of the main body base, and interposed between the drive base main body and the pair of brackets. And an adjusting plate for adjusting a distance between the drive gantry body and the bracket.

  According to such a configuration, the in-pipe moving device includes an adjustment plate that adjusts the height between the drive gantry main body and the pair of brackets. The position of the drive wheel can be adjusted in the thickness direction.

  According to the in-pipe moving device according to claim 1 of the present invention, when moving in a pipe such as a reducer whose inner diameter changes, the distance control between the wheel and the driving wheel can be adjusted by driving the adjusting mechanism. An appropriate pressing force can always be applied to the inner wall of the pipe between the wheel and the drive wheel. For this reason, the in-pipe moving device can move the in-pipe moving device even in a pipe line in which the inner diameter of the pipe greatly changes by rolling the drive wheel.

  According to the in-pipe moving apparatus of the present invention, the in-pipe moving apparatus adjusts the distance between the main body frame and the driving frame by adjusting the distance between the main body frame and the driving frame, and adjusts the distance between the wheel and the driving wheel. In addition, an appropriate pressing force can be applied to the inner wall of the pipe for the driving wheel. For this reason, the in-pipe moving device always presses the wheel and the driving wheel against the inner wall of the pipe even in a pipe line where the inner diameter of the pipe changes, a pipe line arranged vertically, or an inclined pipe line. Can travel smoothly.

  According to the in-pipe moving device of the third aspect of the present invention, when the in-pipe moving device travels on a curved pipe line, the side surface of the wheel comes into contact with the inner wall of the pipe and is pressed against the inner wall. The gantry rotates together with the wheels, and the direction of the wheels can be automatically changed in accordance with the curve of the pipeline to advance. For this reason, the in-pipe moving device can move smoothly by automatically changing the direction of the wheel according to the bending situation of the pipe, even if it is a pipe line of a bent pipe or an elbow pipe bent at a right angle. Can do.

  According to the in-pipe movement apparatus of the present invention, the main body frame of the in-pipe movement apparatus has a wheel frame in which wheels are arranged on the front, rear, left and right, and the wheel frame is rotatably disposed in the lower central part. When the side wall of the pipe is pressed against the bent inner wall, the wheel rotates together with the wheel base and the direction of the wheel changes. For this reason, the in-pipe moving device can move smoothly because the direction of the wheels automatically changes in the direction in which the pipe is bent, even if the pipe is bent.

  According to the in-pipe movement apparatus according to claim 5 of the present invention, the in-pipe movement apparatus has wheel platforms each including four wheels on the front, rear, left and right at the lower part of the front end portion and the rear end portion of the main body mount. Thus, the in-pipe moving device can be moved while being kept in a stable state.

  According to the in-pipe movement apparatus according to claim 6 of the present invention, the in-pipe movement apparatus is stable even if the number of drive wheels is one because the drive wheels are arranged outside the central portion of the drive base. Can move in the state.

  According to the in-pipe movement apparatus of the present invention, the in-pipe movement apparatus adjusts the distance between the drive gantry main body and the bracket with the adjustment plate, so that the drive gantry main body and the drive wheel are equal to the thickness of the adjustment plate. Thus, the outer peripheral surface of the drive wheel can be pressed against the inner wall of the pipe with an appropriate pressing force.

It is a perspective view which shows the in-pipe movement apparatus which concerns on embodiment of this invention. It is an expansion perspective view of the wheel cradle of the in-pipe movement apparatus which concerns on embodiment of this invention. It is the schematic which shows the in-pipe movement apparatus which concerns on embodiment of this invention, and shows the state when moving in the pipe line from which an internal diameter changes. It is the schematic which shows a state when the in-pipe movement apparatus which concerns on embodiment of this invention moves the inside of an elbow. It is a perspective view which shows the modification of the in-pipe movement apparatus which concerns on embodiment of this invention. It is the schematic which shows the modification of the in-pipe moving apparatus which concerns on embodiment of this invention, and shows the state when moving in the curved piping. It is the schematic which shows the modification of the in-pipe moving apparatus which concerns on embodiment of this invention, and shows the state when moving in an elbow. It is the schematic which shows the modification of the in-pipe moving apparatus which concerns on embodiment of this invention, and shows the state when moving the inside of an elbow in the reverse state. It is the schematic which shows the modification of the in-pipe moving apparatus which concerns on embodiment of this invention, and shows the state when moving the place where the internal diameter of piping changes.

