JP2018185002A - Movable body and explorer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a movable body which can drive forward in a complicated pipeline and a narrow terrain.SOLUTION: A movable body 2 includes: multiple propulsion units 10 serially connected through connection parts 20; and a pressure controller 30. A propulsion actuator 12 is configured to control a length according to a supply pressure of a fluid. A first support actuator 14 is provided at one end side of the propulsion actuator 12 and is configured to expand/retract in a radial direction according to the supply pressure of the fluid. A second support actuator 16 is provided at the other end side of the propulsion actuator 12 and is configured to expand/retract in the radial direction according to the supply pressure of the fluid. The pressure controller 30 is configured to independently control a supply pressure to the propulsion actuators 12 included in the multiple propulsion units 10, a supply pressure to the multiple first support actuators 14 included in the multiple propulsion units 10, and a supply pressure to the multiple second support actuators 16 included in the multiple propulsion units 10.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a moving body using fluid pressure.

  Pipes that have been buried underground or in buildings for a long time may break or crack due to corrosion. For this reason, it is necessary to periodically inspect the inside of the pipe, but there is a demand for an apparatus capable of acquiring an internal image without digging up the pipe from the viewpoint of cost. Conventionally, a push-in type camera has been used as an inspection method for piping.

  Regarding the inspection inside the pipe, the conventional push-in camera is effective for a straight path, but it is difficult to sufficiently explore the complicated curved pipe often found in actual pipes. .

  Therefore, the development of a self-propelled mobile body that can explore the inside of narrow terrain, a conduit that cannot be invaded by a conventional push-in camera, bokame or fiberscope is required (Patent Documents 1 to 3). The self-propelled moving body is expected to be used in a biological duct such as a large intestine duct in addition to an industrial duct such as a pipe.

JP 2009-240713 A JP2012-81130A JP-A-5-293077

  The present invention has been made in such a situation, and one of the exemplary purposes of an aspect thereof is to provide a movable body that can be propelled in a complicated pipeline or narrow terrain.

  One embodiment of the present invention relates to a moving object. The moving body includes a plurality of propulsion units connected in series via a connecting portion, and a pressure controller. Each propulsion unit has a propulsion actuator that can be controlled in length according to the fluid supply pressure, and one end of the propulsion actuator, and can be expanded and contracted in the radial direction according to the fluid supply pressure. And a second support actuator provided on the other end side of the propulsion actuator and configured to expand and contract in the radial direction according to the supply pressure of the fluid. The pressure controller includes (i) a supply pressure to a plurality of propulsion actuators included in the plurality of propulsion units, (ii) a supply pressure to a plurality of first support actuators included in the plurality of propulsion units, and (iii) a plurality of The supply pressure to the plurality of second support actuators included in the propulsion unit is configured to be independently controllable.

In each propulsion unit, when the support actuator at the rear in the traveling direction is expanded in the radial direction, the portion is fixed to the inner wall of the pipeline. When the propulsion actuator is extended in this state, the front support actuator is extended in the traveling direction. Subsequently, when the front supporting actuator is expanded in the radial direction, the portion is fixed to the inner wall of the pipe. In this state, when the expansion of the rear support actuator and the extension of the propulsion actuator are released, the rear support actuator is pulled in the traveling direction. By repeating this operation, each propulsion unit can be moved in the traveling direction. In addition, if the order of pressure control is reversed, the traveling direction can be switched.
In addition, since a plurality of propulsion units independently generate a propulsive force, a certain amount of heavy objects can be transported in the pipe line even in a complicated pipe line that has a lot of bending and therefore has a large resistance.

  The connecting part may passively expand and contract. In a complicated pipeline, although the speed of adjacent propulsion units may be different, it is possible to prevent adjacent propulsion units from adversely affecting each other by passively expanding and contracting the connecting portion.

  The connecting portion may be configured to be controllable according to the supply pressure of the fluid. The pressure controller may control the supply pressure to the connecting portion.

The moving body may be configured such that a connection unit including at least one set of the propulsion unit and the connection unit can be connected via a connector.
When the length of the moving body is increased, a control delay of fluid pressure may occur between the propulsion unit far from the pressure source and the propulsion unit close to the pressure source. By making it possible to add a plurality of connecting units, the moving body can be used in a short state, so that the control delay can be reduced.

