JP2016151644A - Selector valve, cylindrical telescopic body and propulsion device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a selector valve capable of improving the supply/discharge speed of air supplied to an airtight chamber, and a telescopic unit and a propulsion device using the selector valve.SOLUTION: A selector valve includes: a first flow passage in which pressurized fluid flows; a valve body provided so as to be freely moved by being pressed by the fluid flowing in the first flow passage; energization means of energizing the valve body so as to antagonize pressing force that the fluid flowing in the first flow passage presses the valve body; a second flow passage in which the fluid flowing in the first flow passage flows when the pressing force of fluid acting on the valve body is stronger than energization force of the energization means; and a third flow passage that communicates with the second flow passage when the energization force of the energization force acting on the valve body is stronger than the pressing force of the fluid flowing in the first passage.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a switching valve, a cylindrical expansion and contraction device, and a propulsion device, and more particularly to a propulsion device and the like suitable for an inspection inside a pipe body such as a pipe.

  As shown in Patent Document 1, conventionally, a plurality of expansion / contraction units that expand and contract by air supply / discharge are connected in series, and the expansion / contraction units are individually expanded and contracted in a predetermined order so as to imitate the peristaltic motion of earthworms. Thus, there has been disclosed a propulsion device that applies a propulsive force to an inspection device that inspects the inside of a bent tube.

JP 2009-240713 A

  The propulsion device disclosed in Patent Document 1 is useful in that it can freely propel the inside of the tube, but there is a problem that there is a limit in improving the propulsion speed due to its configuration. That is, in order to increase the propulsion speed of the propulsion device, it is necessary to increase the air supply speed and the exhaust speed to the airtight chamber of each expansion unit. The supply speed of the airtight chamber can be increased by increasing the air pressure. However, since the exhaust from the hermetic chamber is performed through a tube that supplies air to the hermetic chamber, the exhaust speed cannot be improved. For example, in order to improve the exhaust speed, it is possible to speed up the discharge of air from the hermetic chamber by increasing the tension of the outer cylinder, but the time for expanding the telescopic unit to a predetermined size by strengthening the tension Therefore, it is difficult to adopt as a means for improving the propulsion speed.

  Accordingly, the present invention provides a switching valve capable of improving the exhaust speed of the air supplied to the hermetic chamber, an expansion / contraction unit using the switching valve, and a propulsion device in order to solve the above-described problems. Objective.

As a configuration of the switching valve for solving the above problems, a first flow path into which a pressurized fluid flows, a valve body that is pressed by the fluid that has flowed into the first flow path and is movably provided, A biasing means for biasing the valve body so that the fluid flowing into the one flow path antagonizes the pressing force pressing the valve body, and the pressing force of the fluid acting on the valve body exceeds the biasing force by the biasing means The second flow path through which the fluid flowing into the first flow path flows, and the second flow path when the urging force of the urging means acting on the valve body exceeds the pressing force of the fluid flowing into the first flow path. And a third flow path that communicates with the first flow path and the second flow path according to the pressure of the fluid flowing into the first flow path, and the second flow path and the third flow path. Since the switching with the flow channel that communicates directly is controlled, the response speed of the flow channel switching is improved without using other electrical energy It can be.
As a structure of the cylindrical expansion-contraction body for solving the said subject, it attaches so that it may have airtightness in the switching valve of Claim 1, the cylindrical inner cylinder which expands-contracts in an axial direction, and the both ends of an inner cylinder, respectively. A cylindrical flange, a cylindrical elastic body that covers the inner cylinder, is fixed so that the end thereof is airtight to the flange, and is restricted from extending in the axial direction, the inner cylinder, and the elastic An air chamber formed between the body and a switching valve so that one end of the second flow path opens into the air chamber and one end of the third flow path opens on the inner peripheral surface of the inner cylinder; When the pressing force of the fluid acting on the valve body exceeds the urging force of the urging means, the fluid that has flowed into the first flow path flows into the air chamber via the second flow path and acts on the valve body. When the urging force of the air is greater than the pressing force of the fluid flowing into the first flow path, the fluid in the air chamber passes through the second flow path and the third flow path to the inside of the inner cylinder. Since the fluid is discharged into the space, the inflow of the fluid into the air chamber and the outflow of the fluid from the air chamber can be directly switched according to the pressure of the fluid flowing into the first flow path. The response speed of the channel switching can be improved without using. Further, since the fluid flowing into the air chamber is directly discharged from the third flow path of the switching valve to the inner space of the inner cylinder, the fluid in the air chamber can be quickly discharged, and the expansion / contraction speed of the cylindrical expansion / contraction body can be increased. Can be improved.
As a configuration of the propulsion device for solving the above-described problem, a moving body in which a plurality of cylindrical stretchable bodies according to claim 2 are connected, and compressed air supplied to the first flow path of each cylindrical stretchable body are generated. Compressed air generating means, distributing means for distributing the compressed air generated by the compressed air generating means to each cylindrical stretchable body, and individually extending from the distributing means to each cylindrical stretchable body, and generated by the compressed air generating means The compressed air is supplied to the first flow path of the switching valve, and the distribution of the compressed air to each cylindrical expansion / contraction body by the distributing means is controlled, and the air chamber of each cylindrical expansion / contraction body is peristalized. Since the control apparatus which flows in compressed air in the predetermined order to imitate is provided, since several cylindrical expansion-contraction bodies which comprise a moving body expand and contract so that a peristaltic motion may be imitated, a propulsive force can be obtained. In addition, since the compressed air that has flowed into the air chamber of the cylindrical expansion / contraction body is directly discharged from the third flow path of the switching valve to the inner space of the inner cylinder, the exhaust speed of the compressed air in the air chamber is improved, and the cylindrical air Since the stretchable body is quickly shifted from the contracted state to the extended state, the extension speed of each cylindrical stretchable body is improved, and the propulsion speed as the moving body can be improved.
Further, as another configuration of the propulsion device, the propulsion device is provided so as to communicate with the air supply pipe, and when the supply of compressed air from the distribution means to the first flow path is stopped, the air in the air supply pipe is forcibly forced. Since the pressure reducing means for exhausting is further provided, air in the air supply pipe connected to the first flow path of the switching valve is quickly discharged, so that the valve body of the switching valve can be moved so as to quickly switch the flow path. Thereby, the expansion-contraction speed of a cylindrical expansion-contraction body can further be improved, and the propulsion speed of a mobile body can be improved.
Further, as another configuration of the propulsion device, the distribution unit is connected to the compressed air generating unit, connected to the input port to which the compressed air supplied from the compressed air generating unit is input, and the air supply pipe, and is connected to the input port. A plurality of solenoid valves each having an output port for outputting the input compressed air to the first flow path of the cylindrical stretchable body via the air supply pipe, and an exhaust port for exhausting the air in the output port;
Since the pressure reducing means is connected to the exhaust port, the air in the air supply pipe connected to the first flow path of the switching valve is quickly discharged, so that the valve body of the switching valve can be moved so as to quickly switch the flow path. . Thereby, the expansion-contraction speed of a cylindrical expansion-contraction body can further be improved, and the propulsion speed of a mobile body can be improved.

