JP2013095254A - In-pipe moving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an in-pipe moving device which can be applied to a different pipe diameter and can pass a shape changed part in a pipe smoothly by adjusting a speed of a drive wheel with a simple structure.SOLUTION: The in-pipe moving device includes: a plurality of arm parts E extended from a body D to an outer side; a drive wheel W1 supported on a tip end part of the arm part E; an energizing means K which presses the drive wheel W1 to an inner wall of a pipe; and a speed adjusting mechanism which changes a rotation speed of the drive wheel W1 in accordance with a change of a degree of an intersection angle A formed by intersection of a second straight line L2 with the first straight line L1 when the second straight line L2, which passes a contact point that the drive wheel W1 is in contact with the inner wall of the pipe and extends in a tangent direction, intersects the first straight line L1 extending in a moving direction of the body D along a center axis of the body D. The speed adjusting mechanism increases or decreases the rotation speed of the drive wheel W1 based on a reference positional relationship which is a relative positional relationship between the first straight line L1 and the second straight line L2 in a state that the body D moves in the straight pipe.

Description

  The present invention includes a main body and a plurality of arm portions extending outward from the main body, and the plurality of arm portions are arranged in a circumferential direction of the main body, and each of the plurality of arm portions. The front end of the drive wheel is supported so as to be able to rotate and come into contact with the inner wall of the tube. The base end of the drive wheel is swingably connected to the main body, and the arm on the side that presses the drive wheel against the inner wall of the tube. The present invention relates to an in-pipe moving device provided with an urging means for urging a portion.

  The inspection of gas pipes buried underground can be done by excavating the ground and exposing the pipes, but the amount of the pipes is huge and it is difficult for people to enter, such as underground buildings. Since there are many pipes buried in various places, these operations are not easy. Moreover, many problems remain in the method of excavating the entire ground on the target pipe, such as the economic cost and the inspection efficiency when exposing the buried pipe. Therefore, an in-pipe moving device is required to perform pipe inspection without excavating the ground.

As a conventional in-pipe movement apparatus, for example, Patent Document 1 discloses an in-pipe movement apparatus in which a plurality of units are connected to each other by a connecting body so that the unit can be bent. It is provided with at least a pair of drive wheels and a pair of driven wheels in contact with the inner surface of the pipe in a radial arrangement in four circumferentially equal directions, the drive wheels having a travel motor and steering for changing the travel direction of the drive wheels A motor is attached.
Further, the units other than the front end and the rear end are provided with driven wheels that come in contact with the inner surface of the pipe in a radial arrangement in four equal circumferential directions. The drive wheel support is equipped with a suspension mechanism equipped with a restoring spring to smoothly absorb the changes in the inner diameter of the pipe caused by manufacturing errors and deformation of the pipe, or adhesion of foreign matter, etc. The support portion of the driven wheel is provided with an elastic suspension mechanism such as a spring for pressing the driven wheel against the tube wall.
Driving wheel driving control and driving wheel steering control provided in the front end and rear end units are performed through an external controller connected to the robot by a cable. Thereby, it is said that the structure of the in-pipe moving device is simple and the traveling operation can be simplified.

JP 2000-52282 A

By the way, the inside of the pipe into which the in-pipe moving device is fed is not necessarily uniform. For example, there is a reduced diameter part in which the reducer is installed and the inner diameter of the pipe is greatly changed in the middle of the pipe, and a curved part in which an elbow or the like is installed.
For example, in the case of the in-pipe moving device described in Patent Document 1, the unit of the in-pipe moving device includes:
The driving wheel and the driven wheel are only provided with a suspension mechanism that allows a manufacturing error of the pipe and the like, and cannot pass through a reduced diameter part such as a reducer in which the inner diameter of the pipe changes. In addition, in a bending part such as an elbow, it may be possible to pass by aligning the direction in which the in-pipe moving device can rotate with the bending direction, but a pair of driving wheels provided in the front and rear end units In this case, there is no mechanism for controlling the rotational speed for each driving wheel, and the difference in moving distance between the inner side and the outer side of the elbow that occurs when passing through the elbow cannot be adjusted between the pair of driving wheels. It is also difficult to pass through the bend.

  The present invention has been made in view of such circumstances, and the object thereof is applicable to different pipe diameters, and allows speed adjustment of drive wheels with a simple structure to smoothly pass through a shape changing portion in the pipe. It is an object of the present invention to provide an in-pipe moving apparatus.

In order to achieve the above object, an in-pipe movement apparatus according to the present invention comprises:
A main body and a plurality of arm portions extending outward from the main body, wherein the plurality of arm portions are distributed in a circumferential direction of the main body, and each of the plurality of arm portions has a tip thereof A drive wheel that can be driven to rotate by contacting the inner wall of the pipe is supported by the part, and a base end part of the drive wheel is swingably connected to the main body, and the arm part is attached to the side that presses the drive wheel against the inner wall of the pipe. An in-pipe moving device provided with a biasing means for biasing,
The characteristic configuration is that, with respect to a first straight line extending in the moving direction of the main body along the central axis of the main body, a second straight line extending in a tangential direction passing through a contact point where the driving wheel contacts the inner wall of the pipe is provided. A speed adjusting mechanism for changing the rotational speed of the driving wheel in accordance with a change in the size of an intersection angle formed by the intersection of the second line with the first line when intersecting;
The speed adjustment mechanism increases the rotational speed of the drive wheel based on a reference positional relationship that is a relative positional relationship between the first straight line and the second straight line in a state where the main body moves in a straight tube. It is in the point of speed or deceleration.

