JP2018005077A - Intratubular moving body and method for controlling intratubular moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an intratubular moving body capable of improving moving speed in a tube and a method for controlling the intratubular moving body.SOLUTION: An intratubular moving body having a cylindrical inner cylinder having blocked both ends in an axial direction and a cylindrical outer cylinder covering the inner cylinder in the state of having the blocked both ends in the axial direction and regulated in extension in the axial direction, comprises a plurality of first extendable units extending/contracting in the axial direction by supply/discharge of fluid to/from an air chamber formed between the inner cylinder and the outer cylinder. The intratubular moving body further comprises, between any of the plurality of first extendable units, a second extendable unit which includes a cylindrical inner side extendable body constituted of a coil spring and a coating body covering the outer periphery of the coil spring and having blocked both ends in the axial direction and a cylindrical outer side extendable body covering the inner side extendable body in the state of having the blocked both ends in the axial direction and extending/contracting in the axial direction by supply/discharge of fluid to/from an air chamber formed between the inner side extendable body and the outer side extendable body.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an in-pipe moving body and a control method for the in-pipe moving body, and more particularly to an in-pipe moving body capable of improving the moving speed in the pipe and a control method for the in-pipe moving body.

  Conventionally, as an in-pipe inspection device for inspecting the inside of pipes such as sewers, the propulsive force in the pipe is expanded by expanding and contracting in order, imitating the movement of earthworms, in order to expand the diameter when contracting and contracting when expanding. What is generating is known.

JP 2014-228658 A

However, in the in-pipe moving body disclosed in Patent Document 1, the propulsive force is generated by the peristaltic motion of a plurality of expansion / contraction units, and thus there is a limit to the improvement of the moving speed in the pipe.
The present invention has been made in view of the conventional problems, and an object of the present invention is to provide an in-pipe moving body and a control method for the in-pipe moving body that can improve the moving speed in the pipe.

As a configuration of the in-pipe moving body for solving the above-mentioned problem, a cylindrical inner cylinder whose both axial ends are closed, and the inner cylinder which covers the inner cylinder in a state where both axial ends are closed, are extended in the axial direction. A plurality of first telescopic units that extend and contract in the axial direction by supplying and discharging fluid into and from the air chamber formed between the inner cylinder and the outer cylinder. Cylindrical inner expansion / contraction that is an in-pipe moving body and is constituted by a coil spring and a covering that covers the outer periphery of the coil spring between any of the plurality of first expansion / contraction units. Body and a cylindrical outer elastic body that covers the inner elastic body in a state where both ends in the axial direction are closed, and supply of fluid into the air chamber formed between the inner elastic body and the outer elastic body A configuration is provided in which a second expansion / contraction unit that expands and contracts in the axial direction is provided.
According to this configuration, the moving speed of the moving body in the tube can be improved.
The coil spring is a tension spring that urges the second expansion / contraction unit in a contracting direction, and the second expansion / contraction unit extends by supplying a fluid, or the coil spring extends the second expansion / contraction unit. The second expansion unit is configured to be contracted by discharging the fluid.
Further, the first telescopic unit is provided at the head and the tail in the traveling direction, and the first telescopic unit and the second telescopic unit are alternately arranged, or a plurality of the first telescopic units are disposed between the first telescopic units. By moving the second extendable units continuously, the moving speed of the moving body in the tube can be improved.
In addition, since the plurality of second telescopic units are arranged in parallel between the first telescopic units, the moving speed of the in-pipe moving body can be improved and the direction ahead of the telescopic units is positively changed. be able to.
Further, since the plurality of first telescopic units are continuously arranged at the head and the tail in the traveling direction, the traveling operation of the in-pipe moving body is stabilized, so that the moving speed can be further improved.
In addition, since the extension amount of the second extension / contraction unit is larger than the contraction amount of the first extension / contraction unit, the moving speed of the in-pipe moving body can be reliably improved.
A method for controlling an in-pipe moving body according to any one of claims 1 to 8, wherein the first telescopic unit contracts behind the second telescopic unit in the traveling direction, and the first telescopic unit contracts. A step of extending the second expansion / contraction unit while maintaining the state, and a forward direction of the second expansion / contraction unit in the expansion state while maintaining the contraction state of the first expansion / contraction unit and the expansion state of the second expansion / contraction unit. And the step of contracting the first telescopic unit can reliably improve the moving speed of the in-pipe moving body.

It is the schematic of an in-pipe exploration apparatus. It is sectional drawing of an expansion-contraction unit. It is sectional drawing of an elastic expansion body. It is a figure which shows the expansion-contraction state of an expansion-contraction unit. It is sectional drawing of an expansion-contraction unit. It is a figure which shows the expansion-contraction state of an expansion-contraction unit. It is a perspective view of the connection part of an expansion / contraction unit and the connection part of an expansion / contraction unit. It is a figure which shows the setting method of the dimension of an expansion-contraction unit. It is a figure which shows the operation | movement pattern of a moving body in a pipe | tube. It is a figure which shows the operation | movement pattern of a moving body in a pipe | tube. It is a figure which shows the operation | movement pattern which concerns on the other form of the moving body in a pipe | tube. It is a figure which shows the other form of the moving body in a pipe | tube.

  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.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic configuration diagram of an in-pipe exploration apparatus 10 for exploring a state inside the pipe 1. As shown in the figure, the in-pipe moving body 13 according to the present embodiment is provided with an exploration unit 11 and constitutes an in-pipe exploration apparatus 10.
The in-pipe exploration device 10 includes an exploration unit 11 provided on the front end side, an in-pipe moving body 13 that moves the exploration unit 11 along the pipe 1, and compressed air that serves as a drive source for operating the in-pipe moving body 13. The air supply means 16 to supply and the control means 17 which controls the advancing operation | movement of the in-pipe moving body 13 are provided as main structures. In the following description, the direction along the arrow X1 is defined as the traveling direction of the in-pipe exploration device 10, and the front-rear direction is specified along the traveling direction, with the front side and the opposite side as the rear side.

  The exploration unit 11 includes an imaging unit 11M and an illuminating unit 11N that are accommodated in a case 11A that has a flat front surface and a spherical outer periphery, and is arranged with the imaging direction facing forward on the front side of the case 11A. The imaging unit 11M and the illuminating unit 11N are electrically connected to the control unit 17 by the cable 12 and operate based on a power supply supplied via the control unit 17 and a signal output from the control unit 17. Then, the exploration unit 11 images the inside of the tube 1 (in the pipe line) by the imaging unit 11M while illuminating the inside of the tube 1 with the light emitted from the illumination unit 11N. The captured image is connected to the control means 17 and output to the display means 18 such as a monitor installed outside the tube 1. A connecting portion for connecting to the in-pipe moving body 13 is provided on the rear end side of the case 11A.

  The in-pipe moving body 13 includes a plurality of first extension units 20 and second extension units 50 that generate a driving force. The in-pipe moving body 13 in the present embodiment includes four first extension units 20 and three second extension units 50, and the first extension units 20 and the second extension units 50 are alternately connected. Will be described. In the following description, when the position of the first expansion / contraction unit 20 is specified, the first expansion / contraction unit 20A, the first expansion / contraction unit 20B, the first expansion / contraction unit 20C, and the first expansion / contraction unit are sequentially arranged from the front side to the rear side. Shown as a unit 20D or the like. Similarly, the second expansion / contraction unit 50 is shown as a second expansion / contraction unit 50A, a second expansion / contraction unit 50B, a second expansion / contraction unit 50C, etc. in order from the front side to the rear side.

  FIG. 2 is an axial cross-sectional view showing a configuration example of the first expansion / contraction unit 20. As shown in FIG. 2, the first telescopic unit 20 surrounds a cylindrical inner cylinder 21 that forms a hollow space through which the cable 12 can be inserted on the inner peripheral surface side, and an outer periphery of the inner cylinder 21. The elastic expansion body 22, the pair of flanges 23 and 23, and the switching valve 14 are provided.