Next, the in-pipe movement apparatus 1 which concerns on embodiment of this invention with reference to FIGS. 1-4 is demonstrated.
In the present embodiment, the direction of the in-pipe moving device 1 changes depending on the location where the pipe 8 is attached and the installation state of the pipe 8. For this reason, the front, back, left, right, up and down directions are arbitrary. For convenience, the left side of the drawings shown in FIGS. 1 and 2 is “front”, the right side is “rear”, the front side is “left”, and the rear side is “right”. In the following description, the lower side is “lower” and the upper side is “upper”.
Before describing the in-pipe moving apparatus 1, the pipe 8 (see FIG. 3) on which the in-pipe moving apparatus 1 travels will be described.

≪Piping configuration≫
As shown in FIG. 3, the pipe 8 only needs to have a tubular member, a tubular member, or a tunnel-shaped pipe line 81 to which the in-pipe moving apparatus 1 can move, and the purpose of use thereof is not particularly limited. This pipe 8 is intended for a pipe that needs to inspect the state of the inner wall 8a, measure it, or repair the inner wall 8a. The pipe 8 carries, for example, mud-like materials such as ready-mixed concrete, powders such as construction materials, synthetic resins and foods, particulate materials, liquids such as petroleum, and gases such as natural gas. For example, a pipeline.

≪Configuration of in-pipe moving device≫
As shown in FIG. 1, the in-pipe moving device 1 travels to inspect and repair the pipe 8 while moving the pipe 81 (see FIG. 3) in the pipe 8 (see FIG. 3) in the front-rear direction. Robot (self-propelled carriage). The in-pipe moving device 1 includes a rotatable wheel 3, a wheel gantry 2 provided with the wheel 3, a main body gantry 4 to which the wheel gantry 2 is rotatably connected, and an in-pipe moving device 1 for traveling. Drive wheel 5, motor M for generating driving force for rotating drive wheel 5, drive mechanism 9 for transmitting the rotation of motor M to drive wheel 5, drive base 6 on which drive wheel 5 is disposed, drive wheel An adjustment mechanism 7 for adjusting the position of 5, an inspection device (not shown) for inspecting the inside of the pipe 8, a repairing device (not shown) for repairing the inner wall 8 a of the pipe 8, and the motor M and the like are driven. Power supply (not shown) and a control device (not shown) for controlling the power supply and the like.

≪Composition of wheel≫
As shown in FIG. 2, the wheel 3 is a rotating body that is rotatably disposed with respect to the wheel mount 2, and includes, for example, four rollers that are rotatably disposed in front, rear, left, and right of the wheel mount 2. Each wheel 3 is rotatably supported on an axle 31 installed in the center, and when the in-pipe moving device 1 moves, the inner wall of the wheel 3 is caused to roll by friction with the inner wall 8a of the pipe 8 (see FIG. 3). It arrange | positions in the state contact | abutted to 8a.
The axle 31 is fixed to a shaft support member 22 whose base end is fixed to the front, rear, left and right of the lower surface of the wheel mount 2, and each tip is a bearing portion (not shown) provided at the center of each wheel 3. ) Is rotatably supported.

≪Configuration of wheel mount≫
As shown in FIG. 2, the wheel pedestal 2 is a substantially thick plate-like wheel base on which axles 31 of a plurality of (for example, four) wheels 3 are arranged. The wheels 3 are respectively arranged on the outside. The wheel gantry 2 includes a wheel gantry main body 21, a shaft support member 22 fixed to the left and right front and rear of the lower surface of the wheel gantry main body 21, a thrust bush 23 installed at the center of the wheel gantry main body 21, and a shaft support member. And a fixing tool 24 for fixing the thrust bush 23 to the wheel base body 21. The wheel pedestal 2 is rotatably disposed at a lower central portion of the main body pedestal 4.