According to the above characteristic configuration, the plurality of arm portions extending outward from the main body are arranged in a distributed manner in the circumferential direction of the main body, and the driving wheel contacting the inner wall of the pipe is supported at the tip portion. Thereby, the plurality of arm portions can position the main body on the center side in the pipe in a state where the driving wheel is in contact with the inner wall of the pipe. Further, the arm portion is swingably connected to the main body, and the arm portion is provided with an urging means for urging the driving wheel toward the side pressing the inner wall of the tube, so that the driving force of the driving wheel can be reliably transmitted to the inner wall of the tube. Can tell.
Then, with respect to the first straight line extending in the moving direction of the main body along the central axis of the main body, the magnitude of the crossing angle at which the second straight line passing through the contact point where the driving wheel contacts the inner wall of the pipe and extending in the tangential direction intersects. Since there is a speed adjustment mechanism that changes the rotational speed of the drive wheel in accordance with the change in the angle, the bending portion or the reduced diameter portion, which is the shape change portion in the pipe, is tangential to the inner wall of the drive wheel in the moving direction of the main body. Corresponding to the change, the rotational speed of the drive wheel can be changed. Furthermore, since the crossing angle is represented for each of the plurality of arm portions, the rotational speed of the drive wheel of each arm portion is adjusted. Accordingly, the rotational speed of the driving wheel of each arm portion is independently adjusted at a bent portion or a reduced diameter portion which is a shape changing portion in the tube, and it is possible to cope with a change in the shape in the tube.

Also, in order to increase or decrease the rotational speed of the drive wheels based on the reference positional relationship that is the relative positional relationship between the first straight line and the second straight line in a state where the main body moves in the straight tubular pipe, The drive wheel according to the change of the crossing angle in the bent part or the reduced diameter part, which is a change part of the shape in the pipe, based on the rotational speed of the drive wheel in the reference positional relationship in which the pipe moves. Can be determined by changing the rotation speed. For example, in the reduced diameter part, when the in-pipe moving device moves in the pipe by a certain distance in the moving direction, the traveling distance of the drive wheel on the inclined wall surface of the reduced diameter part is only as much as the inclination of the straight pipe inner wall. become longer. In this case, in order for the in-pipe moving device to pass through the reduced diameter portion while maintaining the speed in the moving direction, it is necessary to make the rotational speed of the drive wheel moving on the inclined wall surface faster than when moving on the straight pipe inner wall. is there.
Here, in the reduced diameter portion, the driving wheel contacts the inclined wall surface and the crossing angle changes, and the change in the crossing angle changes the rotational speed of the driving wheel according to the reference position relationship in the state of moving the straight tubular inner wall. It can be made faster than the rotation speed of the wheel, and as described above, the in-pipe moving device can smoothly pass through the reduced diameter portion while maintaining the speed in the moving direction.
In this way, passive speed adjustment can be performed corresponding to the shape change portion in the tube, and the shape change portion can be smoothly passed.

  A further characteristic configuration of the in-pipe moving device according to the present invention is that the speed adjusting mechanism is configured to contact the hemispherical body provided on the driving wheel and the spherical surface portion of the hemispherical body to drive the rotational driving force. A power transmission wheel for transmitting to the wheel, and a power transmission wheel for changing the rotational speed of the drive wheel by changing the position where the power transmission wheel contacts the spherical surface portion according to the change in the size of the crossing angle And a position adjusting mechanism.

  According to the above characteristic configuration, since the power transmission wheel comes into contact with the spherical surface portion of the hemispherical body provided on the driving wheel and the rotational driving force is applied, the driving force is transmitted to the driving wheel with a simple structure. be able to. In addition, since the rotational speed of the drive wheel is adjusted by changing the position where the power transmission wheel contacts the spherical surface portion according to the change in the size of the crossing angle, it is continuously changed according to the change in the size of the crossing angle. Therefore, the rotational speed of the drive wheel can be changed steplessly with a simple structure, and the shape change portion in the pipe can be smoothly passed.

A further characteristic configuration of the in-pipe moving device according to the present invention is as follows.
The power transmission wheel position adjustment mechanism is configured to rotate around the central axis of the hemispherical body in a direction along the central axis of the main body and a rotating body that is rotatable in accordance with a change in the size of the crossing angle. A power transmission wheel support that supports the power transmission wheel in a freely changeable position where the transmission wheel contacts the spherical surface portion, and a position where the power transmission wheel contacts the spherical surface portion by rotation of the rotating body. Thus, there is a rotation linkage mechanism that links the rotation of the rotating body and the rotation of the power transmission wheel support.

According to the above characteristic configuration, the rotating body that rotates with the change in the crossing angle and the rotation linkage mechanism that links the rotation of the power transmission wheel support that supports the power transmission wheel by the rotation of the rotating body are provided. Therefore, the power transmission wheel support can be rotated by changing the crossing angle.
In addition, the power transmission wheel support body rotates around the central axis of the hemispherical body in the direction along the central axis of the main body and supports the position where the power transmission wheel contacts the spherical surface portion in a changeable manner. While the driving force is transmitted to the hemispherical body of the driving wheel by the transmission wheel, the power transmission wheel moves on the hemispherical body, thereby allowing the stepless rotation speed of the driving wheel to be changed.