  Another aspect of the present invention relates to a spacecraft. The spacecraft includes any one of the moving objects described above. The probe may include a head unit at the tip thereof. The head unit may be provided with a camera and a steering actuator. The probe may have a cleaning function. In this case, the head unit may be provided with a nozzle for high-pressure cleaning.

  Note that any combination of the above-described components is also effective as an aspect of the present invention.

  According to an aspect of the present invention, it is possible to provide a moving body that can be propelled in complicated pipelines and narrow terrain.

It is a figure which shows typically the mobile body which concerns on embodiment. 2A and 2B are diagrams illustrating a configuration example of the pressure controller. 3A to 3F are diagrams for explaining the operation of the moving body of FIG. It is a time chart of the pressure control of a propulsion actuator, a 1st support actuator, and a 2nd support actuator. FIGS. 5A and 5B are diagrams showing a configuration example of the propulsion actuator. 6A and 6B are diagrams showing measurement results of the propulsive force and traction force of the propulsion actuator shown in FIG. 7A to 7C are diagrams illustrating a configuration example of the support actuator. It is a figure which shows the measurement result of the support force of the support actuator of FIG. It is a figure which shows the structural example of a connection part. FIG. 10A is a diagram illustrating a measurement result of the propulsion force of the prototype of the moving body, and FIG. 10B is a diagram illustrating a measurement result of the frictional resistance generated when the propulsion unit is pulled. FIG. 11A is a diagram illustrating a searcher, and FIG. 11B is a diagram illustrating an example of operation of the searcher. 12A and 12B are cross-sectional views of the connector. It is a figure which shows the moving body which concerns on a 2nd modification.

  The present invention will be described below based on preferred embodiments with reference to the drawings. The same or equivalent components, members, and processes shown in the drawings are denoted by the same reference numerals, and repeated descriptions are omitted as appropriate. The embodiments do not limit the invention but are exemplifications, and all features and combinations thereof described in the embodiments are not necessarily essential to the invention.

1. Basic Configuration 1.1 Overall Configuration FIG. 1 is a diagram schematically showing a moving body 2 according to an embodiment. In addition, the dimension of each member shown by drawing is expanded and reduced suitably for easy understanding and simplification of description.

  The moving body 2 includes a plurality of N propulsion units 10 </ b> _ <b> 1 to 10 </ b> _N (N is an integer of 2 or more) and a pressure controller 30 that are connected in series via the connecting unit 20. The moving body 2 propels in the pipe 1.

  Each propulsion unit 10 includes a propulsion actuator 12, a first support actuator 14, and a second support actuator 16.

  The propulsion actuator 12 is configured to be controllable in length according to the fluid supply pressure. The diameter of the propulsion actuator 12 is preferably sufficiently smaller than the inner diameter φ of the pipe line 1 regardless of the length thereof. As an example, the diameter of the propulsion actuator 12 is preferably 25 mm or less with respect to a pipe line having an inner diameter of 50 mm. Generally speaking, the diameter of the propulsion actuator 12 is preferably smaller than ½ of the inner diameter. Further, it is desirable that the propulsion actuator 12 has a structural flexibility that can be bent even in a pressurized state.

  In the present embodiment, it is assumed that the propulsion actuator 12 expands by pressurization and contracts by decompression.

  The first support actuator 14 is provided on one end side of the propulsion actuator 12 and is configured to be able to expand and contract in the radial direction according to the supply pressure of the fluid. The second support actuator 16 is provided on the other end side of the propulsion actuator 12 and is configured to be able to expand and contract in the radial direction according to the supply pressure of the fluid. In the expanded state, the first support actuator 14 and the second support actuator 16 come into contact with the inner wall of the pipe line 1 to grip the inner wall.

  The moving body 2 is provided with three pressure systems (flow paths) 34, 36 and 38. The first pressure system 34 is connected to the plurality of first support actuators 14 included in the plurality of propulsion units 10. The second pressure system 36 is connected to a plurality of second support actuators 16 included in the plurality of propulsion units 10. The third pressure system 38 is connected to the plurality of propulsion actuators 12 included in the plurality of propulsion units 10.

  The pressure controller 30 controls (i) a plurality of first support actuators 14 and (ii) a plurality of second support actuators 16, (iii) by independently controlling the pressures of the three pressure systems 34, 36, and 38, respectively. The pressure of the fluid supplied to the plurality of propulsion actuators 12 is configured to be independently controllable. The fluid may be a gas such as air (nitrogen) or a liquid such as water or a solution.