It is a schematic block diagram which shows one Embodiment of an in-pipe inspection apparatus. It is the perspective view which shows sectional drawing which cut | disconnected the unit coupling body along the axis line, and a connection state. It is sectional drawing cut | disconnected along the axis line of the expansion-contraction unit. It is the figure which exaggerated and showed the cut surface which cut | disconnected the elastic expansion body in the thickness direction. It is an expanded sectional view of a switching valve. It is a figure which shows operation | movement of a switching valve. It is a perspective view of a coupling body. It is a figure which shows the advancing pattern of a propulsion apparatus. It is a figure which shows other embodiment of an air supply apparatus. It is a figure which shows other embodiment of the switching valve.

  Hereinafter, the present invention will be described in detail through embodiments of the invention. However, the following embodiments do not limit the invention according to the claims, and all combinations of features described in the embodiments are included in the invention. It is not necessarily essential to the solution, but includes a configuration that is selectively adopted.

  FIG. 1 is a schematic configuration diagram illustrating an embodiment of an in-pipe inspection apparatus 1 including a propulsion device according to the present embodiment. In the following description, the direction along the arrow X1 shown in the figure is the traveling direction of the in-pipe inspection apparatus 1, the front-rear direction is specified with the traveling direction as the front side and the direction opposite to the traveling direction as the rear side. As shown in the figure, the in-pipe inspection apparatus 1 includes, for example, an inspection apparatus 2 for inspecting the state in the pipe 9 such as a water and sewage pipe and a gas pipe, and a propulsion device that moves the inspection apparatus 2 in the pipe 9. 3. The above-described pipes 9 such as water and sewage pipes and gas pipes are configured by a straight pipe part or a curved pipe part. In this embodiment, for convenience of explanation, the in-pipe inspection apparatus 1 will be described using a straight pipe part.

  The inspection device 2 includes a main body unit 11 that acquires a state in the tube 9 and a control unit 12 that controls the main body unit 11. The main body 11 includes illumination means 13 for irradiating light (illumination) into the tube 9 and photographing means 14 for photographing the inside of the tube 9. The illumination unit 13 and the photographing unit 14 are accommodated in a case 15 having a flat front surface and a spherical outer periphery, and are arranged with the light irradiation direction and the photographing direction facing forward. A so-called monochrome or color video camera is applied to the photographing means 14. The photographing unit 14 and the illuminating unit 13 are connected to the control unit 12 by a flexible cable 16 and output an image in the tube 9 photographed by the photographing unit 14 to the later-described control unit 12 as image data. As shown in FIG. 2, the case 15 includes a connecting portion 15 </ b> A for connecting a unit connecting body 20 described later on the rear end side. As shown in the figure, the connecting portion 15A includes an inner peripheral groove 19 that is recessed along the circumferential direction on the inner peripheral surface on the rear end side of the case 15, and a predetermined interval along the circumferential direction from the end surface. A plurality of arc-shaped notches 18 reaching the inner circumferential groove 19 are formed.

  The control unit 12 supplies power to the photographing unit 14 and the illumination unit 13 via the cable 16 and outputs the image data output from the photographing unit 14 to a display device 17 such as a monitor. It should be noted that a storage means such as a hard disk or a non-volatile semiconductor memory may be connected in place of the display device 17 to record an image without displaying it on the display device 17, or the display device may be stored while being stored in the storage means. 17 may be displayed.

