JP2018189896A - Mobile device, and mobile device movement method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mobile device that can cause a slider to accurately pass through with respect to a flexure pipeline part and the like even when the flexure pipeline part and like exist in a narrow space.SOLUTION: A mobile device 1 is configured that comprises: a first driving unit 2A that has a first elastic tube 10A, a first slider unit 20A movable in a longitudinal direction of the first elastic tube 10A, and a first brake 30A displaceable in an enlargement radial direction of the first slider unit 20A; a second driving unit 2B that has a second elastic tube 10B, a second slider unit 20B movable in a longitudinal direction of the second elastic tube 10B, and a second brake 30B displaceable in an enlargement radial direction of the second slider unit 20B, and is successively provided on a base end side further than the first driving unit 2A; and an auxiliary brake unit 3 that has an outer tube 46 displaceable in the enlargement radial direction, and is successively provided on the base end side further than the second driving unit 2B.SELECTED DRAWING: Figure 1

Description

  In the present invention, the inside of a narrow space formed by narrow walls such as the inside of various pipes, between the flanges of H-shaped steel, between the lips of I-shaped steel and groove-shaped steel, or the inside of rubble, etc. The present invention relates to a moving device and a moving method of the moving device.

  2. Description of the Related Art Conventionally, various moving devices for moving in a narrow space have been proposed and put into practical use for the purpose of performing inspections and maintenance of various buildings and machines, or searching in a disaster.

  For example, Patent Document 1 discloses an elastic tube whose cross-sectional shape can be elastically deformed by the pressure of fluid separately supplied from the distal end side and the proximal end side, and the length of the elastic tube according to a change in the cross-sectional shape of the elastic tube First and second drive units each having a slider unit that can move forward and backward in a direction and a brake that is provided in the slide unit and deforms in the radial direction of the elastic tube and that can slide in contact with the object, Disclosed is a moving device arranged side by side on the front end side.

  In such a movable storage, the first drive unit moves the slider unit relative to the elastic tube and controls the brake in the radial direction of the elastic tube through control of the fluid supplied to the distal end side and the proximal end side of the elastic tube. It is possible to realize deformation. Similarly, in the second drive unit, movement of the slider unit relative to the elastic tube and deformation of the brake in the radial direction of the elastic tube are realized through control of fluid supplied to the distal end side and the proximal end side of the elastic tube. It is possible. Then, by appropriately combining these operations, the guide tube or the like can be moved forward and backward by self-propelling in the piping or the like.

International Publication No. WO2016 / 136511

  By the way, when moving in a pipe or the like using such a moving device, it is particularly preferable to reliably pass the sliders of the first and second drive units with respect to the bent conduit portion bent in an L shape. It becomes important.

  In this case, the tube body (first tube body) such as a guide tube or an elastic tube provided in the first drive unit is not restricted at the tip end side, and thus receives a special restriction with respect to the bent conduit portion. Without displacement. For this reason, the slider provided in the first drive unit can pass through the bent conduit portion relatively easily even when a step or the like exists in the bent conduit portion.

  On the other hand, a tube body (second tube body) such as a guide tube or an elastic tube provided in the second drive unit is predetermined on the distal end side by the first drive unit that has already passed through the bent conduit section. Since the restraining force is generated, the displacement with respect to the bent conduit portion is limited. For this reason, it may be difficult for the slider provided in the second drive unit to pass through the bent conduit portion particularly when a step or the like exists in the bent conduit portion.

  The present invention has been made in view of the above circumstances, and a moving device capable of accurately passing a slider with respect to a bent duct portion or the like even when a bent duct portion or the like is present in the narrow space, and An object of the present invention is to provide a moving method of a moving device.

  A moving device according to an aspect of the present invention includes a first tube body having flexibility, and a first tube body provided on an outer peripheral side of the first tube body and movable in a longitudinal direction of the first tube body. A first drive unit having a slider unit, a first brake displaceable in a diameter-expanding direction of the first slider unit, a flexible second tube body, and the second tube A second slider unit which is provided on the outer peripheral side of the body and is movable in the longitudinal direction of the second tube body; and a second brake which is displaceable in a method of expanding the diameter of the second slider unit. The second drive unit connected to the base end side from the first drive unit, and the auxiliary brake displaceable in the diameter increasing direction, and connected to the base end side from the second drive unit. An auxiliary brake unit, Than is.

  A moving method of a moving device according to an aspect of the present invention includes a flexible first tube body and an outer peripheral side of the first tube body that is movable in the longitudinal direction of the first tube body. A first drive unit having a first slider unit; a first brake displaceable in a diameter-expanding direction of the first slider unit; a flexible second tube body; A second slider unit provided on an outer peripheral side of the second tube body and movable in a longitudinal direction of the second tube body; a second brake displaceable in a diameter expansion method of the second slider unit; And a second drive unit connected to the base end side of the first drive unit, and an auxiliary brake displaceable in the diameter increasing direction, the base end side of the second drive unit. Auxiliary brake unit connected to A moving method of the moving device comprising: the first drive unit is slidably brought into contact with an object in the sandwiched space after the first drive unit has passed through the bent duct portion existing in the sandwiched space. Auxiliary brake operation procedure, first brake operation means for sliding the first brake against an object in the sandwiched space, and the second slider unit in a state in which the operation of the second brake is released And a second slider unit advancement procedure for moving the second tube body from the proximal end side to the distal end side of the second tube body.

  According to the present invention, even when a bent duct portion or the like is present in the narrow space, the slider can be accurately passed through the bent duct portion or the like.

Schematic configuration diagram of mobile device Perspective view of moving device The perspective view of the 1st drive unit Exploded perspective view of the first drive unit Sectional drawing which follows the VV line of FIG. Roller perspective view The perspective view of the 1st drive unit when the 1st brake is in an operation state An exploded perspective view showing a main part of the brake member Cross-sectional view of relevant parts schematically showing the first drive unit when the first brake is in an inoperative state in the pipe. Cross-sectional view of relevant parts schematically showing the first drive unit when the first brake is in an operating state in the pipe. Cross-sectional view of relevant parts schematically showing the state of the first slider unit when passing through the bent pipe part of the pipe Cross-sectional view of the main part schematically showing the auxiliary brake unit when the auxiliary brake is in operation in the pipe Explanatory drawing which shows typically the state of the moving apparatus when a 2nd drive unit passes the inside of the bending pipe line part of piping. Explanatory drawing which shows typically the state of the moving apparatus when a 2nd drive unit passes the inside of the bending pipe line part of piping. Flow chart showing the movement procedure of the mobile device in normal time The flowchart which shows the movement procedure of the moving apparatus at the time of passage of a bent pipe part Explanatory drawing which concerns on a reference example and shows typically the state of the moving apparatus when the 2nd drive unit passes the inside of the bending pipe line part of piping. The side view which concerns on a 1st modification and shows the principal part of a moving apparatus typically. The side view which shows the principal part of a moving apparatus typically in connection with a 2nd modification. The side view which shows the principal part of a moving apparatus typically in connection with a 3rd modification. The perspective view which shows an auxiliary brake concerning a 4th modification. The perspective view which shows an auxiliary brake concerning a 5th modification. Same as above, perspective view showing the auxiliary brake mounted on the guide tube Sectional drawing which shows an auxiliary brake concerning a 6th modification. Sectional drawing which shows an auxiliary brake concerning a 7th modification. The perspective view which shows an auxiliary brake concerning an 8th modification. The perspective view which shows an auxiliary brake concerning a 9th modification. Same as above, sectional view showing auxiliary brake The perspective view which shows an auxiliary brake concerning a 10th modification. Same as above, sectional view showing auxiliary brake The side view which shows typically the principal part of a moving apparatus concerning an 11th modification. The side view which shows typically the principal part of a moving apparatus concerning a 12th modification. A side view showing the principal part of a moving device typically concerning a 13th modification. The perspective view which shows the principal part of a connection part same as the above. Sectional drawing which shows typically the principal part of an auxiliary brake unit when an auxiliary brake exists in a non-operation state concerning a 14th modification. Same as above, a cross-sectional view schematically showing the main part of the auxiliary brake unit when the auxiliary brake is in an operating state. Sectional drawing which shows typically the principal part of an auxiliary brake unit when an auxiliary brake exists in a non-operation state concerning a 15th modification. Same as above, a cross-sectional view schematically showing the main part of the auxiliary brake unit when the auxiliary brake is in an operating state. The perspective view which concerns on a 16th modification and shows the principal part of an auxiliary brake unit typically. The exploded perspective view which shows the principal part of an auxiliary brake unit half body typically