  2A and 2B are diagrams illustrating a configuration example of the pressure controller. FIG. 2A is a pressure controller using air pressure, and the pressure controller 30 includes an air pressure source 31 and valves 33A to 33C. The first pressure system 34, the second pressure system 36, and the third pressure system 38 each include tubes 32A to 32C that are air supplies. Each of the valves 33 </ b> A to 33 </ b> C is provided between the corresponding tube 32 and the air pressure source 31.

  FIG. 2B shows a pressure system using water pressure. The pressure controller 30 includes a water pressure source 35 and a tank 37. The first pressure system 34, the second pressure system 36, and the third pressure system 38 include a water supply side tube 32D connected to the water pressure source 35, a drain side tube 32E connected to the tank 37, and a plurality of valves 39A. -39C and 39D-39F. The valve 39A is provided between the water supply side tube 32 and the propulsion actuator 12, and the valve 39D is provided between the drainage side tube 32E and the propulsion actuator 12. The valve 39B is provided between the water supply side tube 32 and the first support actuator 14, and the valve 39E is provided between the drain side tube 32E and the first support actuator 14. The valve 39C is provided between the water supply side tube 32 and the second support actuator 16, and the valve 39F is provided between the drain side tube 32E and the second support actuator 16. The pressure controller 30 controls the water pressure supplied to each of the propulsion actuator 12, the first support actuator 14, and the second support actuator 16 by controlling the valves 39A to 39F.

1.2 Operation FIGS. 3A to 3F are diagrams illustrating the operation of the moving body 2 in FIG. The moving body 2 is propelled while repeating the first state φ ₁ to the sixth state φ _{6 shown} in FIGS.

  Here, the case where the moving body 2 is propelled in the direction of the arrow (right) in the drawing will be described. Since each propulsion unit 10 performs the same operation, attention is paid to one propulsion unit 10.

In Figure 3 the first state phi ₁ of (a), inflating the traveling direction of the support actuator (second support actuator) 16 of the propulsion unit 10 in the radial direction. At this time, the second support actuator 16 is gripped and fixed to the inner wall of the pipe line 1.

Subsequently, in the second state phi ₂ in FIG. 3 (b), to extend the propulsion actuator 12. Thereby, the front support actuator (first support actuator) 14 is extended in the traveling direction.

Subsequently, in the third state φ ₃ in FIG. 3C, when the front support actuator 14 is expanded in the radial direction, the portion is fixed to the inner wall of the pipe line 1.

In a fourth state phi ₄ of subsequently FIG. 3 (d), doors open expansion of the rear of the support actuator 16.

In FIG. 3 (e) fifth state phi ₅ of the subsequent, when releasing the extension of the propulsion actuator 12, promoting the actuator 12 is contracted, the rear of the support actuator 16 along with it, is pulled in the direction of travel.

Next, in the sixth state φ ₆ in FIG. 3F, the rear second support actuator 16 is expanded in the radial direction, and the inner wall of the pipe line 1 is gripped by the second support actuator 16.

In one cycle of the first state φ ₁ to the sixth state φ ₆ , the propulsion unit 10 moves rightward by ΔL. The moving body 2 can move each propulsion unit 10 in the traveling direction by repeating this operation.

  FIG. 4 is a time chart of pressure control of the propulsion actuator 12, the first support actuator 14, and the second support actuator 16. A high state of the waveform indicates a pressurized state, and a low state indicates a non-pressurized state. Accordingly, the high state represents the extended state of the propulsion actuator 12 and the radially expanded state of the first support actuator 14 and the second support actuator 16, and the low state represents the contracted state of the propulsion actuator 12 and the first support actuator 14. , Represents the non-expanded state (expanded release state) of the second support actuator 16 in the radial direction.

  FIG. 4B is a time chart showing pressure control of the first pressure system 34, the second pressure system 36, and the third pressure system 38 by the pressure controller 30. There is a delay after the pressure controller 30 changes the pressure until the propulsion actuator 12, the first support actuator 14, and the second support actuator 16 are completely deformed. Therefore, the timing of the pressure change of each pressure system by the pressure controller 30 is optimized so that the state changes of FIG. As a result, it should be noted that the pressure in the pressure system in FIG. 4B does not necessarily match the waveform of the corresponding actuator state in FIG. 4B.

