JP2014166806A - In-pipe travel device and in-pipe inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an in-pipe travel device and an in-pipe inspection device of which the structure can be simplified and which can be down-sized, and can be self-propelled in an axial direction and a circumferential direction in a pipe.SOLUTION: The in-pipe travel device includes: a travel device body 51 which can be inserted into a pipe P; a first omni wheel 56 and a second omni wheel 57 which are respectively provided in a front part and a rear part of the travel device body 51 and can roll on an inner surface of the pipe P in an axial direction thereof; a third omni wheel 58 which is provided in a front-rear direction-intermediate part of the travel device body 51 and can roll on the inner surface of the pipe P in a circumferential direction thereof; and a pressing device 81 which can move the first omni wheel 56 and the second omni wheel 57, and the third omni wheel 58 respectively in different radial directions in the pipe P and can press these wheels onto the inner surface of the pipe P.

Description

  The present invention relates to an in-pipe travel apparatus that can travel in a longitudinal direction in a cylindrical pipe, and an in-pipe inspection apparatus that inspects the inside of the pipe using the in-pipe travel apparatus.

  Examples of the conventional in-pipe traveling device include those described in Patent Document 1 and Patent Document 2 below. Moreover, as a conventional in-pipe inspection apparatus, there exists a thing described in the following patent document 3, for example.

  In the in-pipe traveling apparatus described in Patent Document 1, upper and lower arms are rotatably connected to front and rear end portions of a main body frame, and can be rotated by a cylinder. Omniwheel (registered trademark) is provided at a tip portion of each arm. Is supported and can be driven and rotated by a motor. Further, the self-propelled device in a pipeline described in Patent Document 2 is provided with a drive wheel having a side slip mechanism that responds to a change in the inner diameter of a different-diameter tube by a reducer or the like in the upper frame and the lower frame. Such a self-propelled driving vehicle is connected.

  In addition, the in-pipe inspection apparatus described in Patent Document 3 includes an inspection vehicle in which inspection sensors are rotatably mounted, a traveling drive unit that includes a control circuit and the like and has a driving force, and an inspection controller. A mounted control vehicle, a traveling machine having a drive wheel, a control vehicle equipped with a controller for inspection, and a rear camera vehicle equipped with a rear camera and the like are sequentially connected by a link.

Japanese Patent Laid-Open No. 11-037951 Japanese Patent Laid-Open No. 06-206538 Japanese Patent Laid-Open No. 08-166351

  In the conventional in-pipe travel device described above, the omni wheel can be used to travel in the tube, but any device can self-travel in the longitudinal direction in the tube, but in the circumferential direction. Self-running becomes difficult. In this case, if the barrel roller in the omni wheel can be driven or the omni wheel can be steered, self-propelled in the circumferential direction is possible, but the structure becomes complicated. Moreover, although the conventional in-pipe inspection apparatus can perform an inspection while self-propelling in the longitudinal direction in a state where various devices are connected, it cannot move in the circumferential direction.

  The present invention solves the above-described problems, and provides an in-pipe traveling apparatus and an in-pipe inspection apparatus capable of simplifying the structure and reducing the size, and capable of self-propelling in the axial direction and the circumferential direction in the pipe. The purpose is to provide.

  In order to achieve the above object, an in-pipe travel apparatus of the present invention includes a travel apparatus body that can be inserted into a pipe, and an inner surface that is provided in the travel apparatus body and can roll in the axial direction of the pipe. At least one omnidirectional wheel with respect to the axial direction, at least one omnidirectional wheel with respect to the circumferential direction which is provided in the traveling device body and can roll the inner surface toward the circumferential direction of the pipe, and the axial center A pressing device capable of moving an omnidirectional wheel with respect to a direction and an omnidirectional wheel with respect to the circumferential direction in different radial directions in the pipe and pressing the inner surface.

  Therefore, by providing an omnidirectional wheel for the axial direction that can roll in the axial direction of the pipe and an omnidirectional wheel for the circumferential direction in the traveling device body, the inside of the pipe can be properly adjusted in the axial direction and the circumferential direction. Can self-propelled. In addition, by pressing each omnidirectional wheel against the inner surface of the pipe by a pressing device, the traveling device body can be self-propelled in the pipe with a simple configuration, and the structure can be simplified and miniaturized. it can.

  In the in-pipe traveling device of the present invention, the omnidirectional type wheel with respect to the axial direction is provided at a front portion and a rear portion of the traveling device main body, and is capable of rolling the inner surface toward the axial direction of the pipe. A directional wheel and a second omnidirectional wheel, and the omnidirectional wheel with respect to the circumferential direction is provided at an intermediate portion in the front-rear direction of the traveling device body and rolls the inner surface toward the circumferential direction of the pipe. And a third omnidirectional wheel that can move.

  Therefore, by providing the first omnidirectional wheel and the second omnidirectional wheel at the front part and the rear part of the traveling apparatus body, and providing the third omnidirectional wheel at the middle part in the front-rear direction, the traveling apparatus body is disposed in the pipe. Stable and self-propelled.

  In the in-pipe traveling apparatus of the present invention, the traveling apparatus body includes a first body and a second body that are divided in the radial direction in the pipe, and the first body includes the first omnidirectional wheel and the first body. While a second omnidirectional wheel is provided, the second main body is provided with the third omnidirectional wheel, and either one of the first main body and the second main body includes a fluid cylinder that constitutes the pressing device. The tip of the drive rod of the fluid cylinder is connected to one of the other.

  Therefore, the first main body and the second main body are separated only by extending the fluid cylinder, and the first omnidirectional wheel, the second omnidirectional wheel, and the third omnidirectional wheel are respectively pressed against the inner surface of the pipe. In this state, simply by rotating each omnidirectional wheel, the traveling device body can be easily self-propelled in the axial direction and circumferential direction in the pipe, thereby simplifying and reducing the size of the structure. Can be possible.

  In the in-pipe traveling device of the present invention, the first drive device that drives and rotates the first omnidirectional wheel is disposed on one side of the traveling device body, and the second drive that drives and rotates the second omnidirectional wheel. A device is arranged on the other side of the traveling device main body.

  Therefore, by efficiently arranging the first drive device for the first omnidirectional wheel and the second drive device for the second omnidirectional wheel on the side portion of the traveling device main body, the increase in size of the device can be suppressed. it can.

  In the in-pipe traveling device of the present invention, a third driving device that drives and rotates the third omnidirectional wheel is disposed in a central portion in the width direction of the traveling device body.

  Therefore, the 3rd drive device of the 3rd omnidirectional type wheel can be efficiently arranged in the central part of the traveling device main body, and the enlargement of the device can be suppressed.

  In the in-pipe traveling apparatus of the present invention, a first guide roller and a second guide roller that protrude from the traveling apparatus main body to both the front side and the rear side are provided.

  Therefore, by providing a plurality of guide rollers around the traveling apparatus main body, each guide roller collides with the inner surface of the pipe when the traveling apparatus main body is dropped, thereby preventing the traveling apparatus main body from being damaged. .

  The in-pipe traveling device of the present invention is characterized in that a camera for photographing the surrounding environment in the traveling device body is provided.