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings relate to an embodiment of the present invention, FIG. 1 is a schematic configuration diagram of a moving device, FIG. 2 is a perspective view of the moving device, FIG. 3 is a perspective view of a first drive unit, and FIG. FIG. 5 is a sectional view taken along line VV in FIG. 4, FIG. 6 is a perspective view of the roller, and FIG. 7 is a perspective view of the first drive unit when the first brake is in an operating state. 8 is an exploded perspective view showing the main part of the brake member, FIG. 9 is a cross-sectional view of the main part schematically showing the first drive unit when the first brake is in an inoperative state in the pipe, FIG. Fig. 11 is a cross-sectional view of the main part schematically showing the first drive unit when the first brake is in an operating state in the pipe, and Fig. 11 shows the first slider unit when passing through the bent pipe part of the pipe. Fig. 12 is a sectional view of the main part schematically showing the state. FIG. 13 and FIG. 14 are explanatory views schematically showing the state of the moving device when the second drive unit passes through the bent conduit portion of the pipe. FIG. 15 is a flowchart showing the moving procedure of the moving device at the normal time, and FIG. 16 is a flowchart showing the moving procedure of the moving device when passing through the bent duct section.

  The moving device 1 shown in FIG. 1 is applied to, for example, a guide tube 5 for guiding an endoscope 7 (see FIGS. 2 and 3) in a pipe 100 (see FIGS. 9 to 14) provided in a building or the like. Has been. The moving device 1 includes a first drive unit 2A, a second drive unit 2B connected to the base end side of the first unit 2A, and a base end side of the second drive unit 2B. The auxiliary brake unit 3 provided is provided on the distal end side of the guide tube 5. Furthermore, the moving device 1 includes a fluid adjusting unit 4 that can supply or discharge air as a fluid to the first and second drive units 2A and 2B and the auxiliary brake unit 3.

  Here, the guide tube 5 is mainly composed of a flexible long tube made of polyurethane or the like, and its inside is set as a channel 5a through which the endoscope 7 or the like can be inserted. Yes.

  As shown in FIGS. 1 to 4 and FIGS. 9 to 11, the first drive unit 2 </ b> A has an elastic deformation (expansion and contraction) in accordance with the internal pressure applied by the fluid supplied from the fluid adjustment unit 4. ) A first elastic tube 10A as a possible first tube body and a first elastic tube 10A capable of moving forward and backward in the longitudinal direction on the first elastic tube 10A according to a change in the cross-sectional shape of the first elastic tube 10A 1 slider unit 20A and a first brake 30A provided in the first slider unit 20A.

  10 A of 1st elastic tubes are comprised by elastic members, such as a rubber tube. As the first tube body, the first flexible tube 11A is inserted on the inner surface side of the first elastic tube 10A, and the first mesh tube 12A is covered on the outer surface side.

  11 A of 1st flexible tubes are comprised by the tube which consists of a polyurethane etc. which have the rigidity which cannot deform | transform with respect to the internal pressure of 10 A of 1st elastic tubes, for example. The outer diameter of the first flexible tube 11A is equal to the inner diameter of the first elastic tube 10A, or slightly larger than the inner diameter of the first elastic tube 10A. Thereby, the inner peripheral surface of the first elastic tube 10A in a natural state is brought into surface contact with the outer peripheral surface of the first flexible tube 11A, and the first flexible tube 11A has a predetermined flexibility. It is possible to support the first elastic tube 10A. Further, the inner diameter of the first flexible tube 11A is formed to be equal to the inner diameter of the guide tube 5, so that the inside of the first flexible tube 11A is formed as a channel 5a of the guide tube 5 and a series of channels 11a. Is set.

  The first mesh tube 12A is configured by a tube in which, for example, non-stretchable PET (polyethylene terephthalate) fiber, stainless steel wire, or the like is woven in a mesh shape. The first mesh tube 12A can be deformed in the outer diameter direction as long as the mesh is deformable. Thereby, the first mesh tube 12A expands at a predetermined outer diameter substantially uniform in the longitudinal direction while preventing the first elastic tube 10A from locally expanding. Allow that.

  On the distal end side of the first elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A, a distal end side termination member 13 having a ring shape is provided. The proximal end side of the first flexible tube 11A is bonded and fixed to the distal end side termination member 13 on the inner peripheral side, and the proximal end sides of the first elastic tube 10A and the first mesh tube 12A are disposed on the outer peripheral side. Bonded and fixed. And by the adhesion | attachment with this front end side termination member 13, the front end side of 10 A of 1st elastic tubes is connected with the front end side of 11 A of 1st flexible tubes in an airtight state.

  Further, the distal end side end member 13 holds the distal end side of the first front fluid supply pipe 15A through which air as a fluid can flow, and the distal end opening of the first front fluid supply pipe 15A has a first opening. It communicates with the inside of the distal end side of the elastic tube 10A (more specifically, between the inner peripheral surface of the first elastic tube 10A and the outer peripheral surface of the first flexible tube 11A).

  In addition, in order to improve the insertability with respect to the piping 100 etc., the taper surface 13a which makes a tapered shape is formed in the outer peripheral surface of the front end side termination member 13.

  Similarly, a ring-shaped terminal member 14 is provided on the proximal end side of the first elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A. Here, the termination member 14 of the present embodiment functions as a proximal end member of the first drive unit 2A and also functions as a distal end member of the second drive unit 2B described later.

  The base end side of the first flexible tube 11A is bonded and fixed to the end member 14 on the inner peripheral side, and the base end sides of the first elastic tube 10A and the first mesh tube 12A are bonded and fixed to the outer peripheral side. Has been. The base end side of the first elastic tube 10A is connected to the base end side of the first flexible tube 11A in an airtight state by bonding with the terminal member 14.