A further characteristic configuration of the in-pipe moving device according to the present invention is as follows.
The arm portion includes a first arm swingably connected to the main body, and a second arm swingably connected to the first arm and provided with the driving wheel.
The first arm includes a connection member provided at a connection portion with the second arm, two or more swing arms provided swingably on the connection member and the main body, and the main body. A parallelogram link mechanism configured, wherein the connection member is provided with a first straight line portion parallel to the first straight line, and the second arm includes a second straight line portion parallel to the second straight line; There is in point.

According to the above characteristic configuration, the first arm has a parallelogram link mechanism constituted by the connecting member with the second arm, the swinging arm provided swingably on the connecting member and the main body, and the main body. Has been. Accordingly, the first arm can be swung with respect to the main body while maintaining the relative positional relationship between the second arm and the connection member. Therefore, even when the inner diameter of the pipe changes, the first arm responds to the change of the inner diameter. Therefore, in the straight pipe, the relative positional relationship between the second arm and the connecting member is maintained to drive the first arm. The rotation speed of the wheel is kept constant.
In addition, since the connecting member of the first arm is provided with the first straight portion including the first straight line, and the second arm includes the second straight portion including the second straight line, the first straight portion of the connecting member. Since the crossing angle is represented by the relationship between the second arm and the second straight portion of the second arm, and the rotational speed of the driving wheel is changed, the speed of the driving wheel can be adjusted with a simple structure, and the shape changing portion in the pipe can be smoothly changed. Can pass through. Furthermore, since the crossing angle is represented by the second arm with respect to the connecting member of the first arm for each arm part, the rotational speed of each driving wheel is adjusted by the crossing angle of each of the plurality of arm parts. Therefore, the rotational speed of the driving wheel of each arm part is independently adjusted in a bent part or a reduced diameter part, which is a shape changing part in the pipe, and can smoothly pass through the shape changing part in the pipe.

A further characteristic configuration of the in-pipe moving device according to the present invention is as follows.
The rotational speed of the driving wheel increases according to the size of the intersection angle formed by rotating the second arm in a predetermined direction with respect to the first arm, and is opposite to the predetermined one direction. A speed adjustment mechanism is provided that reduces the rotational speed of the drive wheels in accordance with the size of the intersection angle formed by rotating in the other direction.

  According to the above characteristic configuration, the rotational speed of the drive wheel can be increased by the crossing angle formed by the rotation of the second arm relative to the first arm in a predetermined direction, while in the other direction. The rotational speed of the drive wheel can be slowed by the crossing angle formed by the rotation of. Further, the rotational speed of the drive wheels is adjusted according to the size of the intersection angle. As a result, the rotational speed of the drive wheel can be adjusted freely using the rotational direction of the second arm relative to the first arm as an adjustment element for adjusting the speed.

A further characteristic configuration of the in-pipe moving device according to the present invention is as follows.
The plurality of arm portions are provided in a pair of front and rear on each of the front side and the rear side in the movement direction of the main body, and the second arm is provided with the driving wheel at one end portion thereof and rotated at the other end portion. A free driven wheel is provided closer to the body than the drive wheel,
A rotation restricting body is provided that restricts rotation of the driven wheel as the other direction of the second arm in the reference position relationship in a direction approaching the main body.

According to the above characteristic configuration, the plurality of arm portions are provided in a pair of front and rear on each of the front side and the rear side in the movement direction of the main body, so that the main body can be stably moved in the pipe by the arm portion. Furthermore, since the driving wheel is provided at one end of the second arm and the driven wheel is provided at the other end, the driven wheel is stabilized even in the change portion of the shape in the pipe by contact with the inner wall of the pipe. It can move while maintaining the contact state.
In addition, a rotation restricting body is provided so that the driven wheel is closer to the main body than the driving wheel, and the rotation of the second arm in the reference position relationship as the other direction of the second wheel is restricted to the direction close to the main body. Is provided. Thereby, for example, in the bent portion in the pipe, the second arm provided in a pair of front and rear in the moving direction of the main body located outside the bent portion rotates in a direction in which the rotation is not restricted, and the driven wheel and the drive wheel Will be in contact with the inner wall of the tube. On the other hand, the rotation of the second arm of the arm portion located inside the bent portion is restricted at the reference position by the rotation restricting body, so that only the driven wheel comes into contact with the inner wall of the tube and is driven. The ring can be separated from the inner wall of the pipe. As a result, it is possible to advance the inside of the pipe while applying a driving force to the inner wall of the pipe by the outer driving wheel while allowing a difference in distance between the driving wheel passing through the inner side surface and the driving wheel passing through the outer side surface in the bent portion.
Further, in the reduced diameter portion of the inner diameter of the tube, the second arm is the first arm in the second arm of the front arm portion and the second arm of the rear arm portion provided in a pair of front and rear in the moving direction of the main body. The crossing angle formed with respect to the wheel is formed by rotating in a predetermined direction and the other direction opposite to it, so that the rotational speeds of those drive wheels are different, but the rear arm For the second arm of the part, since the rotation is restricted at the position of the reference position by the rotation restricting body, only the driven wheel comes into contact with the inner wall of the pipe, and the driving wheel is separated from the inner wall of the pipe. The main body is smoothly moved by the rotational speed of the driving wheel of the second arm of the arm portion on the front side.