  Therefore, by providing the traveling device body with a camera that captures the surrounding environment, the traveling device body can travel safely.

  In the in-pipe traveling apparatus of the present invention, the camera captures a first camera that captures the front of the traveling apparatus body, a second camera that captures the rear of the traveling apparatus body, and a side of the traveling apparatus body. It has a third camera.

  Therefore, the traveling device body can be safely traveled by providing cameras that photograph the front, rear, and sides of the traveling device body.

  In the in-pipe traveling apparatus of the present invention, a foreign matter removing device capable of removing foreign matter within the visual field range of the camera is provided.

  Therefore, by providing a foreign substance removing device that can remove foreign substances within the field of view of the camera, it is possible to always ensure a high-quality image.

  In the in-pipe traveling apparatus of the present invention, the foreign matter removing apparatus includes an air ejecting apparatus capable of ejecting air to each incident portion of the camera.

  Therefore, by providing an air ejection device capable of ejecting air to the incident portion of the camera, it is possible to prevent contamination of the incident portion and ensure a high-quality image at all times.

  In the in-pipe traveling apparatus of the present invention, the pressing device can press the omnidirectional wheel with respect to the axial direction and the omnidirectional wheel with respect to the circumferential direction against the inner surface of the pipe by supply air, and through the pipe from outside. An air supply line that supplies air to the travel device main body, a switching valve that switches an air supply state in the air supply line, and a supply and discharge of air to the pressing device according to a switching operation of the switching valve And a switching device.

  Accordingly, when the in-pipe travel device travels, air is supplied from the outside to the travel device body through the in-pipe piping by the air supply line, so that each omnidirectional wheel is pressed against the inner surface of the pipe by the pressing device, and the travel device body itself. It becomes possible to run. On the other hand, when a failure occurs in the drive system of the omnidirectional wheel, if the air supply state in the air supply line is switched by the switching valve, air is discharged from the pressing device by the switching device. The press of each omnidirectional wheel to the inner surface is released, and the in-pipe travel device can be easily taken out of the pipe.

  In the in-pipe travel device of the present invention, all bent pipes existing in the travel region pass through arbitrary points in the axis of the bent pipe, and the outer peripheral side of the bent pipe is centered on the rotation axis in contact with the axis. It is characterized by being able to fit within a rugby ball-shaped rotation area formed when the area is rotated.

  Therefore, by allowing the in-pipe travel device to fit within the rugby ball-shaped rotation region for all the bent pipes existing in the travel region, it is possible to move in any direction without changing the posture with a simple structure. The bent pipe can be easily self-propelled.

  An in-pipe inspection apparatus according to the present invention includes: the in-pipe travel apparatus; an inspection apparatus coupled to the in-pipe travel apparatus; a drive control unit coupled from the inspection apparatus via a connection cable; and the drive control unit. And an operation unit to be connected.

  Therefore, since the in-pipe travel device main body can properly run in the axial direction and the circumferential direction of the pipe by each omnidirectional wheel and pressing device, the operator operates the operation unit from the outside and inspects by the drive control device. The apparatus can easily inspect the inner surface of the pipe.

  In the in-pipe inspection apparatus of the present invention, the inspection apparatus is a pinhole inspection apparatus.

  Therefore, the operator can easily perform the pinhole inspection of the inner surface of the pipe by operating the operation unit from the outside and operating the pinhole inspection device by the drive control device.

  In the in-pipe inspection apparatus according to the present invention, the inspection apparatus includes an inspection carriage having a control device and a relay carriage to which a connection cable is connected from the outside.

  Therefore, by providing an inspection carriage and a relay carriage as inspection apparatuses, it is possible to separate various functions and simplify the structure.

  In the in-pipe inspection apparatus of the present invention, the inspection apparatus includes the in-pipe traveling apparatus, the inspection carriage, and a bendable connection member that connects the relay carriage, and an electrode brush provided on an outer peripheral portion of the connection member. It is characterized by.

  Therefore, by providing the electrode brush on the outer peripheral portion of the bendable connecting member that connects the in-pipe travel device, the inspection carriage, and the relay carriage, the in-pipe inspection apparatus can easily move in the bent pipe and perform the inspection. It is possible to improve the workability of the inspection work.

  According to the in-pipe traveling device and the in-pipe inspection device of the present invention, the omnidirectional wheel with respect to the axial direction in which the inner surface can roll toward the axial direction of the pipe on the traveling device body, and the inner surface toward the circumferential direction of the pipe Are provided with an omnidirectional wheel with respect to the circumferential direction capable of rolling, and a pressing device capable of pressing each omnidirectional wheel against the inner surface of the pipe in a different radial direction. Proper and stable self-running can be achieved, and the structure can be simplified and downsized.

FIG. 1 is a schematic configuration diagram showing an in-pipe inspection apparatus according to an embodiment of the present invention. FIG. 2 is a side view showing the in-pipe traveling apparatus of the present embodiment. FIG. 3 is a plan view illustrating the in-pipe traveling device. FIG. 4 is a front view illustrating the in-pipe traveling device. FIG. 5 is a rear view showing the in-pipe traveling device. FIG. 6 is a perspective view showing the in-pipe traveling device. FIG. 7 is a side view illustrating the operation of the in-pipe traveling device. FIG. 8 is a schematic diagram illustrating a traveling state of the in-pipe traveling device. FIG. 9 is a schematic diagram illustrating a traveling state of the in-pipe traveling apparatus. FIG. 10 is a schematic diagram of a safety device in the in-pipe traveling device of the present embodiment. FIG. 11 is a schematic diagram illustrating a modified example of the safety device for the in-pipe traveling device.

  Exemplary embodiments of an in-pipe traveling apparatus and an in-pipe inspection apparatus according to the present invention will be described below in detail with reference to the accompanying drawings. In addition, this invention is not limited by this Example, Moreover, when there exists multiple Example, what comprises combining each Example is also included.

  FIG. 1 is a schematic configuration diagram showing an in-pipe inspection apparatus according to an embodiment of the present invention.

  In the present embodiment, as shown in FIG. 1, the in-pipe inspection apparatus 10 includes an in-pipe travel apparatus 11 capable of self-running in the pipe P, an inspection apparatus 12 connected to the in-pipe travel apparatus 11, and the inspection apparatus 12. It has a drive control unit 14 coupled via a connection cable 13 and an operation unit 15 coupled to the drive control unit 14. FIG. 1 schematically illustrates the above configuration. For example, the drive control unit 14 and the operation unit 15 may be provided integrally.

  This inspection device 12 is a pinhole inspection device, and includes an inspection carriage 21 having a control device, a relay carriage 22 to which a connection cable 13 is connected from the outside, and a bendable connecting the inspection carriage 21 and the relay carriage 22. It has a conduit (connecting member) 23 and an electrode brush 24 provided on the outer periphery of the bendable conduit 23.

  First, the in-pipe travel apparatus 11 will be described in detail.

  FIG. 2 is a side view showing the in-pipe travel device of the present embodiment, FIG. 3 is a plan view showing the in-pipe travel device, FIG. 4 is a front view showing the in-pipe travel device, and FIG. 5 is a back view showing the in-pipe travel device. FIGS. 6 and 6 are perspective views showing the in-pipe travel device, FIG. 7 is a side view showing the operation of the in-pipe travel device, and FIGS. 8 and 9 are schematic views showing the travel state of the in-pipe travel device.