  Further, the end member 14 holds the front end side of the first rear fluid supply pipe 16A capable of supplying air as a fluid, and the front end opening of the first rear fluid supply pipe 16A has a first opening. It communicates with the inside of the proximal end side of the elastic tube 10A (more specifically, between the inner peripheral surface of the first elastic tube 10A and the outer peripheral surface of the first flexible tube 11A).

  The first slider unit 20A includes a first front slider 21A mounted on the outer peripheral side of the first elastic tube 10A via the first mesh tube 12A, and a base end side with respect to the first front slider 21A. , The first rear slider 22A mounted on the outer peripheral side of the first elastic tube 10A via the first mesh tube 12A is separated from the first front slider 21A and the first rear slider 22A. And a first coil spring 23A as a biasing member that biases in the direction.

  As shown in FIGS. 1 to 4, the first front slider 21 </ b> A and the first rear slider 22 </ b> A include a ring-shaped slider body 25, a plurality of rollers 26 that are pivotally supported by the slider body 25, and It is comprised.

  As shown in FIGS. 5 and 6, each roller 26 is configured to have a rolling surface 26 a having a partial arc shape in cross section. Each roller 26. It is pivotally supported in an annular arrangement on the inner circumferential surface of the slider body 25, and the inner circumferential surfaces of the first front slider 21A and the first rear slider 22A are caused by the rolling surfaces 26a of the rollers 26. A series of pressing surfaces having an annular shape is formed.

  Then, due to the pressing surface formed in this way, the first front slider 21A allows the inner peripheral surface of the first elastic tube 10A to be the outer periphery of the first flexible tube 11A via the first mesh tube 12A. It is possible to move while pressing against the surface. As a result, the deformation of the cross-sectional shape of the first elastic tube 10A is partly restricted at an arbitrary position according to the moving state of the first front slider 21A, and the first elastic tube 10A has a first end closer to the tip side than the first front slider 21A. A first front pressure chamber 17A communicating with one front fluid supply pipe 15A is formed.

  Similarly, the first rear slider 22A moves while pressing the inner circumferential surface of the first elastic tube 10A against the outer circumferential surface of the first flexible tube 11A via the first mesh tube 12A. Is possible. As a result, the deformation of the cross-sectional shape of the first elastic tube 10A is partially restricted at an arbitrary position according to the moving state of the first rear slider 22A, and is more proximal than the first rear slider 22A. Is formed with a first rear pressure chamber 18A communicating with the first rear fluid supply pipe 16A.

  The first coil spring 23A is disposed on the outer peripheral side of the first mesh tube 12A (that is, on the outer peripheral side of the first elastic tube 10A) between the first front slider 21A and the first rear slider 22A. It is intervened.

  As shown in FIGS. 1 to 4 and 7 to 11, the first brake unit 20 </ b> A includes a first brake between the first front slider 21 </ b> A and the first rear slider 22 </ b> A. A plurality of brake members 31 constituting 30A are installed.

  Each brake member 31 includes, for example, a plurality of front oscillating bodies 32 supported by the first front slider 21A and a plurality of rear oscillating bodies 33 supported by the first rear slider 22A. It is configured.

  More specifically, the first front slider 21A has a plurality of guides extending to the base end side (first rear slider 22A side) along the axial direction of the first front slider 21A. A protrusion 21a is provided. These guide protrusions 21a are arranged in an annular shape at predetermined intervals on the outer peripheral side of the first coil spring 23A. Further, guide grooves 21b extending along the axial direction of the first front slider 21A are provided on both sides of each guide projection 21a.

  Further, the first rear slider 22A is provided with a plurality of guide protrusions 22a extending to the tip end side (first front slider 21A side) along the axial direction of the first rear slider 22A. It has been. These guide protrusions 22a are annularly arranged at predetermined intervals on the outer peripheral side of the first coil spring 23A so as to face the guide protrusions 21a of the first front slider 21A. In addition, guide grooves 22b extending along the axial direction of the first rear slider 22A are provided on both sides of each guide protrusion 22a.

  The front oscillating body 32 is disposed between the adjacent guide projections 21a and 21a in the first front slider 21A (see FIGS. 3, 4 and 7). A shaft portion 34 is provided on the front end side (fixed end side) of the front rocking body 32 (see FIG. 8), and both ends of the shaft portion 34 are respectively provided in guide grooves 21b and 21b provided in the guide projections 21a and 21a. Is in attendance. Thus, the front rocking body 32 can move back and forth in the axial direction of the first front slider 21A along the guide grooves 21b and 21b, and can rock in the diameter increasing direction of the first front slider 21A. The guide protrusions 21a are supported between the guide protrusions 21a.

  Further, a locking claw portion 36 as a contact member is provided on the base end side (free end side) of the front rocking body 32. The locking claw portion 36 can swing integrally with the front rocking body 32. When the front rocking body 32 is displaced in the diameter increasing direction by rocking, the inner peripheral surface of a pipe or the like. It is possible to make sliding contact. The front rocking body 32 is integrally formed with a claw cover 32 a for covering a part of the locking claw portion 36.

  The rear rocking body 33 is disposed between the adjacent guide projections 22a and 22a in the first rear slider 22A (see FIGS. 3, 4 and 7). A shaft portion 35 is provided on the base end side (fixed end side) of the rear oscillating body 33 (see FIG. 8), and both ends of the shaft portion 35 are guide grooves 22b provided in the guide protrusions 22a and 22a. , 22b. Accordingly, the rear rocking body 33 can move forward and backward in the axial direction of the first rear slider 22A along the guide grooves 22b and 22b at a position facing the front rocking body 32, and the first rear rocking body 33 can move back and forth. The side slider 22A is supported between the guide projections 22a and 22a so as to be able to swing in the diameter increasing direction.

  Further, a locking claw portion 37 as a contact member is provided on the front end side (free end side) of the rear rocking body 33. The locking claw portion 37 can swing integrally with the rear rocking body 33, and when the rear rocking body 33 is displaced in the diameter-expanding direction by rocking, the inside of a pipe or the like It is possible to make sliding contact with the peripheral surface. The rear rocking body 33 is integrally formed with a claw cover 33a for covering a part of the locking claw portion 37.

  Further, between the front rocking body 32 and the rear rocking body 33, a connection for connecting these free end sides (that is, the base end side of the front rocking body 32 and the distal end side of the rear rocking body 33). A member 38 is provided. In the present embodiment, the connecting member 38 is constituted by a belt-like rubber plate having a predetermined elasticity.

  Here, when the first front pressure chamber 17A and the rear pressure chamber 18A repeat expansion and contraction due to the supply and discharge of air, the first elastic tube 10A and the first flexible tube 11A are positioned relative to each other. In order to prevent such a phenomenon that the first elastic tube 10A is supported on the first flexible tube 11A in a state where a part of the first elastic tube 10A overlaps with the first flexible tube 11A, It is desirable to interpose a stopper ring 40 for preventing displacement between the first elastic tube 10A. In this case, it is desirable that the stopper ring 40 also has a function as a stopper for defining the moving range of the first slider unit 20A with respect to the longitudinal direction of the first elastic tube 10A.