The flanges 23; 23 are, for example, an annular body made of resin, hard rubber, metal, or the like, and an inner cylinder fixing portion 28 that fixes the inner cylinder 21 and an expansion body fixing portion that fixes the elastic expansion body 22. 29 and a connecting portion 32 for connecting to the second telescopic unit 50. Further, one flange 23 is provided with a through hole 31.
The inner cylinder fixing portion 28 is formed, for example, so as to have an outer periphery that is recessed in the axial direction from an end face on one end side in the axial direction, and is inserted into the inner periphery of the inner cylinder 21. The expansion body fixing | fixed part 29 is formed as an annular groove continuously dented over the outer periphery of the flange 23 along the circumferential direction between both ends of an axial direction.
The connecting portion 32 is provided on the other end side in the axial direction opposite to the inner cylinder fixing portion 28. The connecting portion 32 is configured by a plurality of engaging pieces 32A that project from the outer peripheral surface of the flange 23 so as to extend in an arc shape having a predetermined length along the circumferential direction (see FIG. 7).
The through hole 31 is provided between the inner cylinder fixing portion 28 and the expansion body fixing portion 29 so as to communicate the inner periphery and the outer periphery. The through-hole 31 is formed as a screw hole, for example, and is configured so that the switching valve 14 can be attached.

  The inner cylinder 21 is a cylindrical cylinder having a bellows structure that can be expanded and contracted along the axial direction. The inner cylinder 21 is preferably made of a flexible material that allows bending of the axis, for example. At both ends of the inner cylinder 21, flanges 23 are inserted, and the inner periphery of the inner cylinder 21 and the inner cylinder fixing portion 28 of the flange 23 are fixed in a liquid-tight and firm manner by a fixing means such as an adhesive.

  The elastic expansion body 22 is a cylindrical body formed in a cylindrical shape, and is disposed so as to surround and cover the entire outer peripheral surface of the inner cylinder 21. Both ends of the elastic expansion body 22 are firmly and liquid-tight by a binding member 29A such as a piano wire at a position corresponding to the expansion body fixing portion 29 formed along the circumferential direction on the outer peripheral surface of the flange 23; Fixed. As a result, an air chamber S <b> 20 is formed in the first telescopic unit 20 as a sealed space surrounded by the outer peripheral surface of the inner cylinder 21, the outer peripheral surface of the flange 23, and the inner peripheral surface of the elastic expansion body 22.

FIG. 3 is an exaggerated view of the cross section of the elastic expansion body 22 taken along the line AA in FIG. As shown in the figure, the elastic expansion body 22 includes a cylindrical tube body 22A formed of an elastic body, and a plurality of restriction fibers 22B that are closely inserted inside the tube body 22A. . As the material of the cylinder main body 22A, synthetic rubber such as silicone rubber or natural rubber such as natural latex rubber is suitable. The regulating fibers 22B are arranged in the wall thickness so as to extend along the axis, and in this embodiment, a plurality of the regulating fibers 22B are laminated and densely inserted. The regulating fiber 22B may be a single layer without being laminated. Although the regulation fiber 22B is shown as extending along the axial direction of the cylinder main body 22A, it may be provided so as to intersect the axis. As a material of the regulation fiber 22B, a material having a small change in expansion and contraction in the axial direction, such as a glass roving fiber and a carbon roving fiber, is preferable.
The material of the cylinder body 22A may be any material as long as the shape of the material can be changed by supplying and discharging compressed air to and from the air chamber S20 described later. Further, the thickness and the arrangement of the regulating fibers 22B are determined in consideration of the extending force when the elastic expansion body 22 is discharged with air.

  The switching valve 14 is attached to the through hole 31. As the switching valve 14, for example, an electromagnetic valve whose operation is controlled by input of an electrical signal is applied. The switching valve 14 includes an inlet 14a through which air supplied into the air chamber S20 flows, a supply / exhaust port 14b for supplying air into the air chamber S20 and discharging air from the air chamber S20, A discharge port 14c for discharging the air in the air chamber S20 to the outside (inner peripheral space of the inner cylinder 21), a signal input unit 14z to which an electrical signal for controlling supply and discharge of air in the air chamber S20 is input, Is provided. A tube 24 or 25 extending from the air supply means 16 is connected to the inlet 14a of the switching valve 14, and a wiring extending from the control means 17 is connected to the signal input portion 14z.

  When the signal is input from the control unit 17 to the signal input unit 14z, the switching valve 14 closes the discharge port 14c, and connects the inflow port 14a and the supply / discharge port 14b to compress the air supplied from the air supply unit 16. Air is caused to flow into the air chamber S20. In a state where no signal is input from the control means 17, the inlet 14a is closed, the supply / discharge port 14b and the discharge port 14c are communicated, the compressed air supplied from the air supply means 16 is shut off, and the air chamber S20. The air is discharged from the discharge port 14c.

Each switching valve 14 provided in the first expansion / contraction units 20 </ b> A to 20 </ b> D is individually connected to the control unit 17, and the operation is controlled as follows by the input of an electrical signal output from the control unit 17. When the first telescopic unit 20 is contracted, the inflow of air from the inflow port 14a is allowed and the supply / exhaust port 14b is opened to allow the compressed air to flow into the air chamber S20. At this time, the discharge port 14c is kept closed. In this embodiment, this state is referred to as opening of the switching valve 14.
Moreover, when extending the 1st expansion-contraction unit 20, while blocking | blocking inflow of the compressed air from the inflow port 14a, the supply / exhaust port 14b and the discharge port 14c are open | released, and air chamber S20 and the internal space of the inner cylinder 21 , The air in the air chamber S20 is discharged into the inner space of the inner cylinder 21. In this embodiment, this state is called closing of the switching valve 14.
Note that air is discharged from the air chamber S20 into the inner cylinder 21 from the air chamber S20 with the tension of the elastic expansion body 22 as a drive source.
That is, when the compressed air is supplied into the air chamber S20, the first extendable unit 20 restricts the expansion of the elastic expansion body 22 in the axial direction while allowing the expansion in the radial direction. Therefore, as a result, as shown in FIG. 4, the entire first telescopic unit 20 contracts in the axial direction. On the other hand, if the compressed air supplied into the air chamber S20 is discharged, the entire first telescopic unit 20 extends in the axial direction.

  FIG. 4 is a diagram illustrating a stretched state of the first stretchable unit 20. As shown in the drawing, the outer diameter of the first expansion / contraction unit 20 is increased from d20 to D20 by changing from the extended state to the contracted state. In addition, the axial length shrinks by r. Hereinafter, r is referred to as a contraction amount. The first expansion / contraction unit 20 has an outer diameter d20 at the time of expansion smaller than an outer diameter d50 at the time of contraction of the second expansion / contraction unit 50 described later and an outer diameter D50 at the time of expansion, and the outer diameter D20 at the time of contraction is the second. The expansion unit 50 is configured to be larger than the outer diameter d50 when contracted and the outer diameter D50 when expanded.

FIG. 5 is a diagram illustrating a configuration example of the second expansion / contraction unit 50, and is an axial cross-sectional view of the second expansion / contraction unit 50.
The second expansion / contraction unit 50 includes, for example, an outer cylinder 37 as an outer expansion / contraction body having a bellows structure that can be expanded / contracted along the axial direction, an inner cylinder 38 as an inner expansion / contraction body configured to be expandable / contractable in the axial direction, A pair of flanges 36; 36 and a switching valve 15 are provided.