  Fig.2 (a) is sectional drawing which cut | disconnected the unit coupling body 20 along the axis line. As shown in the figure, the unit connection body 20 includes a tubular body 21 and a pair of flanges 22 and 22. The tubular body 21 is configured by a cylindrical body having both ends open and having a bellows structure that can expand and contract in the axial direction. The flange 22 is a cylindrical body made of, for example, resin or hard rubber. A plurality of engagement pieces 23 corresponding to the plurality of notches 18 formed on the inner periphery of the connecting portion 15 </ b> A are provided on the outer periphery of the flange 22. The engagement piece 23 projects from the outer peripheral surface so as to extend in a circular arc shape having a predetermined length along the circumferential direction of the flange 22. As shown in FIG. 2 (b), the unit connecting body 20 is pushed by aligning the engaging piece 23 of one flange 22 with the notch 18 of the connecting portion 15 </ b> A and rotating along the inner peripheral groove 19. Connected to the main body 11. Further, as shown in FIG. 2 (c), the engagement piece 23 of the other flange 22 is pushed in so as to coincide with a notch 37B of a connecting portion 37 of a flange 33; 34 to be described later, and rotated along the inner circumferential groove 37A. By doing so, the expansion / contraction unit 30 as a cylindrical expansion / contraction body is connected.

  As shown in FIG. 1, the propulsion device 3 includes a plurality of telescopic units 30 and an air supply device 60 as main components. In the following description, for convenience of explanation, the propulsion device 3 will be described using a form in which four expansion / contraction units 30 are connected in series. In addition, it is not this limit about the connection number of the expansion-contraction units 30. FIG. When the position of the expansion / contraction unit 30 in the propulsion device 3 is specified, as shown in FIG. 1, the expansion / contraction unit 30A, the expansion / contraction unit 30B, the expansion / contraction unit 30C, the expansion / contraction unit 30D, etc. in order from the front side to the rear side. As shown.

FIG. 3 is a cross-sectional view taken along the axis of the telescopic unit 30. As shown in the figure, the telescopic unit 30 includes a pair of flanges 33; 34, a cylindrical inner cylinder 31, and a cylindrical elastic expansion body 32. The flanges 33 and 34 are configured as a cylindrical body made of, for example, resin or hard rubber, and include an inner cylinder fitting portion 36, an annular groove 35, and a connecting portion 37.
The inner cylinder fitting portion 36 is provided as a concave portion that is annularly recessed along the axial direction from the end surface 33a; 34a on one end side on the inner peripheral side of the flange 33; The inner cylinder fitting portion 36 is formed by a fitting surface 36A on which the outer peripheral surface of the inner cylinder 31 is fitted, and an abutting surface 36B on which the end surface of the inner cylinder 31 abuts.
The annular groove 35 is formed on the outer peripheral surface of the flange 33; 34 so as to be continuously depressed for one round along the circumferential direction so as to be positioned closer to the end surface 33b; 34b than the abutting surface 36B.
The connecting portion 37 includes an inner circumferential groove 37A that is recessed along the circumferential direction on the inner circumferential surface on the other end side of the flange 33; 34, and an inner circumference from the end surface 33b; 34b at a predetermined interval along the circumferential direction. A plurality of notches 37B recessed in an arc shape so as to reach the groove 37A.

  The inner cylinder 31 is configured by a cylindrical flexible member, and is configured to be extendable along the axial direction. For example, a bellows is applied to the inner cylinder 31. The inner cylinder 31 contracts in the axial direction following a contraction operation of an elastic expansion body 32 described later, and extends in the axial direction following the extension operation. The inner cylinder 31 is inserted into the fitting surface 36A until the end portion abuts against the abutting surface 36B of the flange 33; 34, and the outer surface is tightly sealed by a fixing means such as an adhesive, and the flange 33; The inner cylinder fitting portion 36 is fixed.

  The elastic expansion body 32 is a cylindrical member that covers the outer periphery of the inner cylinder 31, and is disposed so as to surround the entire outer peripheral surface of the inner cylinder 31. FIG. 4 is an exaggerated view of a cut surface obtained by cutting the elastic expansion body 32 in the thickness direction. As shown in the figure, the elastic expansion body 32 includes a cylindrical tube body 32A formed of an elastic body, and a plurality of regulating fibers 32B that are densely inserted inside the tube body 32A. . As the material of the cylinder main body 32A, synthetic rubber such as silicone rubber or natural rubber such as natural latex rubber is preferable, but the shape of the cylinder main body 32A can be changed by supplying and discharging compressed air to the airtight chamber S described later. Any material may be used, and the thickness and the arrangement of the regulating fibers described later are determined in consideration of the extending force of the elastic expansion body 32 when the air is discharged. Further, as shown in FIG. 4, the regulating fiber 32B is disposed within the wall thickness of the cylinder main body 32A in consideration of the extending force of the cylinder main body 32A. In this embodiment, the restriction fibers 32B are densely interpolated by stacking a plurality of layers. However, although it shows what extends along the axial direction of the cylinder main body 32A, it may be a single layer. As a material of the regulation fiber 32B, a material with little elongation in the axial direction, such as a glass roving fiber and a carbon roving fiber, is preferable.

  Both end portions of the elastic expansion body 32 are fixed so as to be strong and airtight by a constricting member 39 such as a piano wire at a position corresponding to the annular groove 35 formed on the outer peripheral surface of each of the flanges 33 and 34. Thereby, an airtight chamber S as a sealed space is formed by the outer peripheral surface of the inner cylinder 31 and the inner peripheral surface of the elastic expansion body 32 which are sealed via the flanges 33 and 34. Compressed air is supplied into the airtight chamber S from an air supply device 60 described later. One flange 34 is provided with a switching valve 40 that allows compressed air supplied from an air supply device 60 described later to flow through the airtight chamber S or discharges air from the airtight chamber S.