The wheel base body 21 is made of a flat rectangular thick plate member, and a vertical hole (not shown) for inserting the thrust bush 23 is formed in the center portion in the thickness direction.
The shaft support member 22 is made of a thick plate-like member fixed in a state of projecting from the left and right front and rear of the lower surface of the wheel base body 21 toward the lower side, and a shaft hole for supporting the axle 31 is formed. ing.
The thrust bush 23 includes a cylindrical portion 23a that is inserted into a vertical hole (not shown) drilled in the central portion of the wheel base body 21, and a flange portion 23b that is formed at the upper end portion of the cylindrical portion 23a. . The threaded portion 41b of the coupling pin 41 (see FIG. 1) is inserted into the cylindrical portion 23a. The flange portion 23b is a part that is fixed to the surface of the wheel base body 21 by the fixing tool 24, and is formed in a bowl shape.
The fixture 24 is made of, for example, a screw member or a bolt / nut.

≪Configuration of the main unit base≫
As shown in FIG. 1, the main body mount 4 is a member that constitutes a main body frame of the in-pipe movement apparatus 1, and is made of, for example, a substantially strip-shaped flat thick plate member that is long in the front-rear direction. The main frame 4 is provided with a through hole 4c into which the coupling pin 41 is inserted, and a cylinder 71 of the adjusting mechanism 7 mounted on the front end portion 4a and the rear end portion 4b.

The through hole 4 c is a hole having a step portion (not shown) into which the head portion 41 a of the coupling pin 41 is inserted, and is formed in the center portion of the main body base 4.
The connecting pin 41 (connector) is a connecting pin for rotatably connecting the wheel mount 2 to the main body mount 4, and includes a head portion 41a and a screw portion 41b into which the nut 42 is screwed. It consists of a stepped bolt formed. The wheel mount 2 rotates in the horizontal direction (arrows A and B directions) with the coupling pin 41 as the center.

<Adjustment mechanism configuration>
As shown in FIG. 1, the adjusting mechanism 7 always urges the wheel 3 and the driving wheel 5 in the direction of widening the distance L1 between the main body frame 4 and the driving frame 6 disposed relative to the main body frame 4. Is pressed against the inner wall 8a of the pipe 8. The adjustment mechanism 7 is composed of, for example, a pair of devices that are installed at the front end portion 4a and the rear end portion 4b of the main body mount 4 and operate simultaneously. The adjustment mechanism 7 is interposed between the main body frame 4 and the driving frame 6 and adjusts the distance L1 between the main body frame 4 and the driving frame 6, thereby connecting the wheel 3 and the driving wheel 5 to the inner wall 8 a of the pipe 8. It is also possible to adjust the pressing force pressed against each other and the distance L2 (see FIG. 3) between the wheel 3 and the drive wheel 5.

  The adjustment mechanism 7 may be any mechanism that can adjust the distances L1 and L2 (see FIG. 3) by moving the drive base 6 forward and backward with respect to the main body base 4, and the structure thereof is not particularly limited. . In other words, the adjusting mechanism 7 is configured such that the cylinder rod 72 is moved by a fluid pressure cylinder mechanism, a screw mechanism using a screw rod, a female screw member, and an electric motor, a rack and pinion mechanism using a rack, a pinion, and an electric motor, or the like. You can move forward and backward. Hereinafter, the adjustment mechanism 7 will be described taking as an example a case of a pneumatic cylinder.

  As shown in FIG. 1, the adjusting mechanism 7 includes a cylinder 71 whose base end is fixed on the front and rear ends of the main body frame 4, and a cylinder rod whose front end is fixed to the drive frame 6 and is advanced and retracted by the cylinder 71. 72, a pair of pneumatic cylinders provided with an air supply source (not shown) for driving the cylinder rod 72 and a control device (not shown) for controlling the air supply source.

The cylinder 71 raises or lowers (advances and retreats) the cylinder rod 72 with compressed air supplied from an air supply source (not shown) mounted on the main body frame 4 or the like.
The cylinder rod 72 is fixed to a bracket 62 having a proximal end portion provided in the cylinder 71 and a distal end portion disposed in the front-rear direction.
An air supply source (not shown) is a device that raises and lowers the cylinder rod 72 by supplying compressed air into the cylinder 71, and includes, for example, an air compressor, a motor pump, an electromagnetic pump, and the like. The air supply source is provided in the adjustment mechanism 7, mounted on the main body base 4, or disposed outside the pipe 8 through a compressed air supply tube. This air supply source is controlled by a control device (not shown) described later.