    The above is the operation of the moving body 2. According to this moving body 2, the inside of the pipe line 1 can be self-propelled. Generally, when the length of the moving body is increased, the friction with the wall surface of the pipe line 1 is increased thereby, and the resistance force is increased. An increase in resistance means a decrease in propulsion speed of the moving object. According to the mobile body 2 according to the embodiment, each propulsion unit 10 independently exerts a propulsive force, and each propulsion unit 10 receives a resistance force from the wall surface. Therefore, since the motion of each propulsion unit 10 can be considered independently, even if the length of the mobile body 2 increases, in other words, even if the number of propulsion units 10 that have already entered the pipeline 1 increases, The propulsion speed of the body 2 can be maintained.

  As described above, since the plurality of propulsion units 10 independently generate the propulsive force, a certain amount of heavy objects can be conveyed in the pipeline even in a complicated pipeline having a large amount of bending and thus a large resistance.

  Further, if the order of state change (order of pressure control) is reversed, the traveling direction can be switched. Specifically, the above description may be read as the second support actuator 16 being an actuator that is forward with respect to the traveling direction and the first support actuator 14 being an actuator that is behind with respect to the traveling direction.

  The present invention extends to various devices derived from the above description and is not limited to a particular configuration. Hereinafter, more specific configuration examples and modifications will be described in order to help understand the essence and operation of the invention, and to clarify them, not to narrow the scope of the present invention.

2. Specific Example Hereinafter, a specific example of the moving body 2 that uses air pressure will be described.

2.1 Propulsion Actuator FIGS. 5A and 5B are diagrams illustrating a configuration example of the propulsion actuator 12. The propulsion actuator 12 includes a rubber tube (peel tube) 40 and a restraining cover 42. Both ends of the rubber tube 40 are closed, and the inside thereof communicates with the first pressure system 34, so that pressure control by a fluid is possible. By flowing a fluid into the rubber tube 40 (fluid pressurization), the rubber tube 40 expands. The rubber tube 40 itself may expand isotropically by fluid pressurization. When the pressure is reduced, the rubber tube 40 contracts.

  The rubber tube 40 is inserted into a radial expansion restraining cover (hereinafter simply referred to as a restraining cover) 42 that does not expand and contract in the radial direction. The natural length of the restraining cover 42 is sufficiently longer than the length of the rubber tube 40, and may be, for example, 2 to 4 times the length of the rubber tube 40. This magnification defines the contraction rate of the propulsion unit 10 itself. The restraining cover 42 has, for example, a bellows structure (accordion structure, bellows structure) having a fold, and both ends thereof are fixed to the rubber tube 40 in the axially compressed state as shown in FIG. Is done. The restraining cover 42 may be a corrugated tube.

  6A and 6B are diagrams showing measurement results of the propulsive force and traction force of the propulsion actuator 12 of FIG. The propulsion actuator 12 used for the measurement was manufactured by covering a candy rubber tube having an outer diameter of 8.2 mm, a wall thickness of 0.9 mm, and a length of 30 mm with a restraining cover of 75 mm having an outer diameter of 10 mm. FIG. 6A shows the relationship between the pressure and the propulsive force, and FIG. 6B shows the elongation from the natural length and the traction force.

  As can be seen from FIGS. 6A and 6B, the propulsion actuator 12 of FIG. 5 can achieve a high expansion ratio and thrust while having a flexible structure capable of propelling the inside of the bending tube.

2.2 Support Actuators FIGS. 7A to 7C are diagrams showing a configuration example of the support actuator. The first support actuator 14 and the second support actuator 16 are configured similarly. As shown in FIG. 7A, the support actuator 14 (16) includes a rubber tube 50 and an elastic cover 52. The rubber tube 50 is closed at both ends, and the inside thereof communicates with the second pressure system 36 (or the third pressure system 38), and can be pressurized or depressurized by a fluid. By flowing a fluid into the rubber tube 50 (fluid pressurization), the rubber tube 50 expands. The rubber tube 40 itself may expand isotropically by fluid pressurization.