  FIG. 5 is an enlarged cross-sectional view of the switching valve 40. As shown in the figure, the switching valve 40 is provided in a bulging portion 34J formed so as to bulge in the inner periphery of the flange 34 on the end surface 34b side. The switching valve 40 supplies the airtight chamber S with the connection portion 41 that connects the tube 50 extending from the air supply device 60, the inflow passage 42 into which the compressed air supplied to the airtight chamber S flows, and the air that has flowed into the inflow passage. At the same time, the supply / exhaust passage 45 for discharging the air in the airtight chamber S, the discharge passage 46 for releasing the air exhausted from the supply / exhaust passage 45 into the atmosphere, and the inflow passage 42, the supply / discharge passage 45 and the discharge passage 46 communicate with each other. And a valve body 44 that is movably provided in the switching chamber 43.

  The connection portion 41 is formed as a hole having one end opening in the wall surface 40b on the end surface 34b side forming the bulging portion 34J and the other end extending from the wall surface 40b toward the end surface 34a. The connecting portion 41 includes a cylindrical surface 41A on which the outer periphery of the tube 50 is fitted, and an abutting surface 41B on which the end surface of the tube 50 abuts. The abutting surface 41B of the connecting portion 41 is such that the inner periphery of the abutting surface 41B is inward of the inner periphery of the tube 50 when the tube 50 is inserted into the cylindrical surface 41A so that the end of the tube 50 abuts against the abutting surface 41B. It is formed in an annular shape that does not protrude.

  The inflow passage 42 is provided so as to extend continuously and coaxially with the hole of the connection portion 41. Specifically, it is formed as a conical hole whose diameter gradually increases from the connecting portion 41 side toward the end face 34a side. That is, the inflow path 42 has an end portion on the small diameter side that opens to the connection portion 41, and a large diameter side that opens to the switching chamber 43.

  The switching chamber 43 is provided between the wall portion 34 </ b> K constituting the abutting surface 36 </ b> B of the inner cylinder fitting portion 36 and the inflow path 42. The switching chamber 43 is formed as a cylindrical space extending coaxially with the axis of the inflow passage 42. The peripheral surface of the switching chamber 43 is formed as a cylindrical surface 43b on the inflow passage 42 side and a conical surface 43a on the wall 34K side.

  The valve body 44 is provided as a solid cylindrical column that is movable along the axis of the switching chamber 43 so as to slide on the peripheral surface of the switching chamber 43. The outer peripheral surface of the valve body 44 has a conical surface 44a having the same shape as the conical surface 43a of the switching chamber 43 on the wall 34K side, a conical surface 44c having the same shape as the conical surface 42c of the inflow passage 42, one end side and the other end. A midway portion between the two sides is formed to be a cylindrical surface 44 b having the same shape as the cylindrical surface 43 b of the switching chamber 43. The valve body 44 includes a recess 48 that is recessed in a cylindrical shape along the axial direction from the end surface on the conical surface 44a side. The recess 48 is provided in a size that can accommodate an urging means 47 described later. Specifically, the recess depth is set so as to be deeper than the length when the urging means 47 is compressed to be dense. A predetermined gap size is set between the outer peripheral surface of the valve body 44 and the peripheral surface of the switching chamber 43.

The supply / discharge passage 45 is provided in the peripheral wall 34 </ b> A of the flange 34 as a through hole having one end opened to the outer periphery of the flange 34 and the other end opened to the switching chamber 43 between the abutting surface 36 </ b> B and the annular groove 35. Specifically, the supply / exhaust passage 45 is a valve even when the valve body 44 moves in the switching chamber 43 and is positioned so as to contact the wall portion 34K or closes the inflow passage 42. It is provided so as to open to the switching chamber 43 at a position not blocked by the body 44.
The discharge path 46 is provided as a through hole having one end opened to the inner peripheral side of the inner cylinder 31 in the flange 34 and the other end opened to the switching chamber 43. As shown in the figure, the discharge path 46 is formed such that one end opens to the inner peripheral wall surface 40 c constituting the bulging portion 34 J and the other end opens to the conical surface 43 a of the switching chamber 43. Accordingly, the discharge passage 46 is opened when the valve body 44 moves in the switching chamber 43 and is positioned so as to close the inflow passage 42, and is closed by the valve body 44 when positioned so as to contact the wall portion 34 </ b> K. To be provided. Specifically, as shown in the partially enlarged view of FIG. 5, when the valve body 44 moves to the wall 34 </ b> K side so that the conical surface 44 a of the valve body 44 matches the conical surface 43 a of the switching chamber 43. The conical surface 44a closes the discharge passage 46 by being in close contact with the opening edge 46a of the discharge passage 46 opening in the conical surface 43a.
The urging means 47 is made of, for example, a compression coil spring, and is provided so that one end is seated on the wall portion 34K defining the bulging portion 34J and the other end is seated on the bottom surface 48a of the recess 48 of the valve body 44. It is done. That is, the urging means 47 urges the valve body so that the compressed air that has flowed into the inflow path 42 antagonizes the pressing force that presses the valve body 44, and always directs the valve body 44 toward the inflow path 42. Apply urging force.
That is, the switching valve 40 configured as described above moves the valve body 44 toward the wall 34K side when the pressing force of the compressed air flowing into the inflow path 42 exceeds the urging force of the urging means 47. The conical surface 44a fits into the conical surface 43a of the switching chamber 43 while closely contacting the opening edge 46a of the discharge passage 46, thereby forming a sealing portion that prevents leakage of compressed air flowing from the inflow passage 42. The communication between the path 45 and the discharge path 46 is blocked. The switching valve 40 moves the valve body 44 toward the inflow path 42 when the urging force of the urging means 47 acting on the valve body 44 exceeds the pressing force of the compressed air flowing into the inflow path 42. The conical surface 44c of the body 44 fits into the conical surface 42c of the inflow path 42, thereby forming a sealing portion that prevents the outflow of air to the inflow path 42, thereby opening the communication between the supply / discharge path 45 and the discharge path 46. To do.