The flanges 36 and 36 are made of, for example, resin, hard rubber, metal, or the like, and are formed of an annular body having an outer diameter larger than the outer diameter of the flange 23 of the first expansion / contraction unit 20. The flanges 36 and 36 include an outer cylinder fixing portion 43 that fixes the outer cylinder 37, an inner cylinder fixing portion 42 that fixes the inner cylinder, and a connecting portion 40 that is connected to the first telescopic unit 20. One flange 36 includes a through hole 45.
The inner cylinder fixing portion 42 is formed such that, for example, the inner periphery thereof is recessed in the axial direction from the end face on one end side in the axial direction of the flange 36, and the end portion of the inner cylinder 38 is inserted.
The outer cylinder fixing portion 43 is provided on the same side in the axial direction as the inner cylinder fixing portion 42 of the flange 36. For example, the outer cylinder is recessed in the axial direction from the end surface on one end side in the axial direction of the flange 36. Inserted into the section.
The connecting portion 40 includes an inner circumferential groove 40A that is recessed along the circumferential direction on the inner circumferential surface of the flange 36, and a plurality of arcuate shapes that reach the inner circumferential groove 40A from the end surface at predetermined intervals along the circumferential direction. And a notch 40B (FIG. 6). For example, the connecting portion in the exploration unit 11 described above can be connected to the first expansion / contraction unit 20 by being configured in the same manner as the connecting portion 40 of the flange 36.
The through hole 45 is L-shaped in a cross-sectional view so as to communicate with the inner periphery of the flange 36 and the end surface 36a on the side where the inner cylinder fixing portion 42 and the outer cylinder fixing portion 43 are provided. Formed. The side of the through hole 45 that opens to the inner peripheral surface of the flange 36 is formed as a screw hole, for example, and is configured so that the switching valve 15 can be attached.

  The inner cylinder 38 includes a coil spring 39 and a covering 44 that covers the outer periphery of the coil spring 39. The coil spring 39 according to the present embodiment is constituted by a tension spring. The covering 44 is made of a material that can expand and contract, such as latex rubber, and that does not allow the flow or penetration of fluid such as air or liquid. Both ends of the inner cylinder 38 are inserted into the inner periphery of the flange 36 in a state where the coil spring 39 is covered with the covering body 44. The outer periphery of the inner cylinder 38, that is, the outer periphery of the covering 44 and the inner periphery of the flange 36 are fixed while being bonded with an adhesive or the like so as to form an airtight state.

  The outer cylinder 37 is a cylindrical cylinder having a bellows structure that can be expanded and contracted along the axial direction. For example, the outer cylinder 37 is made of a flexible material that allows bending of the axis. A flange 36 is inserted into both ends of the outer cylinder 37, and the inner periphery of the outer cylinder 37 and the outer cylinder fixing portion 43 of the flange 36 are fixed in a liquid-tight and firm manner by a fixing means such as an adhesive. As a result, the second telescopic unit 50 is formed with an air chamber S50 as an annular sealed space surrounded by the pair of flanges 36; 36, the outer peripheral surface of the inner cylinder 38, and the inner peripheral surface of the outer cylinder 37. . It is preferable that the outer cylinder 50 is configured to have small radial outward deformation when compressed air flows into the air chamber S50.

  The switching valve 15 is attached to the through hole 45. As the switching valve 15, for example, an electromagnetic valve whose operation is controlled by input of an electrical signal is applied. The switching valve 15 includes an inlet 15a into which air to be supplied into the air chamber S50 flows, a supply / discharge port 15b for supplying air into the air chamber S50 and discharging air from the air chamber S50, A discharge port 15c for discharging the air in the air chamber S50 to the outside (inner peripheral space of the inner cylinder 21), a signal input unit 15z to which an electrical signal for controlling supply / discharge of air in the air chamber S50 is input, Is provided. A tube 24 or 25 extending from the air supply means 16 is connected to the inlet 15a of the switching valve 15, and a cable 12 extending from the control means 17 is connected to the signal input portion 15z.

FIG. 6 is a diagram illustrating a stretched state of the second stretchable unit 50. As shown in the figure, the second telescopic unit 50 has an internal pressure in the air chamber S50 that is increased by the flow of compressed air into the air chamber S50, and the force when the outer cylinder 37 having the bellows structure is expanded. When the force is greater than the biasing force of the coil spring 39, the coil spring 39 extends in the axial direction. The extension length x of the second extension unit 50 from the contracted state is referred to as the extension amount. The second expansion / contraction unit 50 is preferably configured such that the extension amount x is larger than the contraction amount r of the first expansion / contraction unit 20. More preferably, when the in-pipe moving body 13 is driven, the extension amount x is set to be longer than the length obtained by multiplying the number of first extension units 20 that simultaneously contract by the extension amount r of the first extension unit 20. Thereby, the progress of the in-pipe moving body 13 can be further accelerated. Although the outer diameter is reduced from d50 to D50 as the second extension unit 50 extends in the axial direction, the second extension unit 50 is configured smaller than the change in the outer diameter of the first extension unit 20.
That is, when the compressed air is supplied into the air chamber S50, the second telescopic unit 50 presses the inner wall of the flange 36 by the pressure of the compressed air flowing into the air chamber S50, and this pressing force is applied to the coil spring 39. By overcoming the force, as a result, as shown in FIG. 6, the entire second telescopic unit 50 extends in the axial direction. On the other hand, if the compressed air supplied into the air chamber S50 is discharged, the entire second telescopic unit 50 is contracted in the axial direction by the biasing force of the coil spring 39.

  As shown in FIG. 7, the second telescopic unit 50 is rotated by pushing the engaging piece 32A provided on the flange 23 of the first telescopic unit 20 into the inner circumferential groove 40A while being aligned with the notch 40B of the flange 36. By doing so, it is connected to the first telescopic unit 20.

Hereinafter, as shown in FIG. 6A, an example of setting dimensions such as the axial length L50 and the outer diameter d50 in the contracted state, that is, the normal state in the present embodiment will be described. . The normal state refers to a natural state that is not controlled by the control means 17.
For example, as shown in FIG. 8, the tube 1 is provided with an elbow 1L for converting the extending direction into a right angle. In order for the in-pipe moving body 13 to pass through the elbow 1L, it is necessary that at least the first extension / contraction unit 20 and the second extension / contraction unit 50 be configured to pass through the elbow 1L alone.
In order to move the in-pipe moving body 13 efficiently, it is preferable to set the second expansion / contraction unit 50 so that the difference during expansion / contraction is large, that is, the maximum size that can pass through the elbow 1L. Therefore, as shown in FIG. 8, when the pipe inner diameter of the elbow is D1, the outer diameter of the second expansion / contraction unit 50 when contracted is d50, and the axial length is L50, L50 = 2 × (√2 × D1 -D50), the inner diameter D1 of the elbow 1L, the outer diameter d50 of the second telescopic unit 50, and the axial length L50 may be set.
In addition, as described above, in the second expansion / contraction unit 50, considering that the inner cylinder 38 is mainly composed of a coil spring 39 and the outer cylinder 37 is made of a flexible material cylinder, The outer cylinder 37 is allowed to pass through the elbow 1L even if it is slightly longer than the axial length L50 obtained by the above formula, because the outer cylinder 37 is allowed to bend.

As shown in FIG. 1, the plurality of tubes 24 and the tubes 25 constitute a flow path for supplying compressed air independently to the plurality of first extension units 20A to 20D and the second extension units 50A to 50C. Then, for example, a flexible hose such as polyvinyl chloride is applied. It is preferable to use a pressure-resistant hose that is not crushed or swollen due to a change in the pressure of air flowing inside.
The tube 24 and the tube 25 branch the compressed air flowing through the air supply pipe 16 </ b> C extending from the air supply means 16 to the in-pipe moving body 13 by the branch pipes 41 </ b> A to 41 </ b> F, and switch valves of the first expansion / contraction units 20 </ b> A to 20 </ b> D. 14 and the switching valves 15 of the second expansion / contraction units 50A to 50C. As shown in FIG. 1, each of the branch pipes 41 </ b> A to 41 </ b> F is a Y-shaped bifurcated branch pipe for bifurcating the inflowed air, and the air supply pipe 16 </ b> C reaching the in-pipe moving body 13 from the air supply means 16. A branch pipe 41A for bifurcating the flow path of the compressed air is attached to the end. The branch pipe 41A includes an air tube 24 connected to the switching valve 14 of the rearmost first expansion / contraction unit 20D, and a flow path of air supplied to the first expansion / contraction units 20A to 20C and the second expansion / contraction units 50A to 50C. Is connected to the tube 25.