  In the in-pipe travel device 11, as shown in FIGS. 2 to 6, the travel device main body 51 can be inserted into the pipe P, and the left side in FIG. The first main body 52 and the second main body 53 are divided in the radial direction). The first main body 52 is positioned below and has a box shape, and a guide hole 54 penetrating in the vertical direction is formed in the middle in the front-rear direction so as to be parallel to the front and rear. The second main body 53 is located at the upper side, has a box shape, and has a guide shaft 55 that extends in the vertical direction and projects downward in the middle in the front-rear direction so as to be parallel to the front and rear. Then, each guide shaft 55 of the second main body 53 is fitted into each guide hole 54 of the first main body 52 from above, so that the first main body 52 and the second main body 53 are vertically moved by the guide hole 54 and the guide shaft 55. It is connected so as to be relatively movable in the direction.

  In addition, the first main body 52 has a first omni wheel (an omnidirectional wheel with respect to the axial direction, a first omnidirectional wheel) 56 capable of rolling the inner surface toward the axial direction of the pipe P at the front part and the rear part. And the 2nd omni wheel (omnidirectional type wheel with respect to an axial direction, the 2nd omnidirectional type wheel) 57 is provided. The first omni wheel 56 is configured such that a wheel main body 56b is fixed to a support shaft 56a, and a plurality of barrel rollers 56c are arranged on the peripheral surface of the wheel main body 56b at predetermined intervals in the circumferential direction. In this case, the rotation axis of each barrel roller 56c is orthogonal to the rotation axis of the support shaft 56a and the wheel body 56b.

  Two first omni wheels 56, which are shifted by a predetermined angle in the circumferential direction of the wheel body 56b, are combined in the axial direction of the support shaft 56a, and are integrally rotatable by one support shaft 56a. The first omni wheel 56 is disposed at the front portion of the first main body 52 at the center in the width direction (left-right direction), and is disposed so that the axial center direction of the support shaft 56a is along the width direction. Is supported by a non-rotating bearing.

  As with the first omni wheel 56, the second omni wheel 57 has a wheel body 57b fixed to the support shaft 57a, and a plurality of barrel rollers 57c are arranged on the circumferential surface of the wheel body 57b at predetermined intervals in the circumferential direction. It is configured. In this case, the rotation axis of each barrel roller 57c is orthogonal to the rotation axis of the support shaft 57a and the wheel body 57b.

  Two second omni wheels 57 that are shifted by a predetermined angle in the circumferential direction of the wheel body 57b are combined in the axial direction of the support shaft 57a, and can be rotated together by one support shaft 57a. The second omni wheel 57 is disposed at the center in the width direction at the rear portion of the first main body 52, and is disposed so that the axial direction of the support shaft 57a is along the horizontal width direction. It is supported rotatably.

  On the other hand, the second main body 53 has a third omni wheel (an omnidirectional wheel with respect to the circumferential direction, a third omnidirectional wheel) 58 capable of rolling the inner surface toward the circumferential direction of the pipe P at an intermediate portion in the front-rear direction. Is provided. As with the first and second omni wheels 56 and 57, the third omni wheel 58 has a wheel main body 58b fixed to the support shaft 58a, and a plurality of barrel rollers 58c on the peripheral surface of the wheel main body 58b in the circumferential direction. Arranged at intervals. In this case, the rotation axis of each barrel roller 58c is orthogonal to the rotation axis of the support shaft 58a and the wheel body 58b.

  Two third omni wheels 58, which are shifted by a predetermined angle in the circumferential direction of the wheel body 58b, are combined in the axial direction of the support shaft 58a, and are integrally rotatable by one support shaft 58a. The third omni wheel 58 is disposed in the middle portion of the second body 53 at the center in the width direction, and is disposed so that the axial direction of the support shaft 58a is along the horizontal axial direction (front-rear direction). And is rotatably supported by a bearing (not shown).

  That is, the first omni wheel 56 and the second omni wheel 57 are in contact with the lower inner surface of the pipe P, and the whole rolls on the inner surface, so that the traveling device main body 11 is in the axial direction (longitudinal direction) of the pipe P. ) Can be moved. Moreover, the 1st omni wheel 56 and the 2nd omni wheel 57 can move the traveling apparatus main body 11 to the circumferential direction of the piping P because each barrel-shaped roller 56c, 57c rolls this inner surface. On the other hand, the 3rd omni wheel 58 contacts the upper inner surface in the piping P, and the traveling apparatus main body 11 can move to the circumferential direction of the piping P because the whole rolls on this inner surface. In addition, the third omni wheel 58 allows the travel device body 11 to move in the axial direction (longitudinal direction) of the pipe P as each barrel roller 58c rolls on the inner surface thereof.

  The first main body 52 of the travel device main body 51 has a first driving device 61 that drives and rotates the first omni wheel 56 arranged on one side, and a second driving device 62 that drives and rotates the second omni wheel 57 on the other side. It is arranged in the part. Further, in the second main body 53 of the traveling apparatus main body 51, a third driving device 63 that drives and rotates the third omni wheel 58 is disposed at the center in the width direction.

  The first drive device 61 is disposed on the right side of the first main body 52, has a motor 71 and a speed reducer 72, and the speed reducer 72 is drivingly connected to the support shaft 56 a of the first omni wheel 56. Although not shown, the speed reducer 72 includes a worm coupled to the output shaft of the motor 71 and a worm wheel that meshes with the worm and is coupled to the support shaft 56a. The second drive device 62 is disposed on the left side of the first main body 52 and includes a motor 73 and a speed reducer 74, and the speed reducer 74 is drivingly connected to a support shaft 57 a of the second omni wheel 57. Although not shown, the speed reducer 74 includes a worm coupled to the output shaft of the motor 73 and a worm wheel that meshes with the worm and is coupled to the support shaft 57a. The third driving device 63 is disposed at the center in the width direction of the second main body 53 and includes a motor 75 and a speed reducer 76, and the speed reducer 76 is drivingly connected to the support shaft 58 a of the third omni wheel 58. ing. The motors 71, 73, and 75 may include a reduction gear (geared motor).

  The travel device main body 51 is provided with a pressing device 81 that can move the first omni wheel 56, the second omni wheel 57, and the third omni wheel 58 in different radial directions in the pipe P and press the inner surface. Yes. The pressing device 81 includes a first air cylinder (fluid cylinder) 82 and a second air cylinder (fluid cylinder) 83 arranged at the front and rear portions.

  The first air cylinder 82 has a cylinder body 82a and a drive rod 82b. The cylinder main body 82 a is the left side portion of the second main body 53 and is disposed in front of the second driving device 62. A cylinder main body 82 a fixed to the second main body 53 has a drive rod 82 b extending downward in the vertical direction, and a tip end portion connected to a flange portion 84 fixed to the first main body 52. The second air cylinder 83 has a cylinder body 83a and a drive rod 83b. The cylinder main body 83 a is a right side portion of the second main body 53 and is arranged behind the first driving device 61. A cylinder main body 83 a fixed to the second main body 53 has a drive rod 83 b extending downward in the vertical direction, and a tip end portion connected to a flange portion 85 fixed to the first main body 52.