  6A and 6B are diagrams illustrating the operation of the switching valve 40. FIG. Hereinafter, the air switching operation of the switching valve 40 will be described with reference to FIGS. 5 and 6. The state of the switching valve 40 in FIG. 5 shows an initial state in which compressed air is not supplied from the tube 50. The valve body 44 in this initial state is pressed toward the inflow passage 42 by the urging force of the urging means 47 and is in a state where the opening of the inflow passage 42 is closed. On the other hand, since the supply / discharge passage 45 and the discharge passage 46 are in communication with each other via the switching chamber 43, the airtight chamber S includes the supply / discharge passage 45, the switching chamber 43, the discharge passage 46, and the inner cylinder 31. It is in a state of being exposed to the atmosphere through the inner space. That is, the pressure in the airtight chamber S when the supply / discharge passage 45 and the discharge passage 46 communicate with each other is atmospheric pressure.

  FIG. 6A is a diagram illustrating a state when compressed air is supplied to the expansion / contraction unit 30. As shown in the figure, when compressed air flows from the inflow passage 42, the compressed air presses the valve body 44 in the direction opposite to the urging force of the urging means 47. The valve body 44 pressed by the compressed air moves until it contacts the wall 34K while compressing the biasing means 47. By this movement, the conical surface 44a of the valve body 44 comes into close contact with the opening edge 46c of the discharge passage 46 that opens to the conical surface 43a of the switching chamber 43, and the communication between the supply / discharge passage 45 and the discharge passage 46 is closed. 42 and the supply / discharge path 45 communicate with each other via the switching chamber 43, and the compressed air flows into the airtight chamber S. When the compressed air flows into the airtight chamber S, the elastic expansion body 32 allows the expansion of the elastic expansion body 32 in the radial direction while the restriction fiber 32B restricts the expansion of the elastic expansion body 32 in the axial direction. ; Acts to draw 34, and shortens the length of the telescopic unit 30 in the axial direction.

  FIG. 6B is a diagram illustrating a state when the supply of compressed air to the telescopic unit 30 is stopped. As shown in the figure, when the inflow of compressed air stops, the urging means 47 presses the valve body 44 from the wall 34K side to the inflow path 42 side. The valve body 44 pressed by the urging means 47 moves from the wall 34K side to the inflow path 42 side. By this movement, the conical surface 44c of the valve body 44 fits into the conical surface 42c of the inflow passage 42 to form a sealing portion, and the communication between the inflow passage 42 and the supply / exhaust passage 45 is closed. The discharge path 46 communicates with the switching chamber 43, and the air in the airtight chamber S is discharged into the inner space of the inner cylinder 31. The air in the airtight chamber S is pressed by the restoring force of the elastic expansion body 32 together with the pressure of the air in the airtight chamber S, and is discharged into the inner space of the inner cylinder 31 through the supply / discharge passage 45, the switching chamber 43, and the discharge passage 46. Is done. When the air in the airtight chamber S is discharged, the elastic expansion body 32 contracts in the radial direction, and the flanges 33 and 34 attracted by the restriction of the restriction fiber 32B of the elastic expansion body 32 act so as to be separated from each other. Thus, the length in the axial direction of the expansion / contraction unit 30 is extended.

  The telescopic unit 30 constituting the propulsion device 3 according to the present embodiment contracts in the axial direction by supplying compressed air, and extends in the axial direction by discharging compressed air. That is, the operation of the switching valve 40 is controlled according to the pressure of the air flowing in through the tube 50, and the switching valve 40 according to the present embodiment does not require the input of an electrical signal, and therefore has an explosion-proof property. Can be secured.

  The telescopic units 30 (30A to 30D) described above are connected by a connecting body 55 shown in FIG. The connecting body 55 is formed of a cylindrical body, for example, a cylindrical body made of resin or hard rubber, and has a plurality of engagements corresponding to a plurality of notches 37B formed on the inner periphery of the flanges 33; A mating piece 56 is provided. The engagement piece 56 projects from the outer peripheral surface so as to extend in a circular arc shape having a predetermined length along the circumferential direction of the coupling body 55. The coupling body 55 pushes the engagement piece 56 in alignment with the notch 37 </ b> B of the coupling portion 37 and couples the expansion units 30 by rotating along the inner circumferential groove 37 </ b> A. In addition, each expansion-contraction unit 30 is connected by the connection body 55 so that the flange 34 which has the switching valve 40 may be located in the back side, and comprises a moving body within a ring (refer FIG. 1).

As shown in FIG. 1, the expansion / contraction units 30A to 30D connected by the connecting body 55 are individually connected to the air supply device 60 by tubes 50A to 50D.
Tube 50 (50A thru | or 50D) comprises the flow path which supplies compressed air independently with respect to several expansion-contraction units 30A-30D, Comprising: For example, the hose which has flexibility, such as a polyvinyl chloride, is used. Applied. It is preferable to use a pressure-resistant tube that is not crushed or swollen due to a change in the pressure of the air flowing inside.