  The rubber tube 50 is covered with a cylindrical elastic cover 52 that can expand and contract in the circumferential direction and does not extend in the axial direction. As shown in FIG. 7 (b), the elastic cover 52 is composed of two pieces of cloth that are easily stretched in the first direction and difficult to stretch in the second direction orthogonal thereto (1-way stretch) in a cylindrical shape. May be. The cylindrical elastic cover 52 may be produced with a single cloth. FIG. 7C shows a state where the rubber tube 50 is pressurized. When the rubber tube 50 is expanded by pressurization, the elastic cover 52 does not extend in the axial direction but extends in the circumferential direction. As a result, the support actuator 14 expands in the radial direction.

  FIG. 8 is a diagram illustrating a measurement result of the support force of the support actuator of FIG. The supporting actuator used for the measurement was manufactured by covering an American rubber tube having an outer diameter of 16 mm, a wall thickness of 0.9 mm, and a length of 80 mm with an elastic cover 52 having a maximum outer diameter of 60 mm and a length of 80 mm. The measurement was performed in a state where the support actuator was expanded within an inner diameter of 50 mm.

  As can be seen from FIG. 8, according to the support actuator 14 of FIG. 7A, a sufficiently large support force (grip force) can be exhibited at a pipe diameter of 50 mm or less.

2.3 Connection Unit FIG. 9 is a diagram illustrating a configuration example of the connection unit. The connecting unit 20 includes tubes 32 </ b> A to 32 </ b> C that are three supply paths corresponding to the first pressure system 34, the second pressure system 36, and the third pressure system 38. Preferably, the tubes 32A to 32C are coiling tubes, and the connecting portion 20 is formed by bundling three coiling tubes. The connecting portion 20 is passively expanded and contracted according to the movement of the propulsion unit 10 (extension and contraction of the propulsion actuator 12).

  In a complicated pipeline, although the speed of the adjacent propulsion units 10 may be different, it is possible to prevent the adjacent propulsion units 10 from adversely affecting each other by the passive expansion and contraction of the connecting portion 20. Further, since the fluid pressure supply path also serves as the connecting portion 20, the moving body 2 can be reduced in weight.

2.4 Performance of Prototype of Moving Body The moving body 2 was manufactured by combining the propulsion actuator 12 of FIG. 5, the support actuator 14 (16) of FIG. 7, and the connecting portion 20 of FIG. 9. The weight of the moving body 2 is very light as 760 g including the propulsion unit 10 having a length of 250 mm and the supply path (connecting portion 20) of 300 cm.

  When this moving body 2 was propelled (advanced) in a straight pipe having an inner diameter of 50 mm, an average speed of 5 trials was obtained as 61.1 mm / s. It was also confirmed that a smooth backward movement was possible.

  Further, when propelled in a three-dimensional pipe provided with 90 degree bent portions at intervals of 500 mm, an average speed of 5 trials was obtained as 59.0 mm / s. Of course, the three-dimensional piping includes a vertical pipe. It was also confirmed that a smooth backward movement was possible.

  Furthermore, when propelled in a pipe having a U-shaped bent portion, an average speed of 5 trials was obtained as 55.2 mm / s. It was also confirmed that a smooth backward movement was possible.

  When a propulsion experiment was performed in a pipe in which a horizontal pipe, a vertical pipe, a curved pipe, and a U-shaped pipe were combined, 34.6 mm / s was obtained as an average speed of five trials. It was also confirmed that a smooth backward movement was possible.

  FIG. 10A is a diagram showing a measurement result of the propulsive force of the prototype of the moving body 2. The horizontal axis represents the propulsion distance (invasion length into the pipe line), and the vertical axis represents the propulsive force of the leading portion of the moving body 2. From FIG. 10A, it can be confirmed that the propulsive force does not decrease even if the penetration length increases. This advantage becomes clearer by comparison with the following comparative technique.

  As a comparative technique, consider a moving body provided with a propulsion mechanism only in the head portion. The propulsion mechanism in the comparative technique may be an electric means such as a motor, or may utilize a fluid pressure. In the moving body according to the comparative technique, camera wiring and wiring for power supply (fluid supply) are drawn from the head portion. The contact resistance between these wirings and piping increases as the propulsion distance (penetration length) increases, and the weight of the wiring increases as the propulsion distance (penetration length) increases. Therefore, in the mobile body according to the comparative technique, it is inevitable that the propulsive force decreases as the propulsion distance increases. In the mobile body 2 according to the embodiment, each propulsion unit 10 is equivalent to carrying only a part of the long wiring, so even if the propulsion distance increases, the propulsion in the pipeline is accordingly performed. Since the number of units increases, thrust reduction is suppressed.