A further characteristic configuration of the in-pipe moving device according to the present invention is as follows.
The urging means is provided between the urging means connecting part and the arm part of the main body so that the arm part receives a tensile force in a pressing force defining direction toward the urging means connecting part, Even if the pressing force that the arm portion is pressed in the direction of the inner wall of the tube is generated by the tensile force, and the inner diameter of the tube changes, the pressing force is maintained in a certain range.

  According to the above characteristic configuration, the urging means is provided between the urging means connecting portion and the arm portion of the main body so as to generate a pressing force in which the arm portion is pressed toward the inner wall of the pipe. The main body is maintained at a position in the vicinity of the center in the pipe by the pressing force against the wall surface by the plurality of arm portions arranged at intervals in the circumferential direction of the main body. Further, even when the inner diameter of the pipe changes, the pressing force is maintained within a certain range.For example, the driving force is lost due to an increase in pressing force in the reduced diameter portion of the inner diameter, or the inner wall surface in the expanded diameter portion is reduced. The driving force can be appropriately transmitted to the inner wall surface without lack of pressing force, and can smoothly pass through the change portion of the shape in the pipe.

A further characteristic configuration of the in-pipe moving device according to the present invention is as follows.
A plurality of the main bodies are provided, and the main bodies are connected by a connecting body.

  According to the above characteristic configuration, it is possible to freely change the trunk length by connecting the main bodies with the connecting body. With this structure, for example, it becomes possible to load a battery and other necessary equipment necessary for driving the main body inside the connection body.

The perspective view of the in-pipe movement apparatus of the state which moves the inside of a straight pipe Sectional view of the in-pipe moving device in a state of moving in a straight pipe Sectional view when multiple in-pipe moving devices are connected Sectional drawing which shows the state of the in-pipe moving apparatus which moves a reduced diameter part Schematic cross-sectional view of arm part of in-pipe moving device The figure which shows the pressing force to the pipe inner wall of an arm part by a biasing means The figure which shows the power transmission wheel position adjustment mechanism in an arm part Sectional view (a) and front view (b) of arm part in reference position relationship Sectional view (a) and front view (b) of the arm when the crossing angle is α degrees Sectional drawing which shows the state of the in-pipe moving apparatus which moves a bending part

Hereinafter, an embodiment of an in-pipe movement device according to the present invention will be described based on the drawings. FIG. 1 is a perspective view of the in-pipe moving device, and FIG. 2 is a cross-sectional view of the in-pipe moving device. FIG. 3 is a cross-sectional view when a plurality of in-pipe moving devices are connected.
As shown in FIGS. 1 and 2, the in-pipe moving device C includes a main body D having a cylindrical shape and a plurality of arm portions E extending outward from the main body D. The plurality of arm portions E are radially arranged in four directions in the circumferential direction of the main body D in a state of a pair of front and rear on each of the front side and the rear side in the movement direction X of the main body D, and on the front side of the main body D. A total of eight arm portions E, four and four on the rear side, are provided.
The arm portion E includes a first arm F that is swingably connected to the main body D, and a second arm G that is swingably connected to the first arm F. The second arm G is provided with a driving wheel W1 having a driving force at one end thereof, and a driven wheel W2 which is rotatable at the other end and does not have a driving force is closer to the main body D than the driving wheel W1. It is provided as follows. Further, the first arm F is provided with a biasing means K that biases the first arm F so as to press the driving wheel W1 and the driven wheel W2 against the inner wall of the pipe.

  Further, as shown in FIG. 3, when the plurality of main bodies D move in the pipe, the main bodies D are connected to each other by the connection body B. For example, it is possible to freely change the length of the connection body B by connecting the main bodies D to each other with a hollow bellows-shaped connection body B, a battery for driving the driving wheel W1, and other necessary ones. The loading capacity for mounting the equipment can be changed freely.

  As shown in FIGS. 2 and 4, the first arm F includes a connection member H connected to the second arm G, a second arm attachment portion D <b> 1 on the outer periphery of the main body D, a connection member H, and a second arm. A parallelogram link mechanism (parallel four-point link) composed of two swing arms F1 swingably provided between the mounting portion D1 is provided. Accordingly, the first arm F can be swung with respect to the main body D while the relative positional relationship between the second arm G and the connection member H is maintained.