The air supply device 60 is provided outside the pipe 9 and generates compressed air to be supplied to the expansion and contraction unit 30. The compressed air generated by the compressed air generation device 61 is individually supplied to each expansion and contraction unit 30. And a distribution device 62 that distributes to each other.
For example, a compressor having a compressor and an accumulator (not shown) is applied to the compressed air generation device 61. In the compressed air generation device 61, the air compressed by the compressor is supplied until the pressure in the accumulator reaches a predetermined pressure. The air accumulated in the accumulator is supplied to the distribution device 62 via the regulator 63. The regulator 63 supplies each expansion / contraction unit 30 (30A to 30D) so that a force larger than the urging force of the urging means 47 provided in each expansion / contraction unit 30 (30A to 30D) acts on the valve body 44. Adjust the pressure of compressed air.

  The distribution device 62 includes a distributor 64 that distributes the supplied compressed air to each expansion / contraction unit 30, and a control device 65 that controls the timing and supply time for distributing the compressed air from the distribution device 64 to each expansion / contraction unit 30. . The distributor 64 includes, for example, a plurality of electromagnetic valves 66. The electromagnetic valve 66 includes an input port 67 to which the compressed air regulated by the regulator 63 is input, an output port 68 that outputs the compressed air input to the input port 67 to the expansion / contraction unit 30, and an output port 68. And an exhaust port 69 for exhausting air. Compressed air regulated by the regulator 63 is connected to the input port 67 via a distribution pipe 70.

  A tube 50 (50A to 50D) extending from the expansion / contraction unit 30 is connected to the output port 68. The exhaust port 69 is released to the atmosphere. The electromagnetic valve 66 operates based on a signal output from the control device 65. For example, when a signal is input, the communication between the input port 67 and the output port 68 is opened and the output port 68 and the exhaust port 69 are connected. Block communication. When no signal is input, the communication between the input port 67 and the output port 68 is blocked and the communication between the output port 68 and the exhaust port 69 is opened. As a result, the air in the tube 50 connected to the output port 68 is exhausted from the exhaust port 69. The distributor 64 includes a number of solenoid valves corresponding to the number of the expansion / contraction units 30.

The control device 65 is individually electrically connected to each electromagnetic valve 66 (66A to 66D). The control device 65 is a computer having hardware such as a CPU as a calculation processing means, a storage means such as a RAM and a ROM, and an input / output means such as an input / output port, and the CPU stores a program stored in the ROM. As a result, the control signals written in the program are individually output to the solenoid valves 66 (66A to 66D) from an output port (not shown). A contraction signal and a contraction maintenance signal are output as signals output from the control device 65 to the electromagnetic valves 66 (66A to 66D), and the operation of the electromagnetic valves 66 (66A to 66D) is controlled based on the signals.
The contraction signal is a signal for supplying compressed air to the hermetic chamber S until the outer peripheral surface of the elastic expansion body 32 reaches the inner wall surface of the tube 9. The contraction maintenance signal is a signal for maintaining the state of the elastic expansion body 32 that has reached the inner wall surface of the tube 9.

  The storage means of the control device 65 stores a plurality of operation programs for operating the propulsion device 3. For example, an operation program for executing the operation of the operation pattern A as shown in FIG. 8 is stored. In the present embodiment, description will be made assuming that the expansion / contraction units 30A to 30D are operated by the operation pattern A as shown in FIG.

In the operation pattern A, the propulsion device 3 is repeatedly operated in the three strokes shown in FIGS. 8A to 8D to generate a peristaltic motion and advance in the tube 9.
FIG. 8A shows an initial state of the propulsion device 3, for example, a state in which the propulsion device 3 is arranged in the pipe 9. At this time, all the expansion units 30A to 30D are in the extended state.

  When driving the propulsion device 3 based on the operation pattern A, first, as shown in FIG. 8 (b), the solenoid valve 66A is supplied with compressed air only to the leading telescopic unit 30A as shown in FIG. Only the contraction signal is output, and the compressed air is supplied to the inflow path 42 of the expansion / contraction unit 30A. By supplying this compressed air, as shown in FIG. 6A, the valve body 44 in the switching valve 40 </ b> A of the expansion / contraction unit 30 </ b> A moves inside the switching chamber 43 toward the wall 34 </ b> K while pressing and contracting the urging means 47. By the movement of the valve body 44, the communication between the supply / discharge path 45 and the discharge path 46 of the switching valve 40A of the expansion / contraction unit 30A is blocked, and the communication between the inflow path 42 and the supply / discharge path 45 of the switching valve 40A is opened. Then, the compressed air is supplied to the airtight chamber S of the expansion / contraction unit 30A. The compressed air supplied to the airtight chamber S of the expansion / contraction unit 30A contracts the expansion / contraction unit 30A until the outer peripheral surface of the elastic expansion body 32 of the expansion / contraction unit 30A reaches the inner wall surface of the tube 9.