A branch pipe 41 </ b> B that further branches the flow path into two branches is attached to the tip of the tube 25. At the branch end of the branch pipe 41B, there is a tube 24 connected to the switching valve 15 of the second expansion / contraction unit 50C, and a flow path of air supplied to the first expansion / contraction units 20A to 20C and the second expansion / contraction units 50A and 50B. The tube 25 is connected. A branch pipe 41 </ b> C that further branches the flow path into two branches is attached to the tip of the tube 25. At the branch end of the branch pipe 41C, there is a tube 24 connected to the switching valve 14 of the first expansion / contraction unit 20C, and a flow path for air supplied to the first expansion / contraction units 20A and 20B and the second expansion / contraction units 50A and 50B. The tube 25 is connected. A branch pipe 41 </ b> D that further branches the flow path into two branches is attached to the tip of the tube 25. At the branch end of the branch pipe 41D, a tube 24 connected to the switching valve 15 of the second expansion / contraction unit 50B and a tube 25 serving as a flow path for air supplied to the first expansion / contraction units 20A, 20B and the second expansion / contraction unit 50A. And are connected. A branch pipe 41 </ b> E that further branches the flow path into two branches is attached to the tip of the tube 25. At the branch end of the branch pipe 41E, there are a tube 24 connected to the switching valve 14 of the first expansion / contraction unit 20B and a tube 25 serving as a flow path for air supplied to the first expansion / contraction unit 20A and the second expansion / contraction unit 50A. Connected. A branch pipe 41 </ b> F that further branches the flow path into two branches is attached to the tip of the tube 25. A branch end of the branch pipe 41F is connected to a tube 24 connected to the switching valve 15 of the second expansion / contraction unit 50A and a tube 25 serving as a flow path for air supplied to the first expansion / contraction unit 20A. The tube 25 is connected to the switching valve 14 of the first expansion / contraction unit 20A.
Needless to say, the tube 24 and the tube 25 described above extend inside the in-pipe moving body 13. Moreover, the length of each tube 24 and each tube 25 is set in consideration of the expansion / contraction operation of the first expansion / contraction units 20A to 20D and the expansion / contraction operation of the second expansion / contraction units 50A to 50C. Preferably, the length is set to be as short as possible so as not to hinder the expansion / contraction operation of the first expansion / contraction units 20A to 20D and the second expansion / contraction units 50A to 50C.

Thus, one air supply pipe 16C is extended from the air supply means 16 to the in-pipe moving body 13, and the switching valves 14A to 14D and the second of the first expansion / contraction units 20A to 20D are provided by the plurality of branch pipes 41A to 41F. By forming a flow path for supplying compressed air toward the switching valves 15A to 15C of the expansion units 50A to 50C, the switching valves 14A to 14D and the switching valves 15A to 15C were pressurized by the air supply means 16. Since compressed air is always supplied, high-pressure air can be supplied to the air chamber S20 of the first extension units 20A to 20D and the air chamber S50 of the second extension units 50A to 50C without delay.
Therefore, even if the distance from the air supply means 16 to the in-pipe moving body 13 is increased, the compressed air pressurized by the compressor 16A is always supplied without loss, so that a reduction in the traveling speed of the in-pipe moving body 13 can be prevented. In addition, the flow path formed by the plurality of tubes 24, the plurality of tubes 25, and the branch pipes 41A to 41F can be integrally formed.

  Further, as another method for branching the air supplied from the air supply pipe 16C to the first extension units 20A to 20D and the second extension units 50A to 50C, the first extension units 20A to 20D and the Seven branch pipes may be used so as to branch to the second telescopic units 50A to 50C. In addition, a bifurcated pipe is further provided at each end of the flow branching from the air supply pipe 16C to the first telescopic unit 20A; 20B and the first telescopic unit 20C; You may make it form the flow path which goes to 20A and 20B, the 1st expansion-contraction unit 20C; 20D.

As shown in FIG. 1, the air supply means 16 includes a compressor 16A and a regulator 16B. The regulator 16B regulates the compressed air pressurized by the compressor 16A to a predetermined pressure and sends it to the air supply pipe 16C. For example, the regulator 16 </ b> B is adjusted to the maximum pressure allowed for the opening / closing control of the switching valve 14 and the switching valve 15 described above.
The air supply pipe 16 </ b> C is a flexible hose that is detachably connected to the regulator 16 </ b> B and the in-pipe moving body 13.

  This air supply pipe 16C corresponds to the independent tubes 24 and 25 from the branch pipes 41A to 41F to the switching valves 14A to 14D and the switching valves 15A to 15C through the plurality of branch pipes 41A to 41F as described above. The switching valves 14A to 14D and the switching valves 15A to 15C perform a predetermined operation in accordance with a control signal output from the control means 17, whereby the first expansion / contraction units 20A to 20D and the second It is possible to supply compressed air independently with respect to the expansion units 50A to 50C.

The control means 17 includes a control unit 17A and an operation unit 17B. The control unit 17A and the operation unit 17B are electrically connected by a cable 17C.
The control unit 17A 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. By outputting the control signal written in the program individually from the output port (not shown) to the switching valves 14A to 14D of the first expansion / contraction units 20A to 20D and the switching valves 15A to 15C of the second expansion / contraction units 50A to 50C. The driving force for advancing the moving body 13 in the tube 1 is controlled.

The controller 17A controls the operation of the switching valves 14A to 14D by outputting the contraction signal s1, the contraction maintenance signal s2, and the expansion signal s3 to the switching valves 14A to 14D.
The contraction signal s1 is a signal for controlling the switching valves 14A to 14D so that the compressed air supplied to the switching valves 14A to 14D is supplied to the air chamber S20 with the maximum pressure. This is a signal for controlling the switching valves 14A to 14D so as to supply compressed air to the air chamber S20 at the maximum pressure allowed by 14A to 14D. The contraction maintaining signal s2 is a signal for controlling the switching valves 14A to 14D so as to supply air to the air chamber S20 at a pressure lower than the maximum pressure allowed by the switching valves 14A to 14D.
The expansion signal s3 is a signal for convenience with respect to the contraction signal s1 and the contraction maintenance signal s2, and is a signal for stopping the contraction signal s1 and the contraction maintenance signal s2 output to the switching valves 14A to 14D. This signal is not output.

Further, the control unit 17A controls the operation of the switching valves 15A to 15C by outputting the extension signal s5, the extension maintaining signal s6, and the contraction signal s7 to the switching valves 15A to 15C.
The extension signal s5 is a signal for controlling the switching valves 15A to 15C so that the compressed air supplied to the switching valves 15A to 15C is supplied to the air chamber S50 with the maximum pressure. This is a signal for controlling the switching valves 15A to 15C so as to supply compressed air to the air chamber S50 at the maximum pressure allowed by 15A to 15C.
The extension maintaining signal s6 is a signal for controlling the switching valves 15A to 15C so as to supply air to the air chamber S50 at a pressure lower than the maximum pressure allowed by the switching valves 15A to 15C.
The contraction signal s7 is a signal for convenience with respect to the expansion signal s5 and the expansion maintenance signal s6, and is a signal for stopping the expansion signal and the expansion maintenance signal output to the switching valves 15A to 15C. Is a signal that is not output.