≪Configuration of drive wheel≫
The drive wheel 5 is a travel source that causes the in-pipe moving device 1 to travel by transmitting the rotation of the motor M through the drive mechanism 9 to rotationally drive the drive wheel 5, and includes one electric wheel. In the drive wheel 5, a drive shaft 51 that is rotatably disposed outside the center of the drive base 6 (upper center) and a driven vehicle 52 that is attached to the drive shaft 51 are rotated together by the motor M. It is supposed to be. The drive wheel 5 is always arranged in a state where it is elastically pressed against the inner wall 8a of the pipe 8 by the air pressure of the adjusting mechanism 7.

As shown in FIG. 1, the drive shaft 51 is a rotation shaft that is fixed in a state of being inserted through the central portion of the drive wheel 5, and is a rotation transmission shaft that supports the drive wheel 5. Both ends of the drive shaft 51 are rotatably supported by a pair of bearing members 64 mounted on the left and right ends of the drive gantry body 61, and are arranged in the left-right direction.
The driven vehicle 52 is aligned with the left end portion of the drive shaft 51 and is disposed outside the bearing member 64 at the center of the drive base 6. The driven vehicle 52 is made of a sprocket having a tooth profile portion that meshes with a tooth profile portion of a belt 91 formed of a timing belt, for example.

≪Motor configuration≫
The motor M is a drive source for rotating the drive wheels 5, and is arranged at the center of the lower surface of the drive gantry body 61 with the motor shaft Ma directed in the left-right direction. The motor M has a motor shaft Ma provided on the motor M, a motor vehicle Mb mounted on the motor shaft Ma, and a motor case Mc that rotatably supports the motor shaft Ma.
The motor shaft Ma is disposed in parallel to the drive shaft 51.
Similar to the driven vehicle 52, the driving vehicle Mb is formed of a sprocket having a tooth profile portion around which the belt 91 is wound and meshed with the tooth profile portion of the belt 91.
The left and right ends of the motor case Mc are held by a pair of motor holding plates 65 suspended from the lower surface of the drive gantry body 61.

≪Configuration of drive mechanism≫
The drive mechanism 9 is a transmission device for transmitting the rotation of the motor M to the drive wheels 5 to drive the rotation, and includes an endless belt 91 wound around the driving vehicle Mb and the driven vehicle 52.
The belt 91 only needs to be able to transmit the rotation of the driving vehicle Mb to the driven vehicle 52, and may be a chain.

≪Configuration of drive base≫
As shown in FIG. 1, the drive base 6 is a plate-like member that supports the drive wheels 5 and the motor M and is raised and lowered (advanced / retracted) by the adjustment mechanism 7, and the front and rear end portions thereof are held horizontally by the cylinder rod 72. Has been. The drive gantry 6 includes a drive gantry main body 61 in which the motor M is disposed, a pair of brackets 62 installed at the upper ends (tips) of the cylinder rods 72 of the pair of adjusting mechanisms 7, A pair of adjusting plates 63 for adjusting the height of the drive gantry body 61 with respect to the brackets 62, interposed between the brackets 62, the bearing members 64, and the motor holding plates 65 are provided.

The drive gantry body 61 is a base-like thick plate member on which the motor M and the drive wheels 5 are installed.
The bracket 62 is a thick plate member that is disposed before and after the drive gantry main body 61 and is always pressed by the cylinder rod 72.
The adjustment plate 63 is a plate member for adjusting the interval T between the drive gantry body 61 and the bracket 62. The adjustment plate 63 adjusts the interval T by interposing a plate member having a different thickness or a plurality of plate members between the drive base main body 61 and the bracket 62.
The bearing member 64 is a pair of thick plate-like members that pivotally support the drive shaft 51 from both sides of the drive wheel 5, and is mounted on the drive gantry body 61 so as to face each other in parallel via the drive wheel 5. .
The motor holding plate 65 is composed of a pair of plate members that are held so as to be sandwiched from both ends of the motor shaft Ma of the motor M.