  Next, as shown in FIG. 8C, the process proceeds to the second step, and a contraction maintaining signal is output to the electromagnetic valve 66A so as to maintain the contracted state of the expandable unit 30A, and the extendable units 30B to 30D are moved. A contraction signal is output to all the remaining electromagnetic valves 66B to 66D so as to contract, and compressed air is supplied to the inflow passages 42 of the switching valves 40B to 40D of the expansion units 30B to 30D. With this supply of compressed air, as shown in FIG. 6A, the valve body 44 in the switching valves 40B to 40D of the expansion / contraction units 30B to 30D moves inside the switching chamber 43 through the wall portion 34K while pressing and contracting the urging means 47. Move to the side. By the movement of the valve body 44, the communication between the supply / discharge passage 45 and the discharge passage 46 of each of the switching valves 40B to 40D of the expansion / contraction units 30B to 30D is interrupted, and the supply to the inflow passage 42 of each of the switching valves 40B to 40D. Communication with the exhaust passage 45 is released, and compressed air is supplied to the airtight chambers S of the expansion units 30B to 30D. The compressed air supplied to the airtight chamber S of the expansion units 30B to 30D contracts the expansion units 30B to 30D until the outer peripheral surface of each elastic expansion body 32 of the expansion units 30B to 30D reaches the inner wall surface of the tube 9. That is, all the expansion units 30A to 30D are in the contracted state.

Next, as shown in FIG. 8D, the process proceeds to the third step, and the contraction state of the last expansion unit 30D is output only to the electromagnetic valve 66D, and the expansion units 30A to 30C are output. The contraction maintenance signal and contraction signal to the electromagnetic valves 66A to 66C are stopped so as to extend, and the supply of compressed air to the expansion units 30A to 30C is stopped. By stopping the supply of compressed air, as shown in FIG. 6B, the valve bodies 44 in the switching valves 40A to 40C of the expansion / contraction units 30A to 30C are pressed by the urging force of the urging means 47, and the switching chamber 43 It moves to the inflow path 42 side. By the movement of the valve body 44, the communication between the inflow path 42 and the supply / discharge path 45 of each of the switching valves 40A to 40C of the expansion / contraction units 30A to 30C is blocked, and the supply / discharge path 45 of each of the switching valves 40A to 40C The communication with the discharge path 46 is released, and the air in each of the airtight chambers S of the expansion units 30A to 30C passes through the supply / discharge path 45, the switching chamber 43, and the discharge path 46 of the switching valves 40A to 40C and enters the inner cylinder 31. Exhausted. The expansion units 30A to 30C are extended by exhausting the air in the airtight chambers S of the expansion units 30A to 30C.
In the operation pattern A, the first to third strokes are defined as one cycle, and the propulsion device 3 proceeds by repeating this cycle. That is, after the end of the first cycle, the expansion / contraction unit 30A expands in the first stroke of the second cycle, and the driving force of the second cycle can be obtained using this first stroke as a foothold. The distance is an extension of the extension unit 30B and the extension unit 30C in the third step.
The expansion / contraction operation of the expansion / contraction units 30A to 30D shown in FIGS. 8B to 8D, that is, the supply / discharge of compressed air from the air supply device 60 to the airtight chambers S of the expansion / contraction units 30A to 30D is performed by compressed air. It is controlled by the switching valve 40 based on the presence or absence of supply.

  FIG. 9 is a diagram showing another embodiment of the air supply device 60 in the propulsion device 3. In the air supply device 60 of the above embodiment, in the distribution device 62 that supplies compressed air to the expansion / contraction unit 30, when the electromagnetic valve 66 constituting the distributor 64 does not receive a signal from the control device 65, the input port 67 and the output are output. Although the communication with the port 68 is cut off, the communication between the output port 68 and the exhaust port 69 is opened, and the air in the tube 50 connected to the output port 68 is released from the exhaust port 69 to the atmosphere. As shown in FIG. 9, a decompression device 80 may be provided in the air supply device 60, and the decompression device 80 and the exhaust port 69 may be connected by a tube 81. That is, when the solenoid valve 66 is operated so as to stop the supply of compressed air to the telescopic unit 30 and the output port 68 is connected to the exhaust port 69 opened to the atmosphere, the internal pressure in the tube 50 is released. When the length of the tube 50 is increased so that the moving distance becomes longer, the residual pressure of the air in the tube 50 is caused to flow into the valve body 44 by the urging means even though the supply of compressed air is stopped. The movement to the path 42 side may be hindered, and there may be a delay in the start of air discharge in the airtight chamber S. In such a case, as shown in FIG. 9, a pressure reducing device 80 is connected to the exhaust port 69, and the air in the tube 50 is forcibly exhausted, whereby the valve body is pressed by the pressing force of the urging means 47. Is smoothly moved to the inflow path 42 side, and the air in the airtight chamber S is discharged from the discharge path 46, whereby the expansion / contraction speed of the expansion / contraction unit 30 can be improved. The decompression device 80 has been described as being connected to the exhaust port 69. However, if the compressed air is supplied to the tube 50 and the supply of compressed air to the tube 50 is stopped, the air in the tube 50 can be discharged. The tube 81 may be connected to either.