In this embodiment, the contraction signal s1, the contraction maintenance signal s2, the expansion signal s3 output to the switching valves 14A to 14D, the expansion signal s5 output to the switching valves 15A to 15C, the expansion maintenance signal s6, and the contraction signal s7 are: This signal is output from the control unit 17A based on the PWM control.
That is, it is necessary when maintaining the contracted state of the first telescopic unit 20 and the amount of compressed air supplied to the air chamber S20 that is required when the first telescopic unit 20 is shifted from the expanded state to the contracted state. The amount of air supplied to the air chamber S20, the amount of compressed air supplied to the air chamber S50 required when the second extendable unit 50 is shifted from the contracted state to the extended state, and the second extendable unit 50 A periodic signal is output to the switching valves 14A to 14D and the switching valves 15A to 15C so as to obtain the air supply amount to the air chamber S50 required when maintaining the extended state, and the switching valves 14A to 14C are output. By periodically opening and closing the 14D and the switching valves 15A to 15C, the operations of the first extension units 20 and the second extension units are controlled.
As described above, the switching valves 14A to 14D and the switching valves 15A to 15C that can be electrically opened and closed are periodically opened and closed by PWM control, so that the switching valve can be reduced in size. It is possible to fit in.
Note that the control of the switching valves 14A to 14D and the switching valves 15A to 15C is not limited to PWM control, and other control methods may be used, and control for temporally changing the supply pressure of air to the air chamber S20 and the air chamber S50 is performed. Even better if possible.

  The control unit 17A is realized by, for example, a PIC (Peripheral Interface Controller) in which the arithmetic processing unit, the storage unit, and the input / output unit are accommodated in one chip, and is connected to, for example, the rear end of the in-pipe moving body 13. The first telescopic unit 20D is accommodated. A cable 12 extending from the above-described exploration unit 11 is connected to the control unit 17A so that signals can be individually output to the switching valves 14A to 14D and the switching valves 15A to 15C.

  The operation unit 17B is an input unit that is communicably connected to the input port of the control unit 17A, and outputs a command for controlling execution of the program stored in the control unit 17A to the control unit 17A. The cable 17C is detachably connected to the control unit 17A and the operation unit 17B, and transmits to the operation unit 17B a plurality of wires that transmit communication between the control unit 17A and the operation unit 17B, and an image captured by the exploration unit 11. This is a flexible cable in which a plurality of wirings and a power supply line supplied to the control unit 17A and the exploration unit 11 are bundled together. In this way, by using a single cable 17C that extends to the outside of the pipe 1, the friction between the cable 17C and the pipe 1 when the in-pipe moving body 13 travels in the pipe 1 is reduced, and the in-pipe moving body 13 is reduced. Can proceed smoothly.

  The control unit 17 may be configured such that the control unit 17A and the operation unit 17B are integrally formed and provided outside the pipe 1, but the control unit 17A and the operation unit 17B are separated from each other as in the present embodiment. By doing so, the cable 17C can be reduced in weight by reducing the wiring contained in the cable 17C, so that the weight of pulling the cable 17C when the in-pipe moving body 13 moves, the friction between the cable 17C and the pipe 1, etc. It is possible to reduce the load and increase the moving speed of the in-pipe moving body 13. More preferably, the weight of the cable 17C can be further reduced by enabling the operation unit 17B and the control unit 17A to communicate with each other by wireless communication.

  In addition, the image in the pipe | tube 1 image | photographed with the exploration unit 11 is displayed on the display means 18 connected to the operation part 17B. Further, a storage means such as a hard disk or a non-volatile semiconductor memory may be connected in place of the display means 18 so that the inspection image may be recorded without being displayed on the display means 18 or displayed while being stored in the storage means. It may be displayed on the means 18.

An operation program for advancing the in-pipe moving body 13 is stored in the storage unit of the control unit 17A. For example, a plurality of operation programs for executing two operation patterns of a progress pattern A shown in FIG. 9 and a progress pattern B shown in FIG. 10 are stored.
In the progression pattern A, the in-pipe moving body 13 is advanced by simultaneously expanding and contracting all the second expansion and contraction units 50A to 50C. Further, in the progression pattern B, the in-pipe moving body 13 is advanced by expanding and contracting the second expansion / contraction units 50A to 50C one by one from the tail side to the head side one by one. The operation pattern of the in-pipe moving body 13 is not limited to the progression pattern A and the progression pattern B, and can be changed as appropriate.
Hereinafter, the advancing operation of the in-pipe moving body 13 according to the advancing pattern A and the advancing pattern B will be described in detail.

In the progression pattern A, as shown in FIGS. 9A to 9F, a peristaltic motion is generated by causing the in-pipe moving body 13 to repeatedly perform five strokes to advance in the tube 1.
FIG. 9A shows an initial state of the in-pipe moving body 13, for example, a state in which the in-pipe moving body 13 is arranged in the pipe 1. At this time, all the first expansion / contraction units 20A to 20D are in the expanded state, and all the second expansion / contraction units 50A to 50C are in the contracted state.
When the in-pipe moving body 13 is advanced, first, as shown in FIG. 9B, the contraction signal s1 is output only to the switching valve 14D of the last first expansion / contraction unit 20D as the first stroke, and the first expansion / contraction is performed. Compressed air is supplied to the air chamber S20 of the unit 20D to contract the first expansion / contraction unit 20D until the outer peripheral surface of the elastic expansion body 22 reaches the inner wall surface of the tube 1, and the position of the first expansion / contraction unit 20D is fixed.
Next, as shown in FIG. 9C, the process proceeds to the second step, and the contraction maintaining signal s2 is output to the switching valve 14D of the first expansion / contraction unit 20D, and the contraction state of the first expansion / contraction unit 20D is maintained. The expansion signal s5 is output to all of the second expansion / contraction units 50A to 50C, and compressed air is supplied to the air chambers S50 of the second expansion / contraction units 50A to 50C to extend all the second expansion / contraction units 50A to 50C. Thereby, the in-pipe moving body 13 extends greatly forward in the traveling direction with reference to the first telescopic unit 20D.
Next, as shown in FIG. 9 (d), the process proceeds to the third step, the contraction maintaining signal s2 is applied to the switching valve 14D of the rearmost first expansion / contraction unit 20D, and the switching valve 15A of the second expansion / contraction units 50A to 50C. The expansion maintaining signal s6 is output to each of the first expansion / contraction unit 20D and the expansion / contraction state of the first expansion / contraction unit 20D and the expansion state of the second expansion / contraction units 50A to 50C are maintained. s1 is output, compressed air is supplied to the air chamber S20 of the first expansion / contraction unit 20A, and the first expansion / contraction unit 20A is contracted until the outer peripheral surface of the elastic expansion body 22 reaches the inner wall surface of the tube 1, thereby The position of the unit 20A is fixed.
Next, as shown in FIG. 9 (e), the process proceeds to the fourth step, and the contraction maintaining signal s2 is output to the switching valve 14A of the first first expansion / contraction unit 20A, and the contraction state of the first expansion / contraction unit 20A is changed. While maintaining the extension signal s5 to the switching valve 14D of the first expansion / contraction unit 20D, the air is discharged from the air chamber S20 of the first expansion / contraction unit 20D to extend the first expansion / contraction unit 20D, and the second expansion / contraction units 50A˜ The contraction signal s7 is output to the 50C switching valves 15A to 15C to contract all the second expansion / contraction units 50A to 50C. Thereby, each unit 20A-20C and 50A-50C behind the 1st expansion-contraction unit 20A move ahead.
Next, as shown in FIG. 9 (f), the process proceeds to the fifth step, and a contraction maintaining signal s2 is output to the switching valve 14A of the first first expansion / contraction unit 20A, and the contraction state of the first expansion / contraction unit 20A is changed. While maintaining, the contraction signal s3 is output to the switching valve 14D of the rearmost first expansion / contraction unit 20D, the compressed air is supplied to the air chamber S20 of the first expansion / contraction unit 20D, and the outer peripheral surface of the elastic expansion body 22 is the tube 1. The first expansion / contraction unit 20D is contracted until reaching the inner wall surface.
In the progression pattern A, the first to fifth strokes are defined as one cycle, and the in-pipe moving body 13 advances by repeating this cycle.
That is, in the progression pattern A, after the first first expansion / contraction unit 20D is contracted and the first expansion / contraction unit 20D is fixed in the tube 1, all the second expansion / contraction units 50A to 50C are simultaneously expanded, After the first first expansion / contraction unit 20A is contracted and the first expansion / contraction unit 20A is fixed in the tube 1, the rearmost first expansion / contraction unit 20D is extended, and all the second expansion / contraction units 50A to 50C are once attached. The in-pipe moving body 13 is moved forward by contracting it.
In other words, in the traveling pattern A, the in-pipe moving body 13 moves from the extension amount x of the three second extension units 50 (length three times x) to the extension amount r (r 2 of r) of the two first extension units 20. Move forward by the amount reduced by (double length).