  Further, for example, air remains in the first front pressure chamber 17A and the first rear pressure chamber 18A when the first front fluid supply pipe 15A and the first rear fluid supply pipe 16A are opened to the atmosphere. Or air leaked from the first front pressure chamber 17A and the first rear pressure chamber 18A between the first front slider 21A and the first rear slider 22A to the first elastic tube. In order to discharge to the outside of 10A, it is desirable to provide the leak hole 41 in the first flexible tube 11A. In this case, the leak hole 41 has a hole diameter capable of leaking air with a leak amount sufficiently smaller than the flow rate of air flowing through the first front fluid supply pipe 15A and the first rear fluid supply pipe 16A. It is desirable that it is set. The leak holes 41 are desirably provided at predetermined intervals along the longitudinal direction of the first flexible tube 11A. The intervals at which the leak holes 41 are provided are, for example, the first front slider 21A. It is desirable that the interval be set shorter than the interval when the first rear slider 22A is closest. By setting in this way, leakage occurs between the first front pressure chamber 17A and the first rear pressure chamber 18A regardless of the distance between the first front slider 21A and the first rear slider 22A. The air can be discharged to the outside of the first elastic tube 10A.

  In the first drive unit 2A configured as described above, when the first front pressure chamber 17A and the first rear pressure chamber 18A are open to the atmosphere, the biasing force of the first coil spring 23A is used. The first front slider 21A and the first rear slider 22A are biased in a direction away from each other. Due to this biasing force, for example, as shown in FIGS. 1 to 3 and 19, the front rocking body 32 and the rear rocking body 33 are axially centered between the first front slider 21 </ b> A and the first rear slider 22 </ b> A. It is lying down along the direction.

  That is, when the first front slider 21A and the first rear slider 22A are urged away from each other, the fixed end side (shaft portion 34) of the front rocking body 32 is the base end of the guide groove 21b. The fixed end side (shaft portion 35) of the rear rocking body 33 is relatively moved to the tip end side of the guide groove 22b. Further, the traction force from the first front slider 21A and the first rear slider 22A is transmitted to the fixed end sides of the front swing body 32 and the rear swing body 33, so that the front swing body 32 and the rear swing body are transmitted. The free end sides of 33 are pulled by each other through the connecting member 38. Thereby, the front rocking body 32 and the rear rocking body 33 are laid down along the axial direction of the first front slider 21A and the first rear slider 22A.

  Then, the first claw rocker 32 and the rear rocker 33 are laid down in this manner, so that the locking claws 36 and 37 are located between the first front slider 21A and the first rear slider 22A. It is stored in.

  On the other hand, for example, air is supplied into the first front pressure chamber 17A and the first rear pressure chamber 18A, and the first front slider 21A and the first back pressure chamber 21A against the biasing force of the first coil spring 23A. When the rear slider 22A is moved in a direction approaching each other, as shown in FIGS. 7 and 10, the front rocking body 32 and the rear rocking body 33 are erected in the diameter increasing direction.

  That is, when the first front slider 21A and the first rear slider 22A are urged toward each other, the fixed end side (shaft portion 34) of the front rocking body 32 moves to the front end side of the guide groove 21b. Then, the fixed end side (shaft portion 35) of the rear rocking body 33 is moved to the base end side of the guide groove 22b. When the first front slider 21A and the first rear slider 22A further approach each other, the first front slider 21A and the first rear slider are disposed on the fixed end sides of the front swing body 32 and the rear swing body 33. The pressing force from 22A is transmitted. Thereby, the connecting member 38 is elastically deformed like a bow, and the front rocking body 32 and the rear rocking body 33 are erected in the diameter increasing direction by the repulsive force due to the elastic deformation of the connecting member 38. The first front slider 21A and the first rear slider 22A can be brought close to a position where the ends of the guide projections 21a and 22a facing each other come into contact with each other, and thus the first front side When the slider 21A and the first rear slider 22A are closest to each other, the front rocking body 32 and the rear rocking body 33 are erected with the diameter expanded most.

  As the front rocking body 32 and the rear rocking body 33 are displaced in the diameter increasing direction, the locking claws 36 and 37 are displaced in the diameter increasing direction and are brought into sliding contact with an object such as the inner wall of the pipe 100. . The first slider unit 20 </ b> A is prohibited from moving in the pipe 100 or the like due to the sliding contact between the locking claws 36 and 37.

  More specifically, the locking claw portion 36 of the first brake 30A that inclines with a predetermined elevation angle toward the proximal end side of the first slider unit 20A is in sliding contact with the inner wall of the pipe 100 or the like. As a result, the first slider unit 20A is prohibited from moving to the base end side (retreat side). On the other hand, the locking claw portion 87 that inclines with a predetermined elevation angle toward the distal end side of the first slider unit 20A is brought into sliding contact with the inner wall or the like of the pipe 100, whereby the first slider unit 20A is Movement to the tip side (advance side) is prohibited.

  Since the fixed end sides (respective shaft portions 34 and 35) of the front swing body 32 and the rear swing body 33 are supported by the first slider unit 20A via the guide grooves 21b and 22b, the first front side Even when the slider 21A and the first rear slider 22A start to move toward each other, the pressing force from the first front slider 21A and the first rear slider 22A causes the front oscillator 32 and the rear There is no immediate transmission to the side rocker 33. In other words, play is provided by the guide grooves 21b and 22b between the first front slider 21A and the first rear slider 22A, and the front swing body 32 and the rear swing body 33. Therefore, for example, as shown in FIG. 11, the drive unit 2A according to the present embodiment allows the guide grooves 21b and 22b to move the shaft portions 34 and 35 when moving forward and backward in the bent pipe 100. Within the allowable range, it is possible to relatively displace the first front slider 21A and the first rear slider 22A without increasing the diameter of the front swing body 32 and the rear swing body 33.

  The second drive unit 2B has substantially the same configuration as the first drive unit 2A described above. For this reason, the constituent members of the second drive unit 2B corresponding to the first drive unit 2A are given the same reference numerals in the drawing, or the end is replaced from “A” to “B”. The reference numerals are appropriately assigned and detailed description is omitted.

  In the second drive unit 2B, the distal ends of the second elastic tube 10B, the second flexible tube 11B, and the second mesh tube 12B as the second tube body are bonded to the termination member 14. It is fixed.

  In addition, a proximal end terminal member 19 having a ring shape is bonded and fixed to the proximal end sides of the second elastic tube 10B, the second flexible tube 11B, and the second mesh tube 12B.

  Further, the distal end side of the guide tube 5 is bonded and fixed to the inner peripheral side of the proximal end terminal member 19. In addition, in this embodiment, it has illustrated about the structure which connected the 1st, 2nd flexible tube 11A, 11B to the front end side of the guide tube 5 via the termination | terminus member 14 and the base end side termination | terminus member 19. FIG. However, it is also possible to configure these by an integral tube.

  As shown in FIGS. 1 and 12, the auxiliary brake unit 3 is interposed in the middle of the guide tube 5 on the base end side with respect to the second drive unit 2 </ b> B.

  The auxiliary brake unit 3 includes an inner tube 45 interposed in the middle of the guide tube 5, an outer tube 46 serving as an auxiliary brake covering the outer peripheral side of the inner tube 45, and the inner tube 45 and the outer tube 46. A front connection base 47 and a rear connection base 48 that connect the distal end and the base end to the middle of the guide tube 5 are provided.