  FIG. 10 is a view showing another embodiment of the switching valve 40. In the above embodiment, the switching chamber 43 is formed as a cylindrical space, and the valve body 44 is configured in a column shape so that the switching chamber 43 can be moved. However, as shown in FIG. 10, the valve body 44 is configured in a flat plate shape. However, the inflow passage 42 or the discharge passage 46 may be closed by the flat valve body 44. That is, the valve body 44 includes a valve portion 44A that can close the inflow passage 42 and the discharge passage 46, and a hinge portion 44B that enables switching of the closing of the inflow passage 42 or the discharge passage 46 by the valve portion 44A. The hinge portion 44B is provided on the bulging portion 34J at a position where the portion 44A can close the inflow passage 42 or the discharge passage 46, and a spiral spring as the urging means 47 is provided on the rotating shaft of the hinge portion 44B to provide the valve portion 44A. The switching valve 40 may be configured so as to be urged to the inflow path 42. In this case, as shown in FIG. 10, the opening surface 42 a where the inflow path 42 opens into the switching chamber 43 and the opening edge 46 a where the discharge path 46 opens into the switching chamber 43 may be formed in a planar shape. Further, as shown in FIG. 10, by setting the opening edge 46a at which the discharge path 46 opens to the switching chamber 43 to the opening surface 42a at which the inflow path 42 opens to the switching chamber 43, the discharge path is surely set. 46 can be closed. In addition, when the supply of compressed air to the inflow passage 42 is stopped, the angle at which the valve body 44 rotates is small, so that the inflow passage 42 is immediately closed and the air in the airtight chamber S is discharged from the discharge passage 46. Is possible.

  As described above, the supply / discharge of the compressed air to / from the airtight chamber S is switched depending on the presence / absence of the compressed air supplied to the inflow passage 42, and when the supply of the compressed air is stopped, the air in the airtight chamber S is reduced to the shortest distance. As a result, the air can be discharged from the discharge path 46 to the inner space of the inner cylinder 31, so that the air exhaust time of the airtight chamber S is shortened. That is, the exhaust speed of the air from the airtight chamber S can be improved, and the extension speed of the expansion / contraction unit 30 can be improved. And as a result, since the expansion-contraction speed of the expansion-contraction unit 30 improves, the propulsion speed of the propulsion apparatus comprised by connecting two or more said expansion-contraction units 30 can be improved. Therefore, by providing the above-described inspection device in the propulsion device, it is possible to improve the inspection speed in the tubular body regardless of the straight pipe portion or the curved pipe portion. Further, since the telescopic unit 30 constituting the propulsion device does not have an electrically driven mechanism, it is also suitable for inspection of a tubular body that requires explosion-proof performance such as a gas pipe.

  In the embodiment described above, the inspection apparatus is attached to the tip of the propulsion apparatus as the in-pipe inspection apparatus. However, the inspection apparatus is not limited to the inspection apparatus, and can be configured as a drilling apparatus attached with a drill such as an earth auger. is there.

1 In-pipe inspection device, 2 inspection device, 3 propulsion device, 30 telescopic unit,
40 switching valve, 42 inflow path, 43 switching chamber, 44 valve body, 45 supply / discharge path,
46 discharge path, 47 urging means, 60 air supply device, 61 compressed air generating device,
62 distributor, 64 distributor, 65 controller.

Claims (5)

A first flow path into which the pressurized fluid flows;
A valve body that is pressed by the fluid flowing into the first flow path and is movably provided;
An urging means for urging the valve body such that the fluid flowing into the first flow path antagonizes the pressing force pressing the valve body;
A second flow path through which the fluid flowing into the first flow path flows when the pressing force of the fluid acting on the valve body exceeds the urging force of the urging means;
A third flow path communicating with the second flow path when an urging force of the urging means acting on the valve body exceeds a pressing force of the fluid flowing into the first flow path;
A switching valve comprising: A switching valve according to claim 1;
A cylindrical inner cylinder that expands and contracts in the axial direction;
Cylindrical flanges attached to both ends of the inner cylinder so as to be airtight,
A cylindrical elastic body that is covered so as to cover the inner cylinder, the end of which is fixed to the flange so as to be airtight, and the expansion in the axial direction is restricted;
An air chamber formed between the inner cylinder and the elastic body;
With
The switching valve is provided so that one end of the second flow path opens into the air chamber, and one end of the third flow path opens on the inner peripheral surface of the inner cylinder,
When the pressing force of the fluid acting on the valve body exceeds the urging force by the urging means, the fluid that has flowed into the first flow path flows into the air chamber via the second flow path,
When the urging force of the urging means acting on the valve body exceeds the pressing force of the fluid flowing into the first flow path, the fluid in the air chamber passes through the second flow path and the third flow path. A cylindrical stretchable body that is discharged into the inner space of the inner cylinder. A moving body in which a plurality of the cylindrical elastic bodies according to claim 2 are connected;
Compressed air generating means for generating compressed air to be supplied to the first flow path of each cylindrical stretchable body;
Distributing means for distributing the compressed air generated by the compressed air generating means to each of the cylindrical stretchable bodies;
An air supply pipe that individually extends from the distribution means to each of the cylindrical stretchable bodies, and supplies compressed air generated by the compressed air generation means to the first flow path of the switching valve;
A control device for controlling the distribution of the compressed air to each cylindrical expansion / contraction body by the distribution means, and for causing the compressed air to flow into the air chamber of each cylindrical expansion / contraction body in a predetermined order;
A propulsion device.   A pressure reducing means provided to communicate with the air supply pipe, and forcibly exhausting the air in the air supply pipe when the supply of compressed air from the distribution means to the first flow path is stopped; The propulsion device according to claim 3. The distribution means is connected to the compressed air generating means, and an input port to which compressed air supplied from the compressed air generating means is input,
An output port connected to the air supply pipe and outputting compressed air input to the input port to the first flow path of the cylindrical stretchable body through the air supply pipe;
An exhaust port for exhausting air in the output port;
The propulsion device according to claim 4, further comprising a plurality of solenoid valves each having a pressure reducing means connected to the exhaust port.

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