  In this case, the axial center position of the first air cylinder 82 and the axial center position of the first omni wheel 56 are located at the same position in the front-rear direction of the traveling apparatus main body 51. Further, the axial center position of the second air cylinder 83 and the axial center position of the second omni wheel 57 are located at the same position in the front-rear direction of the traveling device main body 51.

  In this embodiment, the cylinder bodies 82a and 83a are fixed to the second body 53 and the drive rods 82b and 83b are connected to the first body 52 by the air cylinders 82 and 83 of the pressing device 81. The configuration is not limited. The cylinder main bodies 82 a and 83 a may be fixed to the first main body 52, and the drive rods 82 b and 83 b may be connected to the second main body 53.

  The travel device main body 51 is provided with a first guide roller 91 and a second guide roller 92 that protrude from the first main body 52 to both the front and rear sides. That is, the first main body 52 has a mounting bracket 93 fixed to the front end portion in the width direction, and first guide rollers 91 are rotatably mounted on the left and right ends of the mounting bracket 93, respectively. The first main body 52 has a mounting bracket 94 fixed to the rear end portion along the width direction, and second guide rollers 92 are rotatably mounted on the left and right end portions of the mounting bracket 94, respectively.

  The first guide roller 91 and the second guide roller 92 are disposed at the front end portion and the rear end portion of the traveling device main body 51 so as to protrude laterally from other members disposed on the traveling device main body 51. Therefore, when the in-pipe travel device 11 falls off the pipe P, either the first guide roller 91 or the second guide roller 92 abuts on the inner surface of the pipe P, so that the in-pipe travel device 11 and the inner surface of the pipe P Damage is prevented.

  Further, the traveling device main body 51 is provided with a first camera 101 for photographing the front at the front of the first main body 52, and a second camera 102 for photographing the rear at the rear of the first main body 52. In addition, the traveling device main body 51 is provided with a third camera 103 for photographing a side on the upper portion of the second main body 53. The first main body 52 is provided with an LED illumination 104 below the first camera 101 and an LED illumination 105 below the second camera 102. In addition, the second main body 53 is provided with an LED illumination 106 behind the third camera 103.

  Further, the traveling device main body 51 is provided with a first air blow (first air injection device) 107 capable of injecting air to the incident portion of the first camera 101 at the front portion of the first main body 52. A second air blow (second air ejecting device) 108 capable of ejecting air to the incident portion of the second camera 102 is provided at the rear. Further, the traveling device main body 51 is provided with a third air blow (third air injection device) 109 capable of injecting air onto the incident portion of the third camera 103 on the second main body 53.

  In this case, the air hose 111 extended from the rear is branched into a plurality, the first hose 112 is connected to the first air cylinder 82 (cylinder body 82a), and the second hose 113 is connected to the second air cylinder 83 (cylinder body). 83a). In the air hose 110, the third hose 114 is connected to the first air blow 107, the fourth hose 115 is connected to the second air blow 108, and the fifth hose 116 is connected to the third air blow 109.

  The in-pipe traveling apparatus 11 of the present embodiment can travel on a bent pipe in any direction without changing the posture (regardless of the direction of the in-pipe traveling apparatus 11). For example, referring to FIG. 8, a point X is arbitrarily set on the axis O of the bent pipe P1, a rotation axis S in contact with the axis O through this point X1 is set, and this rotation axis S A rugby ball-shaped rotation region A formed by rotating the outer peripheral side region (the hatched region in FIG. 8) of the bent pipe P1 with the center at the center. In the in-pipe travel device 11, all the devices are arranged so as to be within the rotation region A for all the bent pipes P in the travel region (inspection region). Accordingly, the in-pipe travel device 11 can travel on bent pipes (elbow pipes) P1 and P2 that are curved in a predetermined shape, for example, as shown in FIG. 8 or FIG. The inspection carriage 21 and the relay carriage 22 have the same configuration.

  Thus, the in-pipe travel apparatus 11 changes the distance between the first main body 52 and the second main body 53 when moving from the straight pipe portion to the straight pipe portion again through the bent pipe P1 and the bent pipe P2, for example. The omni wheels 56, 57, and 58 are always in contact with the inner surfaces of the bent pipes P1 and P2, so that the omni wheels can run appropriately. The bent pipes P1 and P2 may be pipes having an arbitrary bending radius including short elbow pipes and long elbow pipes.

  Here, the operation in the in-pipe traveling apparatus 11 of the present embodiment will be described. As shown in FIGS. 2 and 4, when the in-pipe travel device 11 travels in a pipe P having a linear shape, when compressed air is supplied to the air cylinders 82 and 83, a drive rod is driven with respect to the cylinder bodies 82 a and 83 a. 82b and 83b extend and the first main body 52 and the second main body 53 are separated from each other, whereby the first and second omni wheels 56 and 57 press the lower surface of the pipe P, while the third omni wheel 58 is connected to the pipe P. Press the top surface of. Therefore, the lower part of the in-pipe travel device 11 is supported on the inner surface of the pipe P by the two omni wheels 56 and 57, while the upper part is supported on the inner surface of the pipe P by the one omni wheel 58. That is, the in-pipe travel device 11 is centered at the longest inner diameter position of the pipe P by the first and second omni wheels 56 and 57 and the third omni wheel 58 being supported by the upper and lower surfaces of the pipe P. It becomes.

  In this state, when the first and second driving devices 61 and 62 are driven to rotate the first and second omni wheels 56 and 57 in the normal direction, the first and second omni wheels 56 and 57 move the inner surface of the pipe P. The in-pipe traveling device 11 can move forward by rolling in the axial direction and the barrel roller 58c of the third omni wheel 58 rolling in the axial direction on the inner surface of the pipe P. On the other hand, when the first and second omni wheels 56 and 57 are reversely rotated by the first and second driving devices 61 and 62, the first and second omni wheels 56 and 57 roll on the inner surface of the pipe P in the axial direction. Then, the in-pipe traveling device 11 can be moved backward by the barrel roller 58c of the third omni wheel 58 rolling on the inner surface of the pipe P in the axial direction. Further, when the third driving device 63 is driven to rotate the third omni wheel 58, the third omni wheel 58 rolls on the inner surface of the pipe P in the circumferential direction, and the first and second omni wheels 56, 57 are rotated. As the barrel rollers 56c and 57c roll on the inner surface of the pipe P in the circumferential direction, the in-pipe travel device 11 can rotate.

  At this time, the first camera 101 can photograph the front of the pipe P, the second camera 102 can photograph the rear of the pipe P, and the third camera 103 can photograph the side of the pipe P. Further, when the incident part (lens) of each camera 101, 102, 103 becomes dirty, the air blow 107, 108, 109 ejects air to the incident part of each camera 101, 102, 103, thereby removing this dirt. In addition, it is possible to prevent foreign matter from adhering to the incident portion.

  Then, as shown in FIG. 7, the in-pipe travel device 11 supplies air to the air cylinders 82 and 83, so that the drive rods 82b and 83b are attached to the cylinder bodies 82a and 83a as shown in FIG. The first main body 52 and the second main body 53 can be separated to the maximum position, and even if the inner diameter of the pipe P is changed, the omni wheels 56, 57, and 58 always press the inner surface of the pipe P. By this, it will be supported appropriately.