  The inner tube 45 is mainly composed of a flexible tube made of, for example, polyurethane. The inner diameter of the inner tube 45 is formed to be equal to the inner diameter of the guide tube 5, whereby the inside of the inner tube 45 is set as a channel 5 a of the guide tube 5 and a series of channels 45 a.

  The outer tube 46 is configured by an elastic member such as a rubber tube. The outer tube 46 can be elastically deformed (expanded and contracted) in accordance with the internal pressure applied by the fluid supplied from the fluid adjusting unit 4. That is, when the fluid (air) is supplied from the fluid adjusting unit 4 between the inner tube 45 and the outer tube 46, the inner tube 45 cannot be deformed with respect to the internal pressure applied by the fluid. On the other hand, the outer tube 46 can be elastically deformed.

  The front connection cap 47 is formed of a stepped, substantially cylindrical member. The middle of the guide tube 5 is bonded and fixed to the inner periphery of the front connection base 47 on the front end side.

  Further, the distal end side of the inner tube 45 is bonded and fixed to the outer periphery on the proximal end side of the front connection cap 47. In addition, on the base end side of the front connection base 47, the outer tube 46 is bonded and fixed to the outer periphery of the inner tube 45 via a spacer 50, and the outer tube 46 is connected to the outer periphery of the outer tube 46 on the distal end side. Is fixed by bonding. The spacer 50 of the present embodiment has a function as a seal member, and the distal ends of the inner tube 45 and the outer tube 46 are hermetically sealed by adhesion via the spacer 50.

  The rear connection base 48 is formed of a stepped and substantially cylindrical member. The middle of the guide tube 5 is bonded and fixed to the inner periphery of the base end side of the rear connection base 48.

  Further, the proximal end side of the inner tube 45 is bonded and fixed to the outer periphery of the distal end side of the rear connection base 48. In addition, on the distal end side of the rear connection base 48, the proximal end side of the outer tube 46 is bonded and fixed to the outer periphery of the inner tube 45 via the spacer 50, and the outer periphery on the proximal end side of the outer tube 46 is exteriorly attached The tube 51 is bonded and fixed. The spacer 50 of this embodiment has a function as a seal member, and the proximal end sides of the inner tube 45 and the outer tube 46 are hermetically sealed by adhesion via the spacer 50.

  A pressure chamber 53 is formed between the inner tube 45 and the outer tube 46 held by the front connection base 47 and the rear connection base 48. In order to supply fluid into the pressure chamber 53, a joint 52 is provided in the spacer 50, and the joint 52 is connected to a distal end side of a fluid supply pipe 55 that can supply air as fluid.

  In the auxiliary brake unit 3 configured as described above, when the pressure chamber 53 is opened to the atmosphere, the outer tube 46 is in a contracted state and extends along the longitudinal direction together with the inner tube 45 ( 1 and 2).

  On the other hand, when air is supplied into the pressure chamber 53, the outer tube 46 starts to expand and displaces in the diameter increasing direction. Then, a part of the outer tube 46 displaced in the expanding direction is brought into sliding contact with an object such as an inner wall of the pipe 100, so that the auxiliary brake unit 3 is prohibited from moving in the pipe 100 or the like. That is, the auxiliary brake unit 3 prohibits the movement of the guide tube 5 relative to the object such as the pipe 100 on the proximal end side with respect to the second drive unit 2B.

  Here, since the auxiliary brake unit 3 has a configuration that does not include a slider or the like, the outer diameter of the auxiliary brake unit 3 is sufficiently smaller than that of the first and second drive units 2A and 2B.

  As shown in FIG. 1, the fluid adjustment unit 4 includes a compressor 65 for compressing air that is a working fluid, and a regulator 66 for adjusting the air pressure of the air compressed by the compressor 65 to a preset reference pressure. An electropneumatic proportional valve 67 for regulating the air pressure adjusted to the reference pressure by the regulator 66 to an arbitrary control pressure P, a control computer 68 for driving and controlling the electropneumatic proportional valve 67, It is comprised.

  In the present embodiment, the electropneumatic proportional valve 67 includes a first front fluid supply pipe 15A, a first rear fluid supply pipe 16A, a second front fluid supply pipe 15B, and a second rear fluid supply pipe 16B. And a fluid supply pipe 55 is connected.

  The electropneumatic proportional valve 67 is individually connected to the first front pressure chamber 17A and the first rear pressure chamber 18A via the first front fluid supply pipe 15A and the first rear fluid supply pipe 16A. It is possible to supply air regulated to the control pressure P.

  The electropneumatic proportional valve 67 is connected to the second front pressure chamber 17B and the second rear pressure chamber 18B via the second front fluid supply pipe 15B and the second rear fluid supply pipe 16B. It is possible to supply air regulated to individual control pressures P.

  Further, the electropneumatic proportional valve 67 can supply the air regulated to the control pressure P to the pressure chamber 53 via the fluid supply pipe 55.

  In this case, the electropneumatic proportional valve 67 adjusts, for example, the first control pressure P1 and the second control pressure P2 that is higher than the first control pressure P1 by a predetermined pressure as the air control pressure P. Is possible.

  On the other hand, the electropneumatic proportional valve 67 opens the first front fluid supply pipe 15A and the first rear fluid supply pipe 16A to the atmosphere individually, thereby allowing the first front pressure chamber 17A and the first rear pressure to be released. The air supplied to the chamber 18A can be discharged.

  In addition, the electropneumatic proportional valve 67 opens the second front side fluid supply pipe 15B and the second rear side fluid supply pipe 16B to the atmosphere separately, thereby allowing the second front pressure chamber 17B and the second rear pressure chamber to be opened. The air supplied to 18B can be discharged.

  Furthermore, the electropneumatic proportional valve 67 can discharge the air supplied to the pressure chamber 53 by opening the fluid supply pipe 55 to the atmosphere.

  Next, an example of a moving procedure during normal operation of the moving apparatus 1 configured as described above will be described with reference to a flowchart of FIG. In the following description, an example in which a user or the like moves forward in the pipe 100 by performing an operation input will be described. For example, an automatic operation performed by a program or the like preset in the control computer 68 is described. It is also possible to do this.

The moving device 1 moves forward or backward by moving, gripping and releasing the first brake 30A and the second brake 30B of the first and second drive units 2A and 2B in the pipe 100.
In this movement procedure, first, in a state where the first and second drive units 2A and 2B of the moving device 1 are inserted into the pipe 100, an operation input to the fluid adjustment unit 4 by a user or the like is performed. The operation of the second brake 30B is released (step S101).

  That is, the fluid adjustment unit 4 opens the second front pressure chamber 17B and the second rear pressure chamber 18B to the atmosphere by the control of the electropneumatic proportional valve 67 of the control computer 68. Accordingly, the second front slider 21B and the second rear slider 22B are relatively moved in a direction away from each other by the urging force of the second coil spring 23B. Then, the operation of the second brake 30B is released by the front swing body 32 and the rear swing body 33 lying down by this relative movement.

  Next, when an operation input to the fluid adjustment unit 4 by a user or the like is performed, the second slider unit 20B is moved to the proximal end side of the second elastic tube 10B (step S102), and further, the second The second brake 30B is actuated on the base end side of the elastic tube 10B (step S103).