≪Configuration of inspection equipment and repair equipment≫
The inspection device (not shown) is a device for inspecting the inner wall 8a of the pipe 8 shown in FIG. 3, for example, an imaging camera device, an infrared camera device, an inner diameter D of the pipe 8, and a measuring device for measuring dimensions. Consists of. This inspection device is mounted on the drive base 6 or the main body base 4.
The repair device (not shown) is a device that repairs the inner wall 8a of the pipe 8 that has been corroded or damaged, and includes, for example, a welding robot, a painting robot, and a robot arm. This repair device is mounted on the drive base 6 or the main body base 4.

≪Power supply configuration≫
A power source (not shown) is a device for driving the motor M, the inspection device, the repair device, the control device, the adjustment mechanism 7 and the like, and is composed of a battery or a generator. The power source is mounted on the in-pipe moving device 1 or is disposed outside the pipe 8 via an electric wire.

<Control device configuration>
The control device (not shown) is a device that controls the motor M, the adjustment mechanism 7, the inspection device, and the repair device. The control device is mounted on the in-pipe moving device 1 and is arranged by a remote controller (not shown) arranged outside the pipe 8. Remotely controlled. In this case, the control device and the remote controller (remote controller) are connected by electric wires, or control signals are transmitted and received wirelessly. The remote controller includes a device for remotely operating the motor M, the adjusting mechanism 7, the inspection device and the repair device, and a monitor for displaying an image captured by the inspection device such as a camera.

≪Action≫
Next, the operation of the in-pipe moving device 1 will be described with reference to FIGS.
As shown in FIG. 3, when the in-pipe movement apparatus 1 is caused to travel on a pipe line 81 in the pipe 8, first, the in-pipe movement apparatus 1 is arranged in the pipe 8. Next, the operator operates a remote controller (not shown) to activate a control device (not shown) to drive the adjustment mechanism 7. Then, compressed air is sent into the left and right cylinders 71 of the adjustment mechanism 7 to raise the cylinder rod 72 and raise the drive base 6 and the drive wheels 5 so that the drive wheels 5 are always pressed against the inner wall 8 a of the pipe 8.

By extending the cylinder rod 72, the distance L1 (see FIG. 1) between the main body frame 4 to which the cylinder 71 is fixed and the drive frame 6 to which the cylinder rod 72 is fixed is increased, and the distance between the wheel 3 and the drive wheel 5 is increased. L2 also spreads.
As described above, when the cylinder rod 72 of the adjusting mechanism 7 protrudes from the cylinder 71 by air pressure, the cylinder 3 moves forward and backward according to the size of the inner diameter D of the pipe 8, and the wheel 3 and the drive wheel 5 are pushed by a pressing force proportional to the air pressure. Is elastically pressed against the inner wall 8a of the pipe 8.

  For this reason, the in-pipe moving device 1 is configured so that the wheel 3 and the drive wheel 5 are pressed against the inner wall 8a of the pipe 8 even when the pipe 8 is vertically arranged or the pipe 8 is inclined. Therefore, the friction between the outer peripheral surface of the wheel 3 and the drive wheel 5 and the inner wall 8a of the pipe 8 is supported in the pipe 8 without sliding down.

  For example, if the motor M is rotated forward, the rotation of the motor M is transmitted from the motor shaft Ma to the driving vehicle Mb, the belt 91, the driven vehicle 52, and the driving shaft 51, and the driving wheel 5 is connected to the inner wall 8a of the pipe 8. , And a propulsive force is generated by the frictional force between the outer peripheral surface of the drive wheel 5 and the inner wall 8a of the pipe 8, and the in-pipe moving device 1 moves forward. When the motor M is reversed, the drive wheels 5 and the like rotate in the opposite direction to the forward movement, and the in-pipe movement apparatus 1 moves backward.