  Further, as shown in FIG. 8, when the in-pipe travel device 11 moves from the straight pipe portion to the bent pipe P1 having a U-shape, the air is continuously supplied to the air cylinders 82 and 83, so that the bent pipe P1 Even if the overall height of the in-pipe travel device 11 is limited to a low level, the drive rods 82b and 83b contract with respect to the cylinder bodies 82a and 83a, and the omni wheels 56, 57, and 58 properly press the inner surface of the pipe P. Will be.

  As shown in FIG. 9, when the in-pipe travel device 11 moves from the straight pipe portion to the bent pipe P2 having an inverted U shape, the air is continuously supplied to the air cylinders 82 and 83, whereby the bent pipe P2 is supplied. Therefore, even if the restriction on the total height of the in-pipe traveling device 11 is released, the drive rods 82b and 83b extend with respect to the cylinder bodies 82a and 83a, and the omni wheels 56, 57, and 58 are attached to the inner surface of the pipe P. It will press appropriately.

  Next, the inspection device 12, the connection cable 13, the drive control unit 14, and the operation unit 15 will be described in detail.

  As shown in FIG. 1, the inspection apparatus 12 is a pinhole inspection apparatus, and includes an inspection carriage 21, a relay carriage 22, a bendable conduit 23 and an electrode brush 24. The inspection carriage 21 includes a carriage main body 201 having a hollow cylindrical shape, and a plurality of omni wheels 202 and 203 mounted along the circumferential direction at the front part and the rear part on the outside of the carriage main body 201, and has a pinhole inside. A control board constituting the inspection apparatus is mounted.

  The inspection carriage 21 is connected to the rear portion of the in-pipe traveling apparatus 11 via a joint (a connecting member) including a universal joint 204 and a coil spring 205. Therefore, the inspection carriage 21 is pulled with respect to the in-pipe traveling device 11 that runs in the pipe P and can be bent in the radial direction of the pipe P.

  The relay carriage 22 is configured by a carriage main body 211 having a hollow cylindrical shape, and a plurality of omni wheels 212 and 213 mounted along the circumferential direction on the front part and the rear part on the outside of the carriage main body 211. Is installed. The relay carriage 22 is connected to the rear part of the inspection carriage 21 via a bendable conduit 23. Therefore, the relay carriage 22 is pulled with respect to the in-pipe travel device 11 and the inspection carriage 21 that run in the pipe P, and can be bent in the radial direction of the pipe P.

  The bendable conduit 23 has an electrode brush 24 attached to the outer peripheral portion of the intermediate portion between the inspection carriage 21 and the relay carriage 22. The electrode brush 24 has a disc shape and the outer peripheral portion is on the inner surface of the pipe P. In contact. Therefore, the piping P formed of a conductor has a lining or coating film made of an insulating material such as resin or rubber on the inner surface, and applies a high voltage to the electrode brush 24 from the control board of the inspection carriage 21; If there is a small through-hole in the lining or coating film, the air insulation in the through-hole is broken and a discharge occurs, so that a current flows. By detecting the change in the current of this discharge phenomenon with a detector, the pipe P The presence or absence of a pinhole can be detected.

  In addition, the connecting carriage 13 is connected to the relay carriage 22 from the outside. The connection cable 13 is a power cable, a control cable, and air piping covered with a cladding tube, and is connected to a connector of the relay carriage 22. Further, the connection cable 13 is connected to the relay carriage 22 through the bendable conduit 23 from the relay carriage 22 and is connected to the in-pipe travel device 11 through a universal joint.

  The drive control unit 14 includes a power supply device, an air compressor, and a control device, and can control the inspection by the traveling of the in-pipe traveling device 11 and the inspection device 12 in response to a command from the operation unit 15.

  As described above, the in-pipe travel device 11 is configured so that the first main body 52 and the second main body 53 are separated from each other by the expansion of the air cylinders 82 and 83, so that the first, second, and third omni wheels 56, 57, 58 presses the upper surface of the pipe P, and in this state, the first and second driving devices 61 and 62 are driven, whereby the omni wheels 56, 57, and 58 roll on the inner surface of the pipe P, and the pipe P It can be self-propelled in the axial direction and circumferential direction.

  In this case, when the power supply device fails and power cannot be supplied to the first and second drive devices 61, 62, the omni wheels 56, 57, 58 cannot be driven and rotated, and the in-pipe travel device 11 is in the direction of the pipe P. Depending on the situation, there is a possibility that the inside of the pipe P will drop off. However, in the present embodiment, the first and second driving devices 61 and 62 are configured such that each of the omni wheels 56, 57, and 58 is made of the pipe P because the speed reducers 72 and 74 are constituted by worms and worm wheels. As long as it is pressed against the inner surface, the omni wheels 56 and 57 do not idle, and the in-pipe traveling device 11 is prevented from falling off.

  Further, at this time, since the omni wheels 56 and 57 cannot be driven and rotated, it is difficult to collect the in-pipe traveling device 11. At this time, if the push of each omni wheel 56, 57, 58 by each air cylinder 82, 83 can be cancelled | released, the in-pipe traveling apparatus 11 can be collect | recovered by pulling the connection cable 13. FIG.

  FIG. 10 is a schematic diagram of a safety device in the in-pipe traveling device 11 of the present embodiment.

  In the safety device for the in-pipe travel device, as shown in FIG. 10, the first and second air cylinders 82 and 83 for operating the first and second omni wheels 56 and 57 are provided with pistons 82c and 82c inside the cylinder bodies 82a and 82b. It is divided into a first chamber R1 and a second chamber R2 by 83c, and ports T1 and T2 are provided, respectively. The air compressor 151 provided in the external drive control unit 14 is connected to the port T1 by a first air supply line 152 arranged in the pipe P. The first air supply line 152 is provided with a pressure adjustment valve 153 and a first switching valve 154. The first switching valve 154 can be manually operated by an operator outside the pipe P, and the air supply state can be switched between “supply” and “discharge”.

  The air compressor 151 is connected to the first, second, and third air blows 107, 108, and 109 by a second air supply line 155 branched from the first air supply line 152. The second air supply line 155 is provided with a pressure adjustment valve 156 and a second switching valve 157. The second switching valve 157 can be manually operated by an operator outside the pipe P, and the air supply state can be switched between “supply” and “discharge”. In this case, the second switching valve 157 can set the air supply state to “supply” only when it is manually operated by the operator.

  The second air supply line 155 is provided with a third switching valve 158 as a switching device that changes supply and discharge of air to and from the air cylinders 82 and 83 according to the switching operation of the first switching valve 154 on the in-pipe traveling device 11 side. It has been. The third switching valve 158 is connected to an exhaust line 159 from the port T2 of the first and second air cylinders 82 and 83. The third switching valve 158 supplies air from the air compressor 151 to the first and second air blows 107 and 108 from the second air supply line 155 and air in the second chamber R2 of the air cylinders 82 and 83. A wheel pressing position where the air is discharged to the outside, and a wheel pressing releasing position where the air of the air compressor 151 is supplied from the second air supply line 155 to the second chamber R2 of the air cylinders 82 and 83 via the exhaust line 159, Can be switched to.