  That is, the fluid adjusting unit 4 controls the electro-pneumatic proportional valve 67 of the control computer 68 to adjust the air adjusted to the first control pressure P1 to the second front pressure through the second front fluid supply pipe 15B. Supply to chamber 17B. Accordingly, the second slider unit 20B moves from the distal end side to the proximal end side on the second elastic tube 10B. Even after the movement of the second slider unit 20B to the base end side is restricted by the stopper ring 40 located on the base end side, the second front slider 21B keeps the pressure from the second front pressure chamber 17B. Then, it further moves to the proximal end side and approaches the second rear slider 22B against the urging force of the second coil spring 23B. As a result, the front rocking body 32 and the rear rocking body 33 of the second brake 30B provided in the second slider unit 20B are displaced in the diameter-enlarging direction of the second elastic tube 10B, and the locking claws 37 are moved. It is slidably contacted with the inner peripheral surface of the pipe 100.

  Thereafter, an operation input to the fluid adjustment unit 4 by a user or the like is performed, so that the operation of the first brake 30A is released (step S104).

  That is, the fluid adjusting unit 4 opens the first front pressure chamber 17A and the first rear pressure chamber 18A to the atmosphere by the control of the electropneumatic proportional valve 67 of the control computer 68. Accordingly, the first front slider 21A and the first rear slider 22A are relatively moved in a direction away from each other by the biasing force of the first coil spring 23A. As a result of this relative movement, the front-side rocking body 32 and the rear-side rocking body 33 are laid down, so that the operation of the first brake 30A is released.

  Next, when an operation input to the fluid adjusting unit 4 by a user or the like is performed, the first slider unit 20A is moved to the distal end side of the first elastic tube 10A (step S105), and further, the first slider unit 20A is moved to the first elastic tube 10A. On the distal end side of the elastic tube 10A, the first brake 30A is operated (step S106).

  In other words, the fluid adjusting unit 4 controls the first rear pressure supply air through the first rear fluid supply pipe 16A by adjusting the first control pressure P1 by controlling the electropneumatic proportional valve 67 of the control computer 68. Supply to the side pressure chamber 18A. Thereby, the first slider unit 20A moves from the proximal end side to the distal end side on the first elastic tube 10A.

In this case, since the movement of the first drive unit 2A in the longitudinal direction is prohibited by the sliding contact of the second brake 30B in the pipe 100, the first slider unit 20A is located in the pipe 100 at the base end. Move from side to tip.
Even after the movement of the first slider unit 20A toward the front end side is restricted by the stopper ring 40 located on the front end side, the first rear slider 22A remains from the first rear pressure chamber 18A. Under pressure, it moves further to the tip side, and approaches the first front slider 21A against the urging force of the first coil spring 23A. As a result, the front rocking body 32 and the rear rocking body 33 of the first brake 30A provided in the first slider unit 20A are displaced in the diameter-enlarging direction of the first elastic tube 10A, and the locking claw portion 37 is moved. It is slidably contacted with the inner peripheral surface of the pipe 100.

  Thereafter, an operation input to the fluid adjustment unit 4 by a user or the like is performed, whereby the operation of the second brake 30B is released (step S107).

  That is, the fluid adjustment unit 4 opens the second front pressure chamber 17B and the second rear pressure chamber 18B to the atmosphere by the control of the electropneumatic proportional valve 67 of the control computer 68. Accordingly, the second front slider 21B and the second rear slider 22B are relatively moved in a direction away from each other by the urging force of the second coil spring 23B. Then, the operation of the second brake 30B is released by the front swing body 32 and the rear swing body 33 lying down by this relative movement.

  Next, when an operation input to the fluid adjustment unit 4 by a user or the like is performed, the second slider unit 20B is moved to the distal end side of the second elastic tube 10B (step S108), and further, the second slider unit 20B is moved to the second elastic tube 10B. The second brake 30B is actuated on the distal end side of the elastic tube 10B (step S109).

  That is, the fluid adjusting unit 4 controls the second rear fluid supply pipe 16B through the second rear fluid supply pipe 16B by adjusting the air adjusted to the first control pressure P1 by the control of the electropneumatic proportional valve 67 of the control computer 68. Supply to the side pressure chamber 18B. Thereby, the second slider unit 20B moves from the proximal end side to the distal end side on the second elastic tube 10B.

  In this case, since the movement of the second drive unit 2B in the longitudinal direction is prohibited by the sliding contact of the first brake 30A in the pipe 100, the second slider unit 20B has a base end in the pipe 100. Move from side to tip.

  Even after the movement of the second slider unit 20B to the front end side is restricted by the stopper ring 40 located on the front end side, the second rear slider 22B remains from the second rear pressure chamber 18B. Under pressure, it moves further to the tip side and approaches the second front slider 21B against the urging force of the second coil spring 23B. As a result, the front rocking body 32 and the rear rocking body 33 of the second brake 30B provided in the second slider unit 20B are displaced in the diameter-enlarging direction of the first elastic tube 10A, and the locking claw portion 37 is moved. It is slidably contacted with the inner peripheral surface of the pipe 100.

  Thereafter, when an operation input to the fluid adjusting unit 4 is performed by a user or the like, the first and second slider units 20A and 20B are moved to the proximal end sides of the first and second elastic tubes 10A and 10B. (Step S110).

  That is, the fluid adjusting unit 4 controls the air adjusted to the second control pressure P2 by the control of the electropneumatic proportional valve 67 of the control computer 68 to the first front fluid supply pipe 15A and the second front fluid. The gas is supplied to the first front pressure chamber 17A and the second front pressure chamber 17B through the supply pipe 15B. Thereby, the first front pressure chamber 17A and the second front pressure chamber 17B start to expand, and the first front slider 21A and the second front slider 21B receive the pressure due to the expansion, thereby The second slider units 20A and 20B maintain the approach state between the first front slider 21A and the first rear slider 22A and the approach state between the second front slider 21B and the second rear slider 22B. The force of the direction which moves on the 1st, 2nd elastic tube 10A, 10B from a front end side to a base end side acts as it is. That is, the second control pressure P2 supplied to the first front pressure chamber 17A and the second front pressure chamber 17B is supplied to the first rear pressure chamber 18A and the second rear pressure chamber 18B. Since the first control pressure P1 is higher than the first control pressure P1, the first rear pressure chamber 18A and the second rear pressure chamber 18B are moved to the base end side in the first and second slider units 20A and 20B. A force in the direction of pushing back acts. In this case, the first and second brakes 30A and 30B provided on the first and second slider units 20A and 20B are in sliding contact with the inner wall of the pipe 100, so The positions of the two slider units 20A and 20B remain unchanged, and the first and second elastic tubes 10A and 10B, the first and second flexible tubes 11A and 11B, and the first and second mesh tubes 12A. , 12B move forward in the pipe 100 integrally. Then, the guide tube 5 advances in the pipe 100 by being pulled by these movements.