  As shown in FIG. 3, when the in-pipe moving apparatus 1 moves in a pipe 81 such as a reducer whose size of the inner diameter D of the pipe 8 changes depending on the location, for example, the inner diameter D of the pipe 8 has a length D1. When moving in a direction (front side) that becomes smaller by the amount, the driving wheel 5 and the driving base 6 and the cylinder rod 72 that move in the radial direction integrally with the driving wheel 5 move toward the center of the pipe 8 by the length D1. Then, the cylinder rod 72 is pushed in by the height H and fluctuates.

  Further, when the in-pipe moving device 1 moves, for example, in a direction (rear side) in which the inner diameter D of the pipe 8 is increased by the length D2, the drive wheel 5, the drive base 6, and the cylinder rod 72 are moved by the length D2. The cylinder rod 72 is moved upward in the radial direction only by the height H and fluctuated.

  Therefore, the in-pipe moving device 1 responds to the change in the inner diameter D of the pipe 8 by changing the distance L2 between the wheel 3 and the drive wheel 5 even in the pipe 81 where the size of the inner diameter D of the pipe 8 changes. Therefore, it can be moved smoothly.

  When the inner diameter D of the pipe 8 changes beyond the adjustable range of the adjusting mechanism 7, for example, when the diameter is further reduced and smaller than the length D1, the adjustment shown in FIG. The plate attaching / detaching screw member 66 is removed, and the adjustment plate 63 arranged between the drive base main body 61 and the left and right brackets 62 is changed to a plate having a large thickness, or a plurality of adjustment plates 63 are interposed. Thus, the adjustment mechanism 7 can be adjusted within the adjustable range. In this way, when the thickness of the adjustment plate 63 is further increased, the positions of the drive base body 61, the motor M, the drive mechanism 9, and the drive wheel 5 are lowered (the main body base 4 side) by the changed thickness. ), The distance L1 between the main body frame 4 and the driving frame 6 and the distance L2 between the wheel 3 and the driving wheel 5 (see FIG. 3) can be adjusted to be small.

  In addition, when the in-pipe moving device 1 travels at the joint between the pipe 8 and the pipe 8 or a place where the unevenness is formed on the inner wall 8a surface by welding or the like, the wheels 3, 3 or the drive wheels 5 are When it comes into contact with the unevenness, the in-pipe moving device 1 is rapidly reduced in a vertical direction. This fluctuation and the impact when it fluctuates can be absorbed and mitigated by the compressibility of air, because the cylinder 71 is composed of a pneumatic cylinder.

  In this case, for example, a pressure adjustment valve may be installed in the air supply port of the air tank or the compressor, and air may be supplied to the cylinder 71 via this pressure adjustment valve. By doing so, even if there is a slow fluctuation or a sudden fluctuation, the movement of the cylinder 71 can be appropriately adjusted in accordance with the fluctuation (change).

  Further, as shown in FIG. 4, the in-pipe moving device 1 adjusts the length of the cylinder rod 72 of the adjusting mechanism 7 protruding from the cylinder 71 and the thickness of the adjusting plate 63 as appropriate, thereby adjusting the inner diameter of the pipe 8. The wheel 3 and the drive wheel 5 can be pressed against the inner wall 8a of the pipe 8 by extending or contracting the position of the drive wheel 5 in the radial direction according to the size of D.

  At this time, the in-pipe moving device 1 is supported in a stable state by being supported at three points on the inner wall 8a of the pipe 8 by the driving wheel 5 and the pair of wheels 3 disposed in the upper and lower central portions as viewed from the side. For this reason, the in-pipe moving device 1 has the direction of the upside down in the elbow 82 having a small curvature bent at a right angle as shown in FIG. 4, in the pipe 8 bent in a curved shape, or in the up-and-down direction. Even when the pipe 81 is moved in the opposite state, the outer peripheral surfaces of the drive wheels 5 and the wheels 3 are always pressed against the inner wall 8a. The drive wheel 5 interlocked with M can freely travel in the pipe 81.

  Further, as shown in FIGS. 1 and 2, the wheel mount 2 provided with the wheels 3 is installed so as to be rotatable in the left and right horizontal directions (arrows A and B directions) around the coupling pin 41. Even if the pipe line 81 in the pipe 8 is curved in the horizontal direction, the side surface of the wheel 3 is pressed against the inner wall 8a, and the direction of the wheel 3 is naturally changed according to the shape of the pipe line 81. Since it faces the running direction, it can run smoothly.