  Therefore, although the third switching valve 158 is always urged and supported on the wheel pressing release position side by the air of the second air supply line 155 acting on one side, the first switching valve 154 is “supplied”. When in position, the air in the first air supply line 152 acts on the other side, and is biased and supported on the wheel pressing position side. In this case, according to the balance between the air pressure acting on one side of the third switching valve 158 from the second air supply line 155 and the air pressure acting on the other side of the third switching valve 158 from the first air supply line 152. Are set to switch.

  Therefore, when the operator sets the first switching valve 154 to the “supply” position, the air in the air compressor 151 is supplied from the first air supply line 152 to the first chamber R1 of the first and second air cylinders 82 and 83. The drive rods 82b and 83b can be extended by the pistons 82c and 83c, and the omni wheels 56 and 57 can be pressed against the inner surface of the pipe P. Further, when the operator sets the second switching valve 157 to the “supply” position, the air of the air compressor 151 is supplied from the second air supply line 155 to the air blows 107 and 108, and air can be injected.

  On the other hand, when the operator sets the first switching valve 154 to the “discharge” position, the supply of air from the air compressor 151 to the first chamber R1 of the first and second air cylinders 82 and 83 is stopped, and the first chamber The air can be discharged from R1 through the first air supply line 152. At this time, when the operator continues to operate the second switching valve 157 to the “supply” position, the third switching valve 158 stops supplying the air from the first air supply line 152, and thus the second air supply line 155. Is switched to the wheel press release position by the air pressure. Therefore, the supply of air from the second air supply line 155 to the air blows 107 and 108 is stopped, and the air in the air compressor 151 passes from the second air supply line 155 through the exhaust line 159 to the first and second air cylinders 82 and 83. Is supplied to the second chamber R2, and the drive rods 82b and 83b are contracted by the pistons 82c and 83c, so that the omni wheels 56 and 57 can be separated from the inner surface of the pipe P.

  Note that the safety device in the in-pipe traveling device of the present embodiment is not limited to the above-described one. FIG. 11 is a schematic diagram illustrating a modified example of the safety device for the in-pipe traveling device.

  In the modified example of the safety device in the in-pipe travel device 11, as shown in FIG. 11, the air compressor 161 provided in the external drive control unit 14 is connected to the port T <b> 1 by a first air supply line 162. The first air supply line 162 is provided with a pressure regulating valve 163 and a first switching valve 164. The first switching valve 164 can be manually operated by an operator outside the pipe P, and can switch the air supply state between “supply” and “discharge”.

  The first switching valve 164 is connected to one end of the first exhaust line 165, and the first exhaust line 165 is provided with an ejector 166 at the other end. Further, the first air supply line 162 is connected to one end of the second exhaust line 167 on the in-pipe travel device 11 side from the first switching valve 164, and the second exhaust line 167 is provided with a second switching valve 168. The other end is connected to the ejector 166. In this case, the ejector 166 and the second switching valve 168 function as a switching device that changes the supply and discharge of air to the air cylinders 82 and 83 in accordance with the switching operation of the first switching valve 164. The second switching valve 168 includes a wheel pressing position where the air of the air compressor 161 can be supplied from the first air supply line 162 to the first chamber R1 of the air cylinders 82 and 83, and the first chamber of the air cylinders 82 and 83. The R1 air can be switched to a wheel pressing release position that can discharge the air from the second exhaust line 167 to the outside.

  Therefore, although the second switching valve 168 is always biased and supported on the wheel pressing position side by the biasing force of the biasing spring acting on one side, the first switching valve 164 is in the “discharge” position. When the air in the first exhaust line 165 acts on the other side, it can move to the wheel pressing release position side. In this case, the switching is performed according to the balance between the biasing force acting on one side of the second switching valve 168 from the biasing spring and the air pressure acting on the other side of the second switching valve 168 from the first exhaust line 165. Is set.

  Accordingly, when the operator sets the first switching valve 164 to the “supply” position, the air of the air compressor 161 is supplied from the first air supply line 162 to the first chamber R1 of the air cylinders 82 and 83, and the pistons 82c and 83c. Thus, the drive rods 82b and 83b can be extended to press the omni wheels 56, 57 and 58 against the inner surface of the pipe P.

  On the other hand, when the operator sets the first switching valve 164 to the “discharge” position, the supply of air from the air compressor 161 to the first chamber R1 of the air cylinders 82 and 83 is stopped, and the first air from the first chamber R1 is stopped. Air can be discharged through the supply line 162. At this time, when the first switching valve 164 is switched to the “discharge” position, the air of the air compressor 161 is discharged from the first exhaust line 165 through the ejector 166, thereby generating an ejector effect. Further, when air is supplied to the first exhaust line 165, the air pressure of the first exhaust line 165 acts on the second switching valve 168 and moves to the wheel pressing release position side. Therefore, the ejector 166 has a suction force acting on the second exhaust line 167 due to the ejector effect, so that the air in the first chamber R1 of the air cylinders 82 and 83 is sucked from the first air supply line 162 to the second exhaust line 167. Then, it is discharged through the ejector 166, and the drive rods 82b and 83b are contracted by the pistons 82c and 83c, so that the omni wheels 56 and 57 can be separated from the inner surface of the pipe P.

  In the safety device in the in-pipe traveling apparatus 11 of the above-described embodiment, even if the driving devices 61 and 62 break down and the omni wheels 56 and 57 cannot rotate, the air cylinders 82 and 83 can be operated by an external operation. The push of the omni wheels 56, 57, 58 can be released, and the connecting cable 13 can be pulled to recover the in-pipe traveling device 11. Here, since it is not necessary to forcibly collect the in-pipe traveling device 11, the lining or coating film on the inner surface of the pipe P is not damaged.

  As described above, in the in-pipe traveling device 11 of the present embodiment, the traveling device main body 51 that can be inserted into the pipe P, and the front and rear portions of the traveling device main body 51 are provided toward the axial center of the piping P. The first omni wheel 56 and the second omni wheel 57 that can roll the inner surface and the third omni wheel 57 that is provided in the middle part of the traveling device main body 51 in the front-rear direction and can roll the inner surface in the circumferential direction of the pipe P. An omni wheel 58, a first omni wheel 56, a second omni wheel 57, and a third omni wheel 58 are respectively provided with a pressing device 81 that can press the inner surface by moving in different radial directions in the pipe P. Yes.

  Therefore, the first omni wheel 56 and the second omni wheel 57 that can roll in the axial direction of the pipe P on the traveling device main body 51 and the third omni wheel 58 that can roll in the circumferential direction of the pipe P are provided. By providing, the traveling apparatus main body 51 can be appropriately self-propelled in the axial direction and the circumferential direction in the pipe P. Further, the traveling device main body 51 is provided with three points in the pipe P by providing the first omni wheel 56 and the second omni wheel 57 at the front and rear of the traveling device main body 51 and providing the third omni wheel 58 at the intermediate portion. It can be made to self-propelled stably by support. Further, by pressing the omni wheels 56, 57, 58 against the inner surface of the pipe P by the pressing device 81, the traveling device main body 51 can be self-propelled in the pipe P with a simple configuration, and the structure can be simplified and It is possible to reduce the size.