As shown in FIG. 4, the rotation speed of the drive wheel W1 is adjusted such that the drive wheel W1 contacts the inner wall of the pipe with respect to the first straight line L1 extending in the moving direction X of the main body D along the central axis of the main body D. This is achieved by a speed adjustment mechanism that changes the rotational speed of the drive wheel W1 in accordance with the change in the size of the intersection angle A at which the second straight line L2 that passes through the contact point and extends in the tangential direction intersects.
Further, the connecting member H of the first arm F of the in-pipe moving device C is provided with a first straight line portion L1p parallel to the first straight line L1 forming the intersection angle A, while the second arm G has the first straight line portion L1p. A second straight line portion L2p parallel to the two straight lines L2 is provided. For example, the first straight portion L1p is a straight edge portion formed by a surface facing the inner wall surface of the connection member H and a side surface to which the swing arm F1 is connected, and the second straight portion L2p is the first straight portion L2p. The two arms G are straight edge portions formed by the surface in contact with the connecting member H and the side surface holding the rotation shaft of the driven wheel W2.
Accordingly, when the second arm G swings with respect to the first arm F, the arm crossing angle Ap formed by the first straight portion L1p of the first arm F and the second straight portion L2p of the second arm G. Is the same angle as the intersection angle A. The in-pipe movement apparatus C according to the present embodiment is configured such that the rotational speed of the drive wheel W1 changes with a change in the magnitude of the arm intersection angle Ap (corresponding to the intersection angle).

  Hereinafter, the biasing means K will be described. 4 and 5, the urging means K is provided between the urging means connecting portion D2 of the main body D and the urging means mounting portion F2 of the swing arm F1 located on the center side of the main body D. The first arm F is provided so as to receive a tensile force Ft in the pressing force defining direction toward the biasing means connecting portion D2, and the first arm F is pressed toward the inner wall of the pipe by the tensile force Ft. Pressure R is generated. Thereby, even when the inner diameter in the pipe changes, the pressing force R is maintained in a certain range.

As shown in FIG. 5, the urging means K is composed of a spring that generates a tensile force Ft between the urging means connecting portion D2 of the main body D and the urging means attaching portion F2 of the first arm F. The first arm F is a mechanism that generates a pressing force R that is pressed in a direction perpendicular to the wall surface in the pipe. Here, θ is an angle formed by the main body D and the first arm F. The spring length L is expressed by the following formula (1) from the cosine theorem.
L ² = a ² + b ² + c ² −2c · SQRT (a ² + b ² ) · cos (θ−θ ₀ ) ·· (1)

If the spring constant of the biasing means K is k and the natural length is L ₀ , Ft = k (L−L ₀ ) is obtained. Here, the following formula (2) is obtained from the sine theorem.
L / sin (θ−θ ₀ ) = SQRT (a ² + b ² ) / sin φ
sinφ = (SQRT (a ² + b ² ) / L) · sin (θ−θ ₀ ) (2)

Therefore, the pressing force R on the wall surface can be obtained as R = Fsinφcos (π−θ). Here, the spring constant k and the natural length L ₀ are appropriately selected, and in FIG. 5, the distance a orthogonal to the direction of the pressing force R from the second arm mounting portion D1 to the urging means connecting portion D2 is set to 0. FIG. 6 shows the value of the pressing force R when the distance b in the pressing force R direction at 3c and the biasing means connecting portion D2 is 0.1c. As a result, even if the inner diameter of the tube changes, the pressing force R can be maintained within a certain range in the range of the angle θ formed by the main body D and the first arm F as shown in FIG. Recognize.

  Next, the speed adjustment mechanism will be described. As shown in FIG. 7, the speed adjustment mechanism is a power transmission that transmits a rotational driving force to the driving wheel W1 by contacting the hemispherical body Q provided on the driving wheel W1 and the spherical surface portion Q1 of the hemispherical body Q. A power transmission wheel position adjusting mechanism V that changes the rotational speed of the drive wheel W1 by changing the position where the power transmission wheel U contacts the spherical surface portion Q1 according to the change in the size of the wheel U and the arm intersection angle Ap. It consists of and. Then, while the power transmission wheel U is in contact with the spherical surface portion Q1 of the hemispherical body Q, the contact position is changed by the power transmission wheel position adjusting mechanism V to adjust the rotational speed of the drive wheel W1.

  Further, the rotation axis Qa of the hemispherical body Q is the same as the rotation axis W1a of the driving wheel W1, the diameter of the hemispherical body Q is smaller than the diameter of the driving wheel W1, and is fixed to the driving wheel W1. Formed with. Here, the power transmission wheel U includes a power transmission pulley U <b> 1 that can transmit the driving force of the motor accommodated in the motor case 1 of the second arm portion by the driving force transmission belt 2. The material of the driving force transmission belt 2 is made of a material such as rubber having a high friction coefficient in relation to the members constituting the power transmission pulley U1. Similarly, since the driving force from the motor can be used for the hemispherical body Q without loss at the outer peripheral portion of the power transmission wheel U that transmits power by contacting the hemispherical body Q of the power transmitting wheel U, the hemispherical body It is made of a material such as rubber having a high friction coefficient in relation to the members constituting Q.

  Next, the power transmission wheel position adjusting mechanism V constituting the speed adjusting mechanism will be described. The power transmission wheel position adjustment mechanism V is a mechanism that changes the rotational speed of the drive wheel W1 in accordance with a change in the magnitude of the arm intersection angle Ap. That is, as shown in FIG. 9, the rotation speed of the drive wheel W1 is changed by a change in the magnitude of the arm intersection angle Ap generated when the second arm G swings with respect to the first arm F. .