[Modification]
The present invention is not limited to the above-described embodiment, and various modifications and changes can be made within the scope of the technical idea. The present invention extends to these modifications and changes. Of course.
Next, a modification of the embodiment will be described with reference to FIGS. In addition, the already demonstrated structure attaches | subjects the same code | symbol and abbreviate | omits the description.

In the above embodiment, the case where one wheel mount 2 is arranged below the main body mount 4 of the in-pipe movement apparatus 1 has been described as an example, but the present invention is not limited to this.
For example, as shown in FIG. 5, the in-pipe moving device 1A rotates two units of wheel mounts 2A and 2B each having four wheels 3 at the front end 4Aa and the rear end 4Ab at the lower part of the main body mount 4A. You may support it freely.

  As described above, the in-pipe moving apparatus 1A includes the two wheel mounts 2A and 2B that freely rotate, and therefore, when traveling on the pipe 81 in the pipe 8 including the elbow 82, as shown in FIG. When the side surface of the wheel 3 comes into contact with the inner wall 8a of the bent elbow 82, the directions of the two wheel mounts 2A and 2B are directed to the traveling direction of the pipeline 81 that travels, respectively, so It will be bent. For this reason, the in-pipe moving device 1A can move smoothly in the pipe 81 bent at a substantially right angle like the elbow 82 even if the overall length in the front-rear direction of the in-pipe moving device 1A is increased. It becomes like this.

In the case of the in-pipe moving apparatus 1A provided with two wheel platforms 2A and 2B at the front and rear, the length in the front-rear direction becomes long, and as shown in FIGS. 7 and 8, it bends in an elbow shape with a small curvature in the vertical direction. When the pipe 81 is moved, as viewed from the side, only the two wheels 3 on the center side of the four wheels 3 or only the two wheels 3 on the front and rear sides come into contact with the inner wall 8a.
In the case of such an in-pipe moving apparatus 1A, it is desirable that the overall height L2 (see FIG. 9) is low.
In addition, when the in-pipe moving device 1A is used for the pipe 8 made of a pipeline or the like, the pipe 8 has a large curvature because it transports a high-density object, so that there is no problem.

As shown in FIG. 9, the in-pipe moving apparatus 1A provided with the two wheel mounts 2A and 2B is configured so that, even when the inner diameter D of the pipe 8 changes greatly, 3 and the drive wheel 5 can be adjusted according to the size of the inner diameter D of the pipe 8. In this case, compared with the in-pipe moving device 1 of the above-described embodiment, the in-pipe moving device 1A has a length L3 in the front-rear direction, and the wheel 3 protrudes from the front end portion 4Aa and the rear end portion 4Ab of the main body mount 4A ( Since the length is increased by L4 and L4), the traveling performance is stabilized by the length L3 between the front and rear wheels 3 being increased.
In addition, if the length in the front-rear direction of the main body frame 4A and the driving frame 6 is increased in accordance with the length L3, the installation space for loading various inspection devices (not shown) and repair devices (not shown) is further expanded. Can be made.

[Other variations]
In addition, although the said adjustment mechanism 7 demonstrated the case where the cylinder rod 72 consisted of an air cylinder which raises and descends with compressed air, it is not limited to this.
In other words, the adjusting mechanism 7 extends and contracts the cylinder rod 72 with respect to the main body frame 4 to constantly urge the drive frame 6 and the driving wheel 5 in a direction in which the driving wheel 5 and the wheel 3 are separated from each other. What is necessary is just to press 8a.
For example, the adjusting mechanism 7 encloses the high pressure gas in the cylinder 71, ejects the piston rod with a substantially constant spring force, and presses the drive base 6, thereby driving the drive wheel 5 to the inner wall 8 a of the pipe 8. A gas spring to be pressed may be used.

Alternatively, the adjustment mechanism 7 may be a fluid pressure cylinder mechanism that moves the drive base 6 by moving the cylinder rod 72 forward and backward using fluid pressure such as hydraulic pressure.
In addition, the adjusting mechanism 7 is provided with a screw rod member that is rotated by an electric motor instead of the cylinder rod 72, and a female screw portion that is screwed into the male screw portion of the screw rod member is formed on the bracket 62 of the drive base 6 so that the screw A screw mechanism that raises and lowers the drive base 6 by rotating the rod member may be used.