  In this case, the in-pipe traveling device 11 is self-propelled in the axial direction in the pipe P by selectively or simultaneously operating the first omni wheel 56, the second omni wheel 57, and the third omni wheel 58. In addition to self-propelling in the circumferential direction, it is possible to self-propelled in the axial direction and circumferential direction in the pipe P obliquely. Therefore, when foreign matter adheres to the inner surface of the pipe P, a recess is formed, or there is a branch pipe, the omni wheels 56, 57, and 58 can roll to avoid this, Stable running of the in-pipe running device 11 can be made possible.

  In the in-pipe traveling apparatus 11 of the present embodiment, the traveling apparatus main body 51 includes a first main body 52 and a second main body 53 that are divided in the radial direction of the pipe P, and the first main body 52 includes the first omni wheel 56 and the first omni wheel 56. While the second omni wheel 57 is provided, the second main body 53 is provided with the third omni wheel 58, the second main body 53 is provided with air cylinders 82 and 83 constituting the pressing device 81, and the first main body 52 is provided with drive rods 82b and 83b. The tip of each is connected. Therefore, the first main body 52 and the second main body 53 are separated only by extending the air cylinders 82 and 83, and the first omni wheel 56, the second omni wheel 57, and the third omni wheel 58 are respectively connected to the pipe P. In this state, the traveling device body 51 can be easily self-propelled in the axial direction and the circumferential direction in the pipe P simply by rotating the omni wheels 56, 57, 58. The structure can be simplified and downsized.

  In the in-pipe traveling device 11 of the present embodiment, a first driving device 61 that drives and rotates the first omni wheel 56 is disposed on one side of the traveling device body 51, and a second driving device that drives and rotates the second omni wheel 57. 62 is arranged on the other side of the traveling apparatus main body 51. Therefore, by efficiently arranging the first drive device 61 and the second drive device 62 on the side portion of the travel device main body 51, the size of the device can be suppressed.

  In the in-pipe traveling device 11 of the present embodiment, the third driving device 63 that drives and rotates the third omni wheel 58 is disposed at the center in the width direction of the traveling device main body 51. Therefore, by efficiently disposing the third drive device 63 in the central portion of the traveling device main body 51, it is possible to suppress an increase in the size of the device.

  In the in-pipe traveling apparatus 11 of the present embodiment, a first guide roller 91 and a second guide roller 92 that protrude from the traveling apparatus body 51 to both the front side and the rear side are provided. Therefore, by providing the plurality of guide rollers 91 and 92 around the traveling device main body 51, the guide rollers 91 and 92 collide with the inner surface of the pipe P when the traveling device main body 51 is dropped. Damage to the inner surfaces of the main body 51 and the pipe P can be prevented.

  In the in-pipe traveling apparatus 11 of the present embodiment, the first camera 101 that captures the front of the traveling apparatus body 51, the second camera 102 that captures the rear of the traveling apparatus body 51, and the side of the traveling apparatus body 51 are captured. A third camera 103 is provided, and a first air injection device 107, a second air injection device 108, and a third air injection device 109 capable of injecting air toward the incident portions of the cameras 101, 102, 103 are provided. ing. Therefore, the traveling device main body 51 can be safely traveled while monitoring the front, rear, and side of the traveling device main body 51 by the cameras 101, 102, and 103, and the air injection devices 107, 108, and 109 can be operated. By injecting air to the incident portions of the cameras 101, 102, and 103, it is possible to prevent contamination of the incident portions and ensure a high-quality image at all times.

  In the in-pipe traveling apparatus 11 of the present embodiment, the first air supply lines 152 and 162 for supplying air from the outside to the pressing device 81 of the traveling apparatus body 51 and the air supply state in the first air supply lines 152 and 162 are switched. A switching device (third switching valve 158, ejector 166, and second switching valve 168) that changes supply and discharge of air to the pressing device 81 in accordance with the switching operation of the first switching valves 154, 164 and the switching valves 154, 164. Is provided. Accordingly, when the in-pipe travel device 11 travels, air is supplied to the pressing device 81 through the first air supply lines 152, 162, whereby the omni wheels 56, 57, 58 are pressed against the inner surface of the pipe P, and the travel device main body. 51 self-runs are possible. On the other hand, when a failure occurs in the drive devices 61 and 62, when the air supply state in the first air supply lines 152 and 162 is switched by the first switching valves 154 and 164, air is discharged from the pressing device 81 by the switching device. Thus, the pressing of the omni wheels 56, 57, 58 to the inner surface of the pipe P by the pressing device 81 is released, and the in-pipe traveling device 11 can be easily taken out of the pipe.

  In the in-pipe traveling apparatus 11 of the present embodiment, all the bent pipes P existing in the travel region pass through any point in the axis O of the bent pipe P and bend around the rotation axis S in contact with the axis O. It is made to fit in the rotation area A of the rugby ball shape formed when the area on the outer peripheral side of the pipe P is rotated. Therefore, the in-pipe travel apparatus 11 can easily self-propell the bent pipes P1, P2 in any direction without changing the posture with a simple structure.

  Moreover, in the in-pipe inspection apparatus 10 of a present Example, the in-pipe travel apparatus 11, the inspection apparatus 12 connected with the in-pipe travel apparatus 11, and the drive control part connected with the connection cable 13 from the inspection apparatus 12 14 and an operation unit 15 connected to the drive control unit 14 are provided.

  Accordingly, since the in-pipe travel device main body 51 can appropriately self-travel in the axial direction and the circumferential direction of the pipe P by the omni wheels 56, 57, 58 and the pressing device 81, the operator operates the operation unit 15 from the outside. In addition, the inner surface of the pipe P can be easily inspected by the inspection device 12 by the drive control device 14.

  In the in-pipe inspection apparatus 10 of the present embodiment, the inspection apparatus 12 is a pinhole inspection apparatus. Therefore, the operator can easily perform the pinhole inspection of the inner surface of the pipe P by operating the operation unit 15 from the outside and operating the pinhole inspection device by the drive control device 14.

  In the in-pipe inspection apparatus 10 of the present embodiment, as a pinhole inspection apparatus, an inspection carriage 21 having a control device, a relay carriage 22 to which a connection cable 13 is connected from the outside, and a bending connecting the inspection carriage 21 and the relay carriage 22 are connected. A possible conduit 23 and an electrode brush 24 provided on the outer periphery of the bendable conduit 23 are provided. Therefore, by providing the electrode brush 24 on the outer periphery of the bendable conduit 23 connecting the inspection carriage 21 and the relay carriage 22, the in-pipe inspection apparatus 10 can easily move in the bent pipe P to perform pinhole inspection. And the workability of the inspection work can be improved.

  In the above-described embodiment, the three omni wheels 56, 57, and 58 are provided for the traveling device main body 51, and the two air cylinders 82 and 83 are provided as the pressing device 81. However, the configuration is limited to this configuration. It is not something. That is, the number and arrangement positions of the omni wheels and the number and arrangement positions of the air cylinders may be set as appropriate.