  Next, the optimum length of one propulsion unit 10 will be considered. The thrust (force at the time of extension) and traction force (force at the time of contraction) of the propulsion unit 10 increase as the pressure increases, but are constant regardless of the length of the unit. As the number of bent pipes (bent portions) through which one propulsion unit 10 passes at a time increases, the frictional resistance also increases. FIG. 10B is a diagram showing a measurement result of the frictional resistance generated when the propulsion unit 10 is pulled in an environment where 90 ° bent portions made of acrylic having an inner diameter of 50 mm are arranged every 500 mm. When the traction force generated by the propulsion unit 10 is smaller than the frictional resistance, the propulsion unit 10 cannot contract and cannot be propelled.

  Therefore, if the length of one set of propulsion units 10 is shortened, the number of bent pipes that one propulsion unit 10 encounters during one contraction operation can be reduced, and the traction force always exceeds the frictional resistance. It becomes possible to hold. On the other hand, when the length of the propulsion unit 10 is shortened, the propulsion distance at the time of one cycle of pressurizing and depressurizing operation is lowered, and the propulsion efficiency is deteriorated. Therefore, the length of one propulsion unit 10 is preferably as long as possible within a range where the frictional resistance of the bent pipe encountered during one traction operation does not exceed the traction force.

3. Application Next, the application of the moving body 2 will be described. The mobile body 2 can be suitably used for a searcher in a narrow path such as a drain pipe, a water supply pipe, an air conditioning pipe, or a gas pipe. FIG. 11A is a diagram illustrating the searcher 100. The searcher 100 includes a head unit 102, a camera 104, and the moving body 2 described above. The camera 104 is attached to the head unit 102. In addition, the head unit 102 may be provided with an actuator for direction control, a nozzle for high-pressure cleaning, and the like. The moving body 2 is configured to be able to add the connection unit 60 via the connector 62. One connection unit 60 includes at least one set of the propulsion unit 10 and the connection unit 20, and is attachable to and detachable from another connection unit 60. The connection unit 60 includes one set of the propulsion unit 10 and the connection unit 20.

  FIG. 11B is a diagram for explaining an example of the operation of the searcher 100. In this example, the pipe 1 in the building is an inspection target. The operator adds the connecting unit 60 as the head unit 102 propels. Thereby, the part outside the insertion port 3 of the pipe line 1 can be shortened.

  For comparison, it is assumed that the moving body 2 configured to be unable to be added is 10 m. When 5 m is inserted into the pipe 1, the remaining 5 m protrudes from the insertion port 3 to the outside of the pipe 1. In this situation, the protruding 5 m does not contribute to the propulsion but also becomes a load that resists the propulsive force in the pipe line 1. Furthermore, the pressure generated by the pressure controller 30 is wasted because it is wastedly supplied to the protruding 5 m portion.

  On the other hand, the part which does not contribute to a propulsion can be reduced by comprising the mobile body 2 so that addition is possible.

  12A and 12B are cross-sectional views of the connector 62. FIG. FIG. 12A shows the connector 62 of the moving body 2 using air pressure. The connector 62 includes a housing 70 and a plurality of connecting portions housed therein. The plurality of connecting portions correspond to the tubes (pressure system) 32A to 32C and the camera cable 72, respectively. Further, the connector 62 may be provided with a connecting portion corresponding to the high pressure cleaning water supply tube 74, a connecting portion corresponding to the head unit steering control line 76, and the like.

  FIG.12 (b) shows the connector 62 of the moving body 2 using water pressure. The connector 62 includes a housing 70 and a plurality of connecting portions housed therein. The plurality of connecting portions correspond to the tubes (pressure system) 32D and 32E and the camera cable 72, respectively. Further, the connector 62 is provided with a connecting portion corresponding to the control line 78 for controlling the valves 39A to 39F in FIG. The supply tube for the high-pressure washing water can also be used as the tube 32D. The connector 62 is provided with a connecting portion corresponding to the control line 79 of the cleaning nozzle.

  The present invention has been described based on the embodiments. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are within the scope of the present invention. is there. Hereinafter, such modifications will be described.