In addition, the adjustment mechanism 7 is provided with a rack with a bracket 62 fixed to the tip instead of the cylinder rod 72, and the rack is moved forward and backward by a pinion rotated by an electric motor to raise and lower the drive gantry 6 and rack and pinion. It may be composed of a mechanism or the like.
Furthermore, the adjustment mechanism 7 may be an electromagnetic solenoid that moves the cylinder rod 72 (plunger) back and forth with electromagnetic force.

  In the case of the fluid pressure cylinder mechanism, screw mechanism, rack-and-pinion mechanism, etc., the power is instantaneously transmitted to the drive unit when driving, so it can handle sudden fluctuations and impact forces at that time. Therefore, it is preferable that the movement of the cylinder rod 72 is controlled so as to be flexible by a force sensor or the like so that the fluctuation becomes slow.

DESCRIPTION OF SYMBOLS 1,1A Pipe moving apparatus 2,2A, 2B Wheel mount 3 Wheel 4,4A Main body mount 4a, 4Aa Front end part 4b, 4Ab Rear end part 5 Drive wheel 6 Drive mount 7 Adjustment mechanism 8 Piping 8a Inner wall 41 Coupling pin )
51 Drive shaft 52 Follower vehicle 61 Drive base body 62 Bracket 63 Adjustment plate 71 Cylinder 72 Cylinder rod 81 Pipe line B belt L1 Spacing between main body base and drive base L2 Spacing between wheel and drive wheel M Motor Ma Motor shaft Mb Driving car T Distance between drive base and bracket

Claims (7)

An in-pipe moving device that moves in a pipe,
A wheel base with wheels,
A main body frame supported on the wheel frame;
A drive wheel driven to rotate by a motor;
A drive gantry that is disposed relative to the main body gantry and in which the drive wheels are rotatably disposed;
An adjustment mechanism that is interposed between the main body frame and the drive frame, and adjusts an interval between the main body frame and the drive frame; and
The adjustment mechanism always urges the wheel to extend the interval between the main body frame and the drive frame according to the inner diameter of the pipe when the in-pipe moving device travels in the pipe. And the driving wheel are pressed against the inner wall of the pipe. The adjustment mechanism includes a cylinder having a base end fixed to one of the main body frame or the drive frame;
The in-pipe movement apparatus according to claim 1, further comprising: a cylinder rod having a distal end fixed to the other of the main body frame or the driving frame and advanced and retreated by the cylinder.   The in-pipe movement apparatus according to claim 1, wherein the wheel base is connected to the main body base so as to be rotatable in a horizontal direction by a connector.   2. The wheel pedestal is disposed at a central portion of a lower portion of the main body gantry so as to be rotatable in a horizontal direction, and the wheels are rotatably arranged at front, rear, left and right sides of the wheel gantry. The in-pipe movement apparatus of any one of thru | or 3 thru | or 3.   The wheel mount is rotatably disposed at a front end portion and a rear end portion of a lower portion of the main body mount, and the wheels are rotatably disposed on the front, rear, left and right of the wheel mount. The in-pipe movement apparatus of any one of Claim 1 thru | or 3. The drive wheel includes a drive shaft that is rotatably arranged on the drive base and on which the drive wheel is attached,
A follower mounted on the drive shaft;
A motor vehicle mounted on the motor shaft of the motor, and
The in-pipe moving device according to any one of claims 1 to 5, wherein rotation is transmitted between the driven vehicle and the driving vehicle by a driving mechanism including a belt or a chain. The drive base includes a drive base body on which the motor is disposed,
A pair of brackets installed at the front ends of the cylinder rods of the pair of adjusting mechanisms mounted on the front end and the rear end of the main frame;
7. The adjusting plate according to claim 1, further comprising an adjustment plate interposed between the drive gantry main body and the pair of brackets to adjust a distance between the drive gantry main body and the bracket. The in-pipe movement apparatus of any one of Claims.

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