As shown in FIGS. 10A to 10J, the progression pattern B advances the inside of the tube 1 by repeatedly operating the in-tube moving body 13 through nine strokes.
FIG. 10A shows an initial state of the in-pipe moving body 13, for example, a state in which the in-pipe moving body 13 is arranged in the pipe 1. At this time, all the first expansion / contraction units 20A to 20D are in the expanded state, and all the second expansion / contraction units 50A to 50C are in the contracted state.
First, in the first stroke, as shown in FIG. 10B, the contraction signal s1 is output only to the switching valve 14D of the rearmost first expansion / contraction unit 20D, and the compressed air is supplied to the air chamber S20 of the first expansion / contraction unit 20D. And the first expansion / contraction unit 20D is contracted in the axial direction until the outer peripheral surface of the elastic expansion body 22 reaches the inner wall surface of the tube 1. The contraction of the first expansion / contraction unit 20D is caused by the friction between the first expansion / contraction unit 20A to 20C, the second expansion / contraction unit 50A to 50C and the exploration unit 11 and the pipe 1 connected to the front of the first expansion / contraction unit 20D. The first expansion / contraction unit 20D is made with the second expansion / contraction unit 50C side as a base point. As a result of this contraction, the rear end of the in-pipe moving body 13 moves forward from the initial state shown in FIG.
Next, as shown in FIG. 10 (c), the process proceeds to the second step, the contraction maintaining signal s2 is output to the switching valve 14D of the first expansion / contraction unit 20D, and the contraction state of the first expansion / contraction unit 20D is maintained. The expansion signal s5 is output to the switching valve 15C of the second expansion / contraction unit 50C, and compressed air is supplied to the air chamber S50 of the second expansion / contraction unit 50A to expand the second expansion / contraction unit 50A.
Accordingly, the first expansion / contraction units 20A to 20C, the second expansion / contraction units 50A and 50B, and the exploration unit 11 connected to the front side of the second expansion / contraction unit 50C are pushed forward. By this extension, the distal end of the in-pipe moving body 13 moves forward by the extension amount x of the second telescopic unit 50C.
Next, as shown in FIG. 10 (d), the process proceeds to the third stroke, and the contraction maintaining signal s2 is continuously output to the switching valve 14D of the first expansion / contraction unit 20D to change the contraction state of the first expansion / contraction unit 20D. In addition, the expansion maintaining signal s6 is output to the switching valve 15C of the second expansion / contraction unit 50C, and the contraction signal s1 is output to the switching valve 14C of the first expansion / contraction unit 20C while maintaining the expansion state of the second expansion / contraction unit 50C. Then, compressed air is supplied to the air chamber S20 of the first expansion / contraction unit 20C to contract the first expansion / contraction unit 20C.
Thereby, the moving body 13 in a pipe | tube is fixed to the pipe | tube 1 by the 1st expansion-contraction unit 20C; 20D. Further, due to the contraction of the first expansion unit 20C, the first expansion unit 20A; 20B, the second expansion unit 50A; 50B, and the exploration unit 11 connected to the front of the first expansion unit 20C are expanded and contracted by the first expansion unit 20D. Move backward by the amount r. That is, the tip of the in-pipe moving body 13 moves rearward from the position shown in FIG.
Next, as shown in FIG. 10 (e), the process proceeds to the fourth step, and the contraction maintaining signal s2 is output to the switching valve 14C of the first expansion / contraction unit 20C to maintain the contraction state of the first expansion / contraction unit 20C. The expansion signal s5 is output to the switching valve 15B of the second expansion / contraction unit 50B, the contraction signal s7 is output to the switching valve 15C of the second expansion / contraction unit 50C, and the expansion signal s3 is output to the switching valve 14D of the first expansion / contraction unit 20D. The expansion of the second expansion / contraction unit 50B, the contraction of the second expansion / contraction unit 50C, and the expansion of the first expansion / contraction unit 20D are performed simultaneously.
As a result, the first expansion / contraction units 20A, 20B, the second expansion / contraction unit 50A and the exploration unit 11 connected to the front of the second expansion / contraction unit 50B are pushed forward by the extension amount x of the second expansion / contraction unit 50B. The first telescopic unit 20D and the second telescopic unit 50C connected to the rear of the first telescopic unit 20C are a distance that is obtained by subtracting the expansion amount x of the second telescopic unit 50C from the expansion amount r of the first telescopic unit 20C. Moving. That is, the front end of the in-pipe moving body 13 moves forward by the extension amount x, and the rear end moves forward by a distance obtained by subtracting the extension amount r of the first extension unit 20C from the extension amount x.
Next, as shown in FIG. 10 (f), the process proceeds to the fifth step, and the switching valve 14C of the first expansion / contraction unit 20C continues to the contraction maintenance signal s2, and the second expansion / contraction unit 50B has the extension maintenance signal s6. Is output and the contraction signal s1 is output to the switching valve 15B of the first expansion / contraction unit 20B while maintaining the contraction state of the first expansion / contraction unit 20C and the expansion state of the second expansion / contraction unit 50B. Compressed air is supplied to the chamber S20, and the first telescopic unit 20B is contracted in the axial direction until the outer peripheral surface of the elastic expansion body 22 reaches the inner wall surface of the tube 1.
Thereby, the moving body 13 in a pipe | tube is fixed to the pipe | tube 1 by the 1st expansion-contraction unit 20C; 20B. Further, due to the contraction of the first contraction unit 20B, the first expansion / contraction unit 20A, the second expansion / contraction unit 50A, and the exploration unit 11 connected to the front of the first expansion / contraction unit 20B have the expansion / contraction amount r of the first expansion / contraction unit 20B. Move backwards. That is, the tip of the in-pipe moving body 13 moves to the rear of the expansion / contraction amount r.
Next, as shown in FIG. 10 (g), the process proceeds to the sixth step, and the contraction maintaining signal s2 is output to the switching valve 14B of the first expansion / contraction unit 20B, and the contraction state of the first expansion / contraction unit 20B is maintained. The expansion signal s5 is output to the switching valve 15A of the second expansion / contraction unit 50A, the contraction signal s7 is output to the switching valve 15B of the second expansion / contraction unit 50B, and the expansion signal s3 is output to the switching valve 14C of the first expansion / contraction unit 20C. The expansion of the second expansion / contraction unit 50A, the contraction of the second expansion / contraction unit 50B, and the expansion of the first expansion / contraction unit 20C are performed simultaneously.
As a result, the first expansion unit 20A and the exploration unit 11 connected to the front side of the second expansion unit 50A are pushed forward by the extension amount x of the second expansion unit 50A and connected to the rear side of the first expansion unit 20B. The first extension units 20D; 20C and the second extension units 50C; 50B moved forward by a distance obtained by subtracting the extension amount x of the second extension unit 50C by the extension amount r of the first extension unit 20C. That is, the front end of the in-pipe moving body 13 moves forward by the extension amount x, and the rear end moves forward by a distance obtained by subtracting the extension amount r of the first extension unit 20C from the extension amount x.
Next, as shown in FIG. 10 (h), the process proceeds to the seventh step. The switching valve 14B of the first expansion / contraction unit 20B continues to the contraction maintenance signal s2, and the switching valve 15A of the second expansion / contraction unit 50A The expansion / contraction signal s1 is output to the switching valve 14A of the first expansion / contraction unit 20A while maintaining the contraction state of the first expansion / contraction unit 20B and the expansion state of the second expansion / contraction unit 50A. Compressed air is supplied to the air chamber S20 of the unit 20A, and the first telescopic unit 20A is contracted in the axial direction until the outer peripheral surface of the elastic expansion body 22 reaches the inner wall surface of the tube 1.
Thereby, the moving body 13 in a pipe | tube is fixed to the pipe | tube 1 by 1st expansion-contraction unit 20B; 20A. Further, the exploration unit 11 connected to the first expansion / contraction unit 20A moves backward by the expansion / contraction amount r of the first expansion / contraction unit 20A due to the contraction of the first expansion / contraction unit 20A. That is, the tip of the in-pipe moving body 13 moves to the rear of the expansion / contraction amount r.
Next, as shown in FIG. 10 (i), the process proceeds to the eighth step, and the contraction maintaining signal s2 is output to the switching valve 14A of the first expansion / contraction unit 20A to maintain the contraction state of the first expansion / contraction unit 20A. The contraction signal s7 is output to the switching valve 15A of the second expansion / contraction unit 50A, and the expansion signal s3 is output to the switching valve 14B of the first expansion / contraction unit 20B. The contraction of the second expansion / contraction unit 50A and the expansion of the first expansion / contraction unit 20B are output. And simultaneously.
As a result, the first expansion / contraction units 20A to 20C and the second expansion / contraction units 50A to 50C connected to the rear of the first expansion / contraction unit 20A are expanded and contracted by the expansion amount x of the second expansion / contraction unit 50A. Move forward a distance reduced by r. That is, the rear end of the in-pipe moving body 13 moves forward by a distance obtained by subtracting the extension amount r of the first extension unit 20C from the extension amount x.
Next, as shown in FIG. 10 (j), the process proceeds to the ninth step, and the contraction maintaining signal s3 is continuously output to the switching valve 14A of the first expansion / contraction unit 20A to contract the first expansion / contraction unit 20A. The contraction signal s1 is output to the switching valve 14D of the rearmost first expansion / contraction unit 20D and compressed air is supplied to the air chamber S20 of the first expansion / contraction unit 20D. 1st expansion-contraction unit 20D is shrunk in an axial direction until it reaches | attains 1 inner wall surface.
Thereby, the in-pipe moving body 13 is fixed to the pipe 1 by the first extension / contraction unit 20A and the first extension / contraction unit 20D. Then, by extending the first telescopic unit 20A, the state shown in FIG.
In the progression pattern B, the first to ninth strokes are defined as one cycle, and the in-pipe moving body 13 advances in the direction of the arrow X1 by repeating this cycle to cause a peristaltic movement in the in-pipe moving body 13. .
That is, in the traveling pattern B, the first telescopic unit 20 is contracted to fix the in-tube moving body 13 to the tube 1, and the second telescopic unit 50 connected to the front side in the traveling direction is extended to the second telescopic unit 50. In a state in which the extension of the extension / contraction unit 50 is maintained, the first extension / contraction unit 20 connected to the front side of the extended second extension / contraction unit 50 is further contracted and then the first extension / contraction unit 20 contracted first and the extension The in-pipe moving body 13 can move forward little by little by repeating the process of extending and contracting the second extending / contracting unit 50 that has been made from the tail side toward the head.
Note that when the operation is performed by continuously switching the progress pattern A and the progress pattern B, it is not always necessary to go through the initial state as shown in FIG. 9A or FIG.
The switching of the progression patterns A and B is controlled by an input from the operation unit 17B provided in the control means 17 to the control unit 17A.