  That is, the in-pipe traveling device of the present invention can roll the inner surface toward the circumferential direction of the pipe, and the omnidirectional wheel with respect to at least one axial direction that can roll the inner surface toward the axial direction of the pipe. It is possible to move in different radial directions in the pipe and press the inner surface by any combination of the omnidirectional wheel for at least one circumferential direction, the omnidirectional wheel for the axial direction and the omnidirectional wheel for the circumferential direction. In the embodiment, two first and second omni wheels 56 and 57 are provided as omnidirectional wheels in the axial direction, and the first and second omnidirectional wheels in the circumferential direction are provided. One third omni wheel 58 is provided between the two omni wheels 56 and 57.

  For example, one omni wheel may be provided as an omnidirectional wheel for the axial direction and one omni wheel may be provided as an omnidirectional wheel for the circumferential direction. Moreover, in order to ensure running stability, it is preferable that the omnidirectional wheel for the axial direction and the omnidirectional wheel for the circumferential direction are combined to provide three omni wheels. In this case, as in the embodiment, two omni wheels may be provided as omnidirectional wheels with respect to the axial direction, and one omni wheel may be provided as omnidirectional wheels with respect to the circumferential direction. One omni wheel may be provided as a directional wheel, and two omni wheels may be provided as omnidirectional wheels in the circumferential direction. Furthermore, an omnidirectional wheel for the axial direction and an omnidirectional wheel for the circumferential direction may be alternately provided in the axial direction. Further, a plurality of omnidirectional wheels for the axial direction and a plurality of omnidirectional wheels for the circumferential direction may be provided.

  In the above-described embodiments, the inspection device 12 is configured as a pinhole inspection device, but may be a nondestructive inspection device (such as an ultrasonic flaw detection device or an eddy current flaw detection device). In this case, the electrode brush is an inspection unit (such as an ultrasonic flaw detector or an eddy current flaw detector) corresponding to the type of nondestructive inspection device. Moreover, although the inspection apparatus 12 is connected to the in-pipe traveling apparatus 11 and configured as the in-pipe inspection apparatus 10, the present invention is not limited to the inspection apparatus, and may be used as an in-pipe transport apparatus.

11 In-pipe travel device 12 Inspection device (pinhole inspection device)
DESCRIPTION OF SYMBOLS 13 Connection cable 14 Drive control part 15 Operation part 21 Inspection trolley 22 Relay trolley 23 Bendable electric wire pipe (connection member)
24 electrode brush 51 traveling device main body 52 first main body 53 second main body 56 first omni wheel (omnidirectional type wheel with respect to axial direction, first omnidirectional type wheel)
57 2nd omni wheel (omnidirectional wheel with respect to axial direction, second omnidirectional wheel)
58 3rd omni wheel (omnidirectional wheel for circumferential direction, 3rd omnidirectional wheel)
61 1st drive device 62 2nd drive device 63 3rd drive device 81 Pressing device 82 1st air cylinder 83 2nd air cylinder 91,92 Guide roller 101,102,103 Camera

Claims (16)

A traveling device body that can be inserted into the pipe;
An omnidirectional wheel for at least one axial center direction provided on the traveling device body and capable of rolling the inner surface in the axial direction of the pipe;
An omnidirectional wheel for at least one circumferential direction provided on the traveling device body and capable of rolling an inner surface in a circumferential direction of the pipe;
A pressing device capable of moving an omnidirectional wheel for the axial direction and an omnidirectional wheel for the circumferential direction in different radial directions in the pipe and pressing the inner surface;
An in-pipe travel device characterized by comprising:   The omnidirectional type wheel with respect to the axial direction is provided at a front part and a rear part of the traveling device main body, and is capable of rolling an inner surface toward an axial direction of the pipe. A third omnidirectional mold that is provided at an intermediate portion in the front-rear direction of the traveling device body and can roll an inner surface in the circumferential direction of the pipe. The in-pipe traveling apparatus according to claim 1, further comprising a wheel.   The travel device main body has a first main body and a second main body that are divided in a radial direction in the pipe, and the first main body is provided with the first omnidirectional wheel and the second omnidirectional wheel. On the other hand, the third omnidirectional wheel is provided on the second main body, and a fluid cylinder constituting the pressing device is provided on one of the first main body and the second main body. The in-pipe travel device according to claim 2, wherein a tip of a drive rod of the fluid cylinder is connected.   A first drive device that drives and rotates the first omnidirectional wheel is disposed on one side of the travel device body, and a second drive device that drives and rotates the second omnidirectional wheel is the other of the travel device body. The in-pipe traveling apparatus according to claim 2 or 3, wherein the in-pipe traveling apparatus is disposed on a side portion.   The third drive device that drives and rotates the third omnidirectional wheel is disposed at a central portion in the width direction of the travel device main body. In-pipe travel device.   The in-pipe traveling device according to any one of claims 1 to 5, further comprising a first guide roller and a second guide roller that protrude from the traveling device main body to both the front side and the rear side. .   The in-pipe traveling apparatus according to any one of claims 1 to 6, further comprising a camera that photographs an ambient environment in the traveling apparatus body.   The camera includes a first camera that captures a front side of the traveling device body, a second camera that captures a rear side of the traveling device body, and a third camera that captures a side of the traveling device body. The in-pipe traveling apparatus according to claim 7.   The in-pipe traveling apparatus according to claim 7 or 8, further comprising a foreign matter removing device capable of removing foreign matter within a visual field range of the camera.   The in-pipe traveling apparatus according to claim 9, wherein the foreign matter removing apparatus includes an air ejecting apparatus capable of ejecting air to each incident portion of the camera.   The pressing device can press the omnidirectional wheel with respect to the axial direction and the omnidirectional wheel with respect to the circumferential direction against the inner surface of the pipe by supply air, and supply air to the traveling apparatus main body from the outside through the pipe. An air supply line for switching, a switching valve for switching an air supply state in the air supply line, and a switching device for changing supply and discharge of air to the pressing device in accordance with a switching operation of the switching valve. The in-pipe traveling apparatus according to any one of claims 1 to 10.   It is formed when all the bent pipes existing in the travel region are rotated through an area on the outer periphery side of the bent pipe around the rotation axis that is in contact with the axis, passing through an arbitrary point in the axis of the bent pipe. The in-pipe travel device according to any one of claims 1 to 11, wherein the in-pipe travel device can be accommodated in a rugby ball-shaped rotation region. The in-pipe travel device according to any one of claims 1 to 12,
An inspection device coupled to the in-pipe travel device;
A drive control unit coupled via a connection cable from the inspection device;
An operation unit coupled to the drive control unit;
An in-pipe inspection apparatus characterized by comprising:   The in-pipe inspection apparatus according to claim 13, wherein the inspection apparatus is a pinhole inspection apparatus.   The in-pipe inspection apparatus according to claim 13 or 14, wherein the inspection apparatus includes an inspection carriage having a control device and a relay carriage to which a connection cable is connected from the outside.   The inspection apparatus includes a bendable connecting member that connects the in-pipe traveling apparatus, the inspection carriage, and the relay carriage, and an electrode brush that is provided on an outer peripheral portion of the connecting member. The in-pipe inspection device described.

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