  The moving device 1 can advance the guide tube 5 by repeating the procedures of Step S101 to Step S110. That is, after gripping the pipe with the second brake 30B of the slider unit 20B, the first slider unit 20A is moved to the tip side, the pipe is gripped, and then the second slider unit 20B is moved to the tip side. The moving device 1 is sent forward by gripping the upper pipe and further moving the first and second slider units 20A and 20B to the proximal end side. Further, by performing the reverse procedure to that described above, the moving device 1 can also retract the guide tube 5 with the same performance as when moving forward.

  Here, when the guide tube 5 is moved by such a moving device 1, the moving position in the pipe 100 is confirmed by observation using the endoscope 7 protruding from the distal end side end member 13 through the channel 5 a and the like. It is possible.

  Then, after confirming that the first drive unit 2A has passed through the bent conduit portion 101 in the pipe 100 (see FIG. 13) by observation using such an endoscope 7, for example, FIG. By operating the moving device 1 in accordance with the moving procedure shown in FIG. 4, the second drive unit 2B passes through the bent duct portion 101.

  Here, in general, there are many steps 102 or the like for connecting an elbow pipe or the like in the bent conduit portion 101, and such a step 102 is formed by the first and second slider units 20A and 20B. It becomes a factor to inhibit the movement of. In addition, when the second slider unit 20B is passed through the bent duct portion 101, the tube bodies (the second elastic tube 10B and the second flexible tube 11B) constituting the second drive unit 2B. , And the tip side of the second mesh tube 12B) is restrained by the first drive unit 2A that has already passed through the bent duct portion 101. Therefore, it may be difficult to pass the second slider unit 20B through the bent duct portion 101 simply by performing the above-described steps S107 and S108.

  More specifically, for example, as shown in the reference example of FIG. 17, when the second slider unit 20 </ b> B is advanced with respect to the bent duct portion 101, the first elastic tube with respect to the bent duct portion 101 is used. In order to prevent the forward / backward movement of 10B or the like, it is necessary to operate the first brake 30A. For this reason, fluid is supplied into the first front pressure chamber 17A and the first rear pressure chamber 18A. By supplying these fluids, the overall hardness of the tube bodies (the first elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A) constituting the first drive unit 2A increases. In particular, in such a state, the displacement of the distal end side of the second drive unit 2B with respect to the bent conduit portion 101 is limited. Therefore, when the second slider unit 20B is locked to the step 102 or the like, it is difficult to release the second slider unit 20B from the locked state by simply moving the second slider unit 20B forward. It becomes. In addition, when the second slider unit 20B that is in a locked state with respect to the step 102 or the like is advanced, the second elastic tube 10B and the like are relatively moved to the proximal end side, so that the second The drive unit 2B is displaced so as to be pressed against the inner side of the bent pipe section 101 in the bending direction (see the two-dot chain line in FIG. 17), and the second slider unit 20B cannot move into the bent pipe section 101. It is also assumed that it is locked and it is difficult to escape from the bent duct portion 101 itself.

  Therefore, when the second slider unit 20B is passed through the bent duct portion 101, a moving procedure different from that during normal straight traveling is performed as shown in FIG. Here, in the following description, the moving device 1 is in the state after step S110 described above, that is, the first and second slider units 20A and 20B are the proximal end sides of the first and second drive units 2A and 2B. The description will be made on the assumption that the first and second brakes 30A and 30B are in the operating state. In the following description, an example in which a user or the like moves forward in the pipe 100 by performing an operation input will be described. For example, an automatic operation performed by a program or the like preset in the control computer 68 is described. It is also possible to do this.

  In this movement procedure, first, an operation input to the fluid adjustment unit 4 by a user or the like is performed, whereby the auxiliary brake unit 3 is activated (step S201).

  That is, the fluid adjustment unit 4 supplies, for example, air adjusted to the second control pressure P <b> 1 to the pressure chamber 53 through the fluid supply pipe 55 by controlling the electropneumatic proportional valve 67 of the control computer 68. Thereby, the outer tube 46 is displaced in the diameter increasing direction by elastic deformation and is slidably contacted with the inner peripheral surface of the pipe 100 (see FIGS. 12 and 14).

  Thereafter, an operation input to the fluid adjustment unit 4 by a user or the like is performed, so that the operation of the second brake 30B is released (step S202).

  That is, the fluid adjustment unit 4 opens the second front pressure chamber 17B and the second rear pressure chamber 18B to the atmosphere by the control of the electropneumatic proportional valve 67 of the control computer 68. Accordingly, the second front slider 21B and the second rear slider 22B are relatively moved in a direction away from each other by the urging force of the second coil spring 23B. Then, the operation of the second brake 30B is released by the front swing body 32 and the rear swing body 33 lying down by this relative movement.

  Next, when the user performs an operation input to the fluid adjustment unit 4, the first slider unit 20A is moved to the distal end side of the first elastic tube 10A (step S203).

  That is, the fluid adjusting unit 4 reduces the air supplied to the first front pressure chamber 17A to the first control pressure P1 and the second control pressure by controlling the electropneumatic proportional valve 67 of the control computer 68. The air adjusted to the control pressure P2 is supplied to the first rear pressure chamber 18A through the first rear fluid supply pipe 16A. As a result, the first rear pressure chamber 18A starts to expand, and the first rear slider 22A receives the pressure due to the expansion, so that the first slider unit 20A has the first front slider 21A and the first slider 21A. A force in the direction of moving from the proximal end side to the distal end side on the first elastic tube 10A acts while maintaining the approaching state with the first rear slider 22A. That is, the second control pressure P2 supplied to the first rear pressure chamber 18A is higher than the first control pressure P1 supplied to the first front pressure chamber 17A. A force in a direction to push back the first front pressure chamber 17A to the tip side acts on the slider unit 20A. In this case, since the first brake 30A provided in the first slider unit 20A is in sliding contact with the inner wall of the pipe 100, the position of the first slider unit 20A in the pipe 100 remains unchanged. The one elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A are integrally retracted in the pipe 100. At this time, the auxiliary brake unit 3 is in operation, the position on the hand side of the self-propelled device is held, the second brake 30B is released, and the intermediate portion is movable. The position is maintained in the pipe, and the second elastic tube 10B and the like are bent outward in the bending direction of the bent conduit portion 101 by the retreat of the first elastic tube 10A and the like. Note that the procedure of step S203 can be omitted as appropriate.

  Next, when an operation input to the fluid adjustment unit 4 by a user or the like is performed, the second slider unit 20B is moved to the distal end side of the second elastic tube 10B (step S203), and further the second The second brake 30B is operated on the distal end side of the elastic tube 10B (step S204).

  That is, the fluid adjusting unit 4 controls the second rear fluid supply pipe 16B through the second rear fluid supply pipe 16B by adjusting the air adjusted to the first control pressure P1 by the control of the electropneumatic proportional valve 67 of the control computer 68. Supply to the side pressure chamber 18B. Thereby, the second slider unit 20B moves from the proximal end side to the distal end side on the second elastic tube 10B.

  In this case, since the auxiliary brake unit 3 prohibits the movement of the base end side relative to the second drive unit 2B, even if the second slider unit 20B is locked to the step 102 or the like, The second elastic tube 10B and the like are prevented from being displaced inward in the bending direction of the bent duct portion 101. Accordingly, the second slider unit 20B is released from the locked state with the step 102 and the like in the process of advancement to the distal end side of the second elastic tube 10B, and moves to the distal end side in the bent conduit portion 101. Will continue. In particular, when the second elastic tube 10B or the like is bent outward in the bending direction of the bent conduit portion 101 by the procedure of step S203 described above, the second slider unit 20B is connected to the step 102 or the like. The locked state can be released more easily (see FIG. 14).