The moving velocities Va and Vb of the in-pipe moving body 13 based on the above-described traveling pattern A and traveling pattern B can be calculated by the following equations.
Va = 3x / (t1 + t2 + ... + t5)
Vb = (3x-2r) / (t1 + t2 + ... + t9)
Here, x is the extension amount of the second extension unit 50, and r is the extension amount of the first extension unit 20.
Further, ti (i = 1, 2,...) Is an operation time in each process. Therefore, as is clear from the above theoretical formula, the in-pipe moving body 13 can be moved faster in the traveling pattern A than in the traveling pattern B.
The selection of the progression pattern A and the progression pattern B is, for example, a progression pattern A when the in-pipe moving body 13 is advanced in the straight pipe portion of the tube 1 and a progression pattern when the in-pipe moving body 13 is advanced in the curved pipe portion. By changing the operation like B or the like, the in-pipe moving body 13 can be moved efficiently.

In the said embodiment, although the in-pipe moving body 13 was comprised by the four 1st expansion-contraction units 20 and the three 2nd expansion-contraction units 50, it is not limited to this.
As another configuration of the in-pipe moving body 13, for example, a configuration as shown in FIG. 11 is also possible. That is, the in-pipe moving body 13 is configured by adding the first expansion / contraction unit 20 to the leading and trailing ends of the moving body 13 in the above embodiment and continuously arranging the first expansion / contraction units.
FIG. 11A shows an initial state of the in-pipe moving body 13, for example, a state in which the in-pipe moving body 13 is arranged in the pipe 1. At this time, all the 1st expansion-contraction units 20A-20F are an expansion | extension state, and all the 2nd expansion / contraction units 50A-50C are a contraction state.
When the in-pipe moving body 13 is advanced, first, as shown in FIG. 11B, the contraction signal s1 is applied only to the switching valves 14E and 14F of the last two first expansion / contraction units 20E and 20F as the first stroke. The compressed air is supplied to the air chamber S20 of the first expansion and contraction units 20E and 20F to contract the first expansion and contraction units 20E and 20F until the outer peripheral surface of the elastic expansion body 22 reaches the inner wall surface of the tube 1. Thereby, the in-tube moving body 13 can be firmly fixed in the tube 1.
Next, as shown in FIG. 11 (c), the process proceeds to the second step, and the contraction maintaining signal s2 is output to the switching valves 14E and 14F of the first expansion and contraction units 20E and 20F, and the first expansion and contraction units 20E and 20F are output. The expansion signal s5 is output to all of the second expansion / contraction units 50A to 50C while maintaining the contracted state of the second expansion unit 50A to supply the compressed air to the air chambers S50 of the second expansion / contraction units 50A to 50C. Extend ~ 50C.
Next, as shown in FIG. 11D, the process proceeds to the third step, and the contraction maintaining signal s2 and the second expansion / contraction units 50A to 50C are applied to the switching valves 14E and 14F of the rearmost first expansion / contraction units 20E and 20F. The extension maintaining signal s6 is output to each of the switching valves 15A to 15C, and the first two first expansion units are maintained while maintaining the contraction state of the first expansion units 20E and 20F and the expansion state of the second expansion units 50A to 50C. The contraction signal s1 is output to the switching valves 14A and 14B of 20A and 20B, compressed air is supplied to the air chambers S20 of the first expansion and contraction units 20A and 20B, and the outer peripheral surface of the elastic expansion body 22 is applied to the inner wall surface of the tube 1. The first telescopic unit 20A is contracted until it reaches.
Next, as shown in FIG. 11 (e), the process proceeds to the fourth step, and the contraction maintaining signal s2 is output to the switching valve 14A of the first first expansion / contraction unit 20A, 20B, and the first expansion / contraction unit 20A, 20B. The expansion signal s5 is sent to the switching valves 14E and 14F of the first expansion / contraction units 20E and 20F while the contraction state of the first expansion / contraction unit 20E is maintained, and air is discharged from the air chamber S20 of the first expansion / contraction units 20E and 20F. While extending 20F, the contraction signal s7 is output to the switching valves 15A to 15C of all the second expansion / contraction units 50A to 50C to contract all the second expansion / contraction units 50A to 50C. Thereby, 1st expansion-contraction unit 20C-20F and 2nd expansion-contraction unit 50A-50C of the back of the 1st expansion-contraction unit 20B move ahead.
Next, as shown in FIG. 11 (f), the process proceeds to the fifth step, and the contraction maintaining signal s2 is output to the switching valves 14A, 14B of the first first expansion / contraction units 20A, 20B, and the first expansion / contraction unit 20A. The contraction signal s3 is output to the switching valves 14E and 20F of the last telescopic units 2E and F while maintaining the contracted state of 20B, and compressed air is supplied to the air chamber S20 of the first telescopic units 20E and 20F. The first expansion and contraction units 20E and 20F are contracted until the outer peripheral surface of the elastic expansion body 22 reaches the inner wall surface of the tube 1.
In this way, by providing the first extension units 20A and 20B at the beginning of the traveling direction of the in-pipe moving body 13 and the plurality of first extension units 20 such as the first extension units 20E and 20F at the end, the progression pattern In the execution of each process in A, the driving force of the in-pipe moving body 13 can be generated from the pipe 1.
Also, as an operation pattern, in a state where all of the second expansion and contraction units 50A to 50C are pressurized and expanded, a traveling wave is generated by pressurizing and depressurizing the first expansion units 20A to 20D, and the operation is performed slowly. It is also possible to do. In order to enable traveling by operating only the first extension unit 20, the number of first extension units is three or more.