  A first arm side bevel gear H1 and a first arm side bevel gear shaft H2 are fixed to each other on the connection member H of the first arm F, and are configured integrally with the connection member H. The first arm-side bevel gear shaft H2 is rotatably provided by the bearing 3 in the shaft hole G4 of the second arm G, whereby the second arm G is connected to the connection member H of the first arm F. Is rotatable. On the other hand, the motor case 1 in which the motor for generating the driving force provided in the second arm G is accommodated, the second arm side bevel gear 1a (corresponding to a rotating body), and the motor case connecting shaft 1b are fixed to each other. It is constructed integrally. The motor case connection shaft 1b is rotatably provided by the bearing 4 in the connection shaft hole G5 of the second arm G, so that the motor case 1 can rotate in the second arm G. Further, the motor case 1 is connected to a power transmission wheel support U2 that supports the power transmission wheel U. The power transmission wheel support U2 is swingably attached to the motor case 1 as shown in FIGS. 8 and 9, and the power transmission wheel U is made spherical by a biasing means (not shown) housed in the motor case 1. It is energizing to press against Q1. Further, the power transmission wheel support U2 rotates around the central axis in the direction along the central axis of the main body D of the hemispherical body Q provided on the drive wheel W1, and presses the power transmission wheel U against the spherical surface portion Q1. The position on the spherical surface portion Q1 is supported so that the position can be changed.

  The first arm side bevel gear H1 is provided at the connecting portion between the first arm F and the second arm G so as to mesh with the second arm side bevel gear 1a (corresponding to a rotating body). Further, the second arm G is provided with a rotation linkage mechanism in which the power transmission wheel support U2 is rotated via the motor case 1 by rotating the second arm bevel gear 1a (corresponding to a rotating body). Yes.

  As shown in FIG. 9, the movement angle P of the spherical surface portion Q1 of the power transmission wheel U supported by the power transmission wheel support U2 is configured to be the same angle as the arm intersection angle Ap. Thereby, the movement angle P, the arm intersection angle Ap, and the intersection angle A are substantially the same angle. Therefore, by the power transmission wheel position adjustment mechanism V including these mechanisms, the rotation operation of the second arm G with respect to the first arm F is linked with the rotation operation of the power transmission wheel support U2, and the power transmission wheel support body The power transmission wheel U supported by U2 moves while contacting the hemispherical body Q, and the rotational speed of the drive wheel W1 is adjusted.

In addition, the speed adjustment mechanism is configured so that the rotational speed of the drive wheel W1 is based on a reference positional relationship T that is a relative positional relationship between the first straight line L1 and the second straight line L2 in a state where the main body D moves in a straight tube. Is increased or decreased.
In the present embodiment, the reference positional relationship T in a state where the main body D moves in a straight tube (see FIGS. 1 to 3) is that of the second arm G with respect to the first arm F as shown in FIG. Positional relationship. That is, the first straight portion L1p included in the connection member H of the first arm F and the second straight portion L2p included in the second arm G are in a positional relationship. In this state, the power transmission wheel U is configured to be positioned in a direction orthogonal to the rotation axis Qa of the hemispherical body Q as shown in FIG.

  Then, as shown in FIG. 9A, the second arm G rotates in a predetermined direction that is a direction in which the second straight portion L2p of the second arm G is away from the first straight portion L1p of the first arm F ( The power transmission wheel U is in contact with the spherical surface portion Q1 by the power transmission wheel position adjusting mechanism V according to the magnitude of the arm crossing angle Ap formed by rotating left in FIG. 9A). It rotates in a direction approaching the rotation axis Qa (left rotation in FIG. 9B). As a result, the distance required for the power transmission wheel U to make one turn around the hemispherical body Q is shortened. Therefore, when the rotational speed of the power transmission wheel U driven by the motor is constant, the rotational speed of the hemispherical body Q, that is, the drive The rotation speed of the wheel W1 increases. On the other hand, when the second arm G rotates in a direction opposite to the predetermined one direction (right rotation in FIG. 9A), the power transmission wheel U rotates in a direction away from the rotation axis Qa of the hemispherical body Q. It moves (rotates counterclockwise in FIG. 9B), and the rotational speed of the drive wheel W1 becomes slow.

  Further, the second arm G has a rotation restricting body I that is rotated in the other direction of the second arm G in the reference positional relationship T and in which the driven wheel W2 is restricted from rotating in the direction close to the main body D. Provided. In the present embodiment, the connecting member H of the first arm F also serves as the rotation restricting body I. As a result, the drive wheel W1 in the bent portion or the reduced diameter portion where the shape in the tube changes, with the rotation speed of the drive wheel W1 in the reference positional relationship T when the main body D moves in the straight tube being the slowest rotation speed. The rotation speed of the main body D can be increased, and the speed in the traveling direction of the main body D can be kept constant while moving in the tube.

Then, the rotational speed of the drive wheel W1 is adjusted as follows with respect to the arm intersection angle Ap by the speed adjustment mechanism described above. Here, the speed at the contact portion between the power transmission wheel U and the hemispherical body Q is Vm, the rotational speed and angular velocity of the driving wheel W1 at the reference positional relationship T are Vw ₀ and ωw ₀ , respectively, and the arm intersection angle Ap is α degrees. When the rotational speed and angular velocity of the drive wheel W1 are Vw and ωw, and the radius of the drive wheel W1 is r, when the rotational speed of the power transmission wheel U is constant, that is, Vm = const, ) And Equation (4) are obtained.
ωw ₀ = Vm / r (3)
ωw = Vm / (r · cos α) (4)

Here, since Vw ₀ = rw · ωw ₀ and Vw = rw · ωw, the following equation (5) is obtained.
Vw / Vw ₀ = 1 / cos α (5)

  Therefore, the rotational speed of the drive wheel W1 is changed from the arm intersection angle Ap according to the mathematical expression (5). Thereby, as will be described later, it is possible to smoothly pass through the shape changing portion in the pipe.