4). Modified Example 4.1 First Modified Example In the embodiment, the connecting portion 20 is configured to be passively expandable and contractible, but the present invention is not limited thereto. For example, you may comprise the connection part 20 with an elastic member. In this case, storing energy in connection 20 in the second state φ2 in FIG. 3 (b), FIG. 3 (d), the at the time of transition from the fourth state phi ₄ to the fifth state phi ₅ of (e), connecting The unit 20 may assist the contraction of the propulsion actuator 12.

4.2 Second Modification In the embodiment, the propulsion actuator 12 is configured by a single extendable actuator, but the present invention is not limited thereto. FIG. 13 is a diagram illustrating the moving body 2 according to the second modification. The propulsion actuator 12 includes two propulsion actuators 12 and 17 that can be controlled in length.
One end of the second propulsion actuator 17 is connected to the second support actuator 16. The third support actuator 18 is provided at the other end of the second propulsion actuator 17.

  Thereby, the grip force and propulsive force per propulsion unit 10 can be increased.

  In FIG. 1, one propulsion actuator 12 may be composed of a plurality of actuators connected in series.

4.3 Third Modification In the embodiment, the connecting portion 20 is a member that actively contracts. However, the connecting portion 20 may be a member whose length can be controlled according to the supply pressure. For example, the connecting unit 20 may be configured in the same manner as the propulsion actuator 12, and the pressure supplied to the connecting unit 20 may be controlled by the pressure controller 30.

  In this case, since the connecting portion 20 also exerts a propulsive force, it is effective for an application in which the weight per unit length of the moving body 2 is heavy or an application in which the resistance from the inner wall of the pipe is large.

4.4 Fourth Modification Although the moving body in the industrial pipeline has been described in the embodiment, the moving body 2 is also useful in the living body pipeline.

  Although the present invention has been described using specific terms based on the embodiments, the embodiments only illustrate the principles and applications of the present invention, and the embodiments are defined in the claims. Many variations and modifications of the arrangement are permitted without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Pipe line, 2 ... Mobile body, 10 ... Propulsion unit, 12 ... Propulsion actuator, 14 ... 1st support actuator, 16 ... 2nd support actuator, 20 ... Connection part, 30 ... Pressure controller, 31 ... Air pressure source, 32 ... Tube, 33 ... Valve, 34 ... First pressure system, 36 ... Second pressure system, 38 ... Third pressure system, 40 ... Rubber tube, 42 ... Restraint cover, 50 ... Rubber tube, 52 ... Elastic cover, 60 ... Connection unit, 62 ... connector, 100 ... searcher, 102 ... head, 104 ... camera.

Claims (7)

A plurality of propulsion units connected in series via a connecting portion, and a pressure controller,
Each propulsion unit
A propulsion actuator configured to be controllable according to the fluid supply pressure; and
A first support actuator provided on one end side of the propulsion actuator and configured to be able to expand and contract in a radial direction in accordance with a fluid supply pressure;
A second support actuator provided on the other end side of the propulsion actuator and configured to be able to expand and contract in a radial direction in accordance with a fluid supply pressure;
Including
The pressure controller includes supply pressures to the plurality of propulsion actuators included in the plurality of propulsion units, supply pressures to the plurality of first support actuators included in the plurality of propulsion units, and included in the plurality of propulsion units. A movable body configured to be capable of independently controlling supply pressures to the plurality of second support actuators.   The moving body according to claim 1, wherein the connecting portion expands and contracts passively.   The connecting portion includes a tube for supplying pressure to the plurality of propulsion actuators, a tube for supplying pressure to the plurality of first support actuators, and a tube for supplying pressure to the plurality of second support actuators. The moving body according to claim 1, wherein the movable body is formed by winding the coil into a coil shape. The connecting portion is configured to be able to control the length according to the supply pressure of the fluid,
The moving body according to claim 1, wherein the pressure controller controls a supply pressure to the connecting portion.   The moving body according to any one of claims 1 to 4, wherein a connecting unit including at least one set of the propulsion unit and the connecting portion is configured to be connectable via a connector. The propulsion unit is
A second propulsion actuator having one end connected to the second support actuator;
A third support actuator provided at the other end of the second propulsion actuator;
The moving body according to claim 1, further comprising:   A searcher comprising the moving body according to claim 1.

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