  As described above, the advancing operation of the in-pipe moving body 13 according to the present embodiment fixes the in-pipe moving body 13 to the tube 1 by contracting the first extending / contracting unit 20 behind the second extending / contracting unit 50 in the advancing direction. Thereafter, the second expansion / contraction unit 50 is extended while maintaining the contraction state of the first expansion / contraction unit 20, and the expansion state is maintained while maintaining the contraction state of the first expansion / contraction unit 20 and the expansion state of the second expansion / contraction unit 50. After contracting the first telescopic unit 20 contracted forward in the traveling direction relative to the second telescopic unit 50, the first telescopic unit in the contracted state rearward in the traveling direction than the first telescopic unit 20 in the contracted state. Considering that the basic operation is to extend the unit 20 and contract the second expansion / contraction unit 50 in the extended state, for example, the minimum structure of the in-pipe moving body 13 is selected. As, as shown in FIG. 12 (a), it is also possible to configure by providing a single second elastic unit 50 between the two first telescopic unit 20.

  Moreover, as shown in FIG.12 (b), the moving speed of the moving body 13 in a pipe | tube is improved more by providing two or more 2nd expansion-contraction units 50 between the two 1st expansion-contraction units 20 continuously. be able to.

  Moreover, although the 2nd expansion-contraction unit 50 was continuously provided in series between the 1st expansion-contraction units 20, as shown in FIG.12 (c), several 2nd expansion-contraction between the 1st expansion-contraction units 20 is carried out. You may comprise so that the unit 50 may be provided in parallel. In this case, each second expansion / contraction unit 50 may be connected to the first expansion / contraction unit 20 via a connection member 55 as shown in FIG. Thus, when the 2nd expansion-contraction unit 50 is provided in parallel, the moving speed of the moving body 13 in a pipe | tube can be improved by extending each 2nd expansion-contraction unit 50 at the same length simultaneously. In addition, by changing the extension amount of each second extendable unit 50, the direction of each unit 20, 50 provided forward from the position where the plurality of second extendable units 50 is provided in parallel is positively determined. Since it can be changed, for example, the passage of the elbow shown in FIG. 8 can be facilitated.

  As described above, the arrangement of the first expansion / contraction unit 20 and the second expansion / contraction unit 50 constituting the in-pipe moving body 13 is not limited to the combination described above. The configuration of the in-pipe moving body 13 is an arrangement in which one or a plurality of the first expansion / contraction units 20 shown in the above example are continuously provided at the head and the tail in the traveling direction according to a desired operation, 20 and the second expansion / contraction unit 50 are alternately arranged, the plurality of second expansion / contraction units 50 are continuously provided between the first expansion / contraction units 20, and the plurality of second expansion / contraction units 50 are provided between the first expansion / contraction units 20. An arrangement in which the first extension unit 20 and the second extension unit 50 are combined with the above-described example is possible.

  In addition, when the first extendable unit 20 is extended, the air in the air chamber S20 is discharged to the inner peripheral side of the inner cylinder 21. For example, the air discharged from the air chamber S20 is then extended. By being configured to be supplied to the second expansion / contraction unit 50 scheduled to be contracted or the first expansion / contraction unit 20 scheduled to contract next, the time required for each step of the advancing operation shown in FIGS. 9 to 11 can be shortened. Also by this, the moving speed of the in-pipe moving body 13 can be improved.

  In the above embodiment, the coil spring 39 constituting the inner cylinder 38 of the second expansion / contraction unit 50 has been described as a tension spring, but may be a compression spring. In this case, a vacuum pump is provided as a device for driving the in-pipe moving body 13, a tube extending from the vacuum pump is connected to the inlet 15 a of each switching valve 15 of the second expansion / contraction unit 50, and the switching valve is connected from the control means 17. When the contraction signal s7 is input to 15, the second expansion unit 50 may be contracted by contracting the tension spring (coil spring) in the axial direction by discharging the air in the air chamber S50.

1 pipe, 10 pipe exploration device, 11 exploration unit, 13 pipe moving body,
14; 14A-14D switching valve, 16 air supply means, 17 control means,
20; 20A-20D telescopic unit, 50; 50A-50C telescopic unit.

Claims (9)

A cylindrical inner cylinder with both axial ends closed;
A cylindrical outer cylinder that covers the inner cylinder in a state where both axial ends are closed, and that is restricted from extending in the axial direction;
An in-pipe moving body comprising a plurality of first telescopic units that expand and contract in the axial direction by supplying and discharging fluid into and from an air chamber formed between the inner cylinder and the outer cylinder, and the plurality of first telescopic units During one of the
A cylindrical inner elastic body constituted by a coil spring and a covering body that covers the outer periphery of the coil spring, with both axial ends closed,
A cylindrical outer elastic body covering the inner elastic body in a state where both axial ends are closed;
Have
An in-pipe moving body comprising a second telescopic unit that expands and contracts in an axial direction by supplying and discharging a fluid into and from an air chamber formed between the inner and outer elastic bodies.   2. The in-pipe movement according to claim 1, wherein the coil spring is a tension spring that biases the second expansion / contraction unit in a contracting direction, and the second expansion / contraction unit extends by the supply of the fluid. body.   2. The in-pipe movement according to claim 1, wherein the coil spring is a compression spring that urges the second expansion / contraction unit in a direction in which the second expansion / contraction unit is extended, and the second expansion / contraction unit contracts by discharging the fluid. body.   The first extension unit is provided at a head and a tail in a traveling direction, and the first extension unit and the second extension unit are alternately arranged. In-pipe moving body.   The in-pipe moving body according to any one of claims 1 to 3, wherein a plurality of the second extendable units are continuously arranged between the first extendable units.   The in-pipe moving body according to any one of claims 1 to 5, wherein a plurality of the second telescopic units are arranged in parallel between the first telescopic units.   The in-pipe moving body according to any one of claims 1 to 6, wherein a plurality of first extendable units are continuously arranged at the head and the tail in the traveling direction.   The in-pipe moving body according to any one of claims 1 to 7, wherein an extension amount of the second extension / contraction unit is larger than a contraction amount of the first extension / contraction unit. A method for controlling a moving body in a pipe according to any one of claims 1 to 8,
Shrinking the first extension unit behind the second extension unit in the traveling direction;
Extending the second telescopic unit while maintaining the contracted state of the first telescopic unit;
Shrinking the first expansion / contraction unit forward of the traveling direction with respect to the second expansion / contraction unit in the extended state while maintaining the contraction state of the first expansion / contraction unit and the extension state of the second expansion / contraction unit;
A method for controlling a moving body in a tube, comprising:

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