  FIG. 4 shows an example of the state when the in-pipe moving device C reaches the reduced diameter portion of the inside diameter of the tube. The travel distance of the inclined wall surface of the reduced diameter portion where the inclination angle M, which is the angle of inclination of the inclined wall surface with respect to the inner wall surface in the straight tubular tube, is α degrees, is the straight tubular shape when traveling in the movement direction X by the same distance. This is longer than the inner wall of the pipe by an inclination, and the travel distance is (1 / cos α) times that of the straight pipe inner wall. Therefore, in order for the in-pipe moving device C traveling in the straight tube to smoothly pass through the reduced diameter portion while maintaining the speed in the moving direction X, the speed of the drive wheel W1 traveling on the inclined wall surface is: It is necessary to make (1 / cos α) times as high as the speed of the drive wheel W1 traveling on the straight tubular inner wall. In contrast, in the in-pipe movement device C according to the present embodiment, the second arm G corresponds to the inclination angle M of the inclined wall surface of the reduced diameter portion in the reduced diameter portion where the inclination angle M is α degrees. To form an arm crossing angle Ap of α degrees. The arm E at that time is in the state shown in FIGS. 9A and 9B, and the arm E is also at the movement angle P in the spherical surface Q1 of the power transmission wheel U shown in FIG. 9B. The same α degree as the intersection angle Ap is formed. Therefore, as is clear from the above formula (5), the speed of the drive wheel W1 is adjusted to (1 / cos α), and therefore, smoothly passes through the reduced diameter portion while maintaining the speed in the moving direction X. be able to. Note that the inclination angle M, the movement angle P, the arm intersection angle Ap, and the intersection angle A are substantially the same and are α degrees.

  In the reduced diameter portion of the inner diameter of the tube, the second arm G of the front arm portion E and the second arm G of the rear arm portion E provided in a pair of front and rear in the moving direction X of the main body D Since the arm intersection angle Ap formed by the two arms G with respect to the first arm F is formed by rotating in a predetermined direction and the other direction opposite to the predetermined direction, the rotational speed of the drive wheels W1 is increased. Although the rotation of the second arm G of the arm part E on the rear side is restricted at the position of the reference positional relationship T by the rotation restricting body I, only the driven wheel W2 contacts the inner wall of the pipe. Then, since the driving wheel W1 is separated from the inner wall of the pipe, the main body D smoothly reduces the diameter-reduced part by the rotational speed of the driving wheel W1 of the second arm G of the front arm part E that contacts the inner wall of the pipe. Can pass through.

  FIG. 10 shows an example of a state when the in-pipe moving device C reaches a bent portion in the pipe. When the in-pipe moving device C passes through the bent portion, the second arm G of the arm portion E provided in a pair of front and rear in the moving direction X of the main body D located outside the bent portion (lower side in the tube in FIG. 10). Rotates in a direction in which rotation is not restricted, and the driving wheel W1 and the driven wheel W2 come into contact with the inner wall of the pipe. On the other hand, the rotation of the second arm G of the arm part E located inside the bent part (upper side in the pipe in FIG. 10) is restricted by the rotation restricting body I at the position of the reference positional relationship T. As shown in FIG. 10, only the driven wheel W2 comes into contact with the inner wall of the pipe, and the driving wheel W1 is separated from the inner wall of the pipe. As described above, the distance difference between the driving wheel W1 that contacts the inner inner wall surface of the bent portion and the driving wheel W1 that contacts the outer inner wall surface is defined as the state where the driving wheel W1 contacting the inner inner wall surface is separated from the inner wall surface of the pipe. Thus, while permitting, the driving wheel W1 contacting the outer inner wall surface can travel inside the pipe while applying a driving force to the inner wall surface. Further, the second arm G of the arm portion E located outside the bent portion rotates in one direction in which the rotation is not restricted to form the arm intersection angle Ap, and therefore the speed of the driving wheel W1 is adjusted by the speed adjusting means. Is adjusted to be faster. Thereby, it can pass smoothly, maintaining a moving speed also in the bending part in a pipe | tube.

[Another embodiment]
(A) In the above embodiment, the plurality of arm portions E are provided in a pair of front and rear on the front side and the rear side in the movement direction X of the main body D. However, the present invention is not limited to this, and the plurality of arm portions E are not limited thereto. It is good also as what is provided in either the front side or the back side of the moving direction X of the main body D.

(B) In the above embodiment, the four arm portions E are arranged in the circumferential direction of the main body D in a state where the plurality of arm portions E are paired in the front and rear directions on the front side and the rear side in the movement direction X of the main body D. Although it arrange | positions so that it may become equidistant mutually, it is not restricted to this, You may provide 2 pairs, 3 pairs, or 5 or more pairs of arm parts E so that it may become equidistant mutually in the circumferential direction of the main body D.

(C) In the embodiment described above, the arm portion E is configured by the first arm F and the second arm G, but not limited thereto, the arm portion E may be configured by only the first arm F. Good.

(D) In the above embodiment, the drive wheel W1 and the driven wheel W2 are provided on the arm portion E, but not limited to this, only the drive wheel W1 may be provided.

(E) In the above embodiment, the rotation of the second arm G relative to the connecting member H of the first arm F is transmitted to the power transmission wheel support U2 by the first arm side bevel gear H1 and the second arm side bevel gear 1a. However, the rotation of the second arm G with respect to the connection member H of the first arm F may be transmitted to the power transmission wheel support U2 using a universal joint or the like.

  As described above, it is possible to provide an in-pipe moving apparatus that can be applied to different pipe diameters, can adjust the speed of the drive wheel with a simple structure, and can smoothly pass through the shape changing portion in the pipe.

1a Second arm side bevel gear (rotating body)
A crossing angle B connecting body C in-pipe moving device D main body D2 urging means connecting portion E arm portion F first arm F1 swing arm Ft pulling force G second arm H connecting member K urging means L1 first straight line L1p first Straight portion L2 Second straight line L2p Second straight portion Q Hemispherical body Q1 Spherical surface portion R Pressing force T Reference position relationship U Power transmission wheel U2 Power transmission wheel support V Power transmission wheel position adjustment mechanism W1 Drive wheel W2 Driven wheel

Claims (8)

A main body and a plurality of arm portions extending outward from the main body, wherein the plurality of arm portions are distributed in a circumferential direction of the main body, and each of the plurality of arm portions has a tip thereof A drive wheel that can be driven to rotate by contacting the inner wall of the pipe is supported by the part, and a base end part of the drive wheel is swingably connected to the main body, and the arm part is attached to the side that presses the drive wheel against the inner wall of the pipe. An in-pipe moving device provided with a biasing means for biasing,
When the second straight line passing through the contact point where the drive wheel contacts the inner wall of the pipe and extending in the tangential direction intersects the first straight line extending in the moving direction of the main body along the central axis of the main body, A speed adjustment mechanism that changes the rotational speed of the drive wheel in accordance with a change in the size of the crossing angle formed by the crossing of the second straight line with respect to the first straight line;
The speed adjustment mechanism increases the rotational speed of the drive wheel based on a reference positional relationship that is a relative positional relationship between the first straight line and the second straight line in a state where the main body moves in a straight tube. In-pipe moving device that speeds or decelerates.   The speed adjustment mechanism includes a hemispherical body provided on the driving wheel, a power transmission wheel that contacts a spherical surface portion of the hemispherical body and transmits a rotational driving force to the driving wheel, and a large intersection angle. 2. A power transmission wheel position adjusting mechanism that changes a rotational speed of the driving wheel by changing a position where the power transmission wheel contacts the spherical surface portion according to a change in height. In-pipe moving device.   The power transmission wheel position adjustment mechanism is configured to rotate around the central axis of the hemispherical body in a direction along the central axis of the main body and a rotating body that is rotatable in accordance with a change in the size of the crossing angle. A power transmission wheel support that supports the power transmission wheel in a freely changeable position where the transmission wheel contacts the spherical surface portion, and a position where the power transmission wheel contacts the spherical surface portion by rotation of the rotating body. The in-pipe movement apparatus according to claim 2, further comprising a rotation linkage mechanism that links the rotation of the rotating body and the rotation of the power transmission wheel support. The arm portion includes a first arm swingably connected to the main body, and a second arm swingably connected to the first arm and provided with the driving wheel.
The first arm includes a connection member provided at a connection portion with the second arm, two or more swing arms provided swingably on the connection member and the main body, and the main body. A parallelogram link mechanism configured, wherein the connecting member is provided with a first straight line portion parallel to the first straight line;
The in-pipe movement apparatus according to any one of claims 1 to 3, wherein the second arm includes a second straight line portion parallel to the second straight line.   The rotational speed of the driving wheel increases according to the size of the intersection angle formed by rotating the second arm in a predetermined direction with respect to the first arm, and is opposite to the predetermined one direction. The in-pipe movement apparatus according to claim 4, further comprising a speed adjustment mechanism that reduces a rotational speed of the drive wheel according to a size of the crossing angle formed by rotating in another direction. The plurality of arm portions are provided in a pair of front and rear on each of the front side and the rear side in the movement direction of the main body, and the second arm is provided with the driving wheel at one end portion thereof and rotated at the other end portion. A free driven wheel is provided closer to the body than the drive wheel,
The in-pipe movement apparatus according to claim 5, further comprising a rotation restricting body that restricts rotation of the driven wheel as the other direction of the second arm in the reference position relationship in a direction approaching the main body.   The urging means is provided between the urging means connecting part and the arm part of the main body so that the arm part receives a tensile force in a pressing force defining direction toward the urging means connecting part, The pressing force is maintained in a certain range even when a pressing force is generated by the tensile force to press the arm portion toward the inner wall of the tube and the inner diameter of the tube changes. The in-pipe movement apparatus of Claim 1.   The in-pipe movement apparatus according to any one of claims 1 to 7, wherein a plurality of the main bodies are provided, and the main bodies are connected to each other by a connection body.

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