  Even after the movement of the second slider unit 20B to the front end side is restricted by the stopper ring 40 located on the front end side, the second rear slider 22B remains from the second rear pressure chamber 18B. Under pressure, it moves further to the tip side and approaches the second front slider 21B against the urging force of the second coil spring 23B. As a result, the front rocking body 32 and the rear rocking body 33 of the second brake 30B provided in the second slider unit 20B are displaced in the diameter-enlarging direction of the first elastic tube 10A, and the locking claw portion 37 is moved. It is slidably contacted with the inner peripheral surface of the pipe 100 or the bent pipe section 101.

  Thereafter, an operation input to the fluid adjustment unit 4 by a user or the like is performed, so that the operation of the first brake 30A is released (step S206).

  That is, the fluid adjusting unit 4 opens the first front pressure chamber 17A and the first rear pressure chamber 18A to the atmosphere by the control of the electropneumatic proportional valve 67 of the control computer 68. Accordingly, the first front slider 21A and the first rear slider 22A are relatively moved in a direction away from each other by the biasing force of the first coil spring 23A. As a result of this relative movement, the front-side rocking body 32 and the rear-side rocking body 33 are laid down, so that the operation of the first brake 30A is released.

  Next, when an operation input to the fluid adjustment unit 4 by a user or the like is performed, the first slider unit 20A is moved to the distal end side of the first elastic tube 10A (step S207), and further, the first slider unit 20A is moved to the first elastic tube 10A. On the distal end side of the elastic tube 10A, the first brake 30A is operated (step S208).

  In other words, the fluid adjusting unit 4 controls the first rear pressure supply air through the first rear fluid supply pipe 16A by adjusting the first control pressure P1 by controlling the electropneumatic proportional valve 67 of the control computer 68. Supply to the side pressure chamber 18A. Thereby, the first slider unit 20A moves from the proximal end side to the distal end side on the first elastic tube 10A.

In this case, since the movement of the first drive unit 2A in the longitudinal direction is prohibited by the sliding contact of the second brake 30B in the pipe 100, the first slider unit 20A is located in the pipe 100 at the base end. Move from side to tip.
Even after the movement of the first slider unit 20A toward the front end side is restricted by the stopper ring 40 located on the front end side, the first rear slider 22A remains from the first rear pressure chamber 18A. Under pressure, it moves further to the tip side, and approaches the first front slider 21A against the urging force of the first coil spring 23A. As a result, the front rocking body 32 and the rear rocking body 33 of the first brake 30A provided in the first slider unit 20A are displaced in the diameter-enlarging direction of the first elastic tube 10A, and the locking claw portion 37 is moved. It is slidably contacted with the inner peripheral surface of the pipe 100.

  Thereafter, an operation input to the fluid adjustment unit 4 by a user or the like is performed, whereby the operation of the auxiliary brake unit 3 is released (step S209).

  That is, the fluid adjustment unit 4 opens the pressure chamber 53 to the atmosphere by controlling the electropneumatic proportional valve 67 of the control computer 68. As a result, the outer tube 46 is displaced in the diameter reducing direction, and the operation of the second auxiliary brake unit 3 is released.

  Thereafter, when an operation input to the fluid adjusting unit 4 is performed by a user or the like, the first and second slider units 20A and 20B are moved to the proximal end sides of the first and second elastic tubes 10A and 10B. (Step S210).

  That is, the fluid adjusting unit 4 controls the air adjusted to the second control pressure P2 by the control of the electropneumatic proportional valve 67 of the control computer 68 to the first front fluid supply pipe 15A and the second front fluid. The gas is supplied to the first front pressure chamber 17A and the second front pressure chamber 17B through the supply pipe 15B. Thereby, the first front pressure chamber 17A and the second front pressure chamber 17B start to expand, and the first front slider 21A and the second front slider 21B receive the pressure due to the expansion, thereby The second slider units 20A and 20B maintain the approach state between the first front slider 21A and the first rear slider 22A and the approach state between the second front slider 21B and the second rear slider 22B. The force of the direction which moves on the 1st, 2nd elastic tube 10A, 10B from a front end side to a base end side acts as it is. That is, the second control pressure P2 supplied to the first front pressure chamber 17A and the second front pressure chamber 17B is supplied to the first rear pressure chamber 18A and the second rear pressure chamber 18B. Since the first control pressure P1 is higher than the first control pressure P1, the first rear pressure chamber 18A and the second rear pressure chamber 18B are moved to the base end side in the first and second slider units 20A and 20B. A force in the direction of pushing back acts. In this case, the first and second brakes 30A and 30B provided on the first and second slider units 20A and 20B are in sliding contact with the inner wall of the pipe 100, so The positions of the two slider units 20A and 20B remain unchanged, and the first and second elastic tubes 10A and 10B, the first and second flexible tubes 11A and 11B, and the first and second mesh tubes 12A. , 12B move forward in the pipe 100 integrally. Then, the guide tube 5 advances in the pipe 100 by being pulled by these movements.

  The second slider unit 20B and the like can be accurately passed through the bent duct portion 101 by the procedure of step S201 to step S210. That is, when the second slider unit 20B is allowed to pass after the first slider unit 20A passes through the bent conduit portion 101 of the pipe, the auxiliary brake unit 3 on the base end side is operated to hold the pipe in a state where the pipe is gripped. The first elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A are retracted to the proximal end side to be loosened, and the second slider unit 20B is moved to the distal end side to thereby move the pipe bending portion. It makes it easier to pass by reducing the resistance on the inner peripheral surface.

  It should be noted that the above-described steps S201 to S210 can be repeated a preset number of times. Alternatively, the second slider unit 20B is provided with a piezoelectric element or the like for determining whether or not it has passed through the bent pipe section 101, and the pressure detected by the piezoelectric element or the like becomes equal to or lower than a set threshold value. Until it is determined that 20B has passed through the bent duct portion 101, the above-described steps S201 to S210 can be repeated.

  According to such an embodiment, the first elastic tube 10A, the first slider unit 20A provided on the outer peripheral side of the first elastic tube 10A and movable in the longitudinal direction of the first elastic tube 10A, The first drive unit 2A having a first brake 30A that is displaceable in the diameter increasing direction of the first slider unit 20A, the second elastic tube 10B, and the outer periphery of the second elastic tube 10B. The second slider unit 20B is movable in the longitudinal direction of the second elastic tube 10B, and the second brake 30B is displaceable in the diameter increasing direction of the second slider unit 20B. The second drive unit 2B connected to the base end side with respect to the drive unit 2A and the outer tube 46 as an auxiliary brake displaceable in the diameter increasing direction, By configuring the moving device 1 with the auxiliary brake unit 3 continuously provided on the base end side from the knit 2B, even when the bent pipe portion 101 exists in the sandwiched space such as the pipe 100, The second slider unit 20B can be accurately passed through the bent duct portion 101.

  That is, after the first drive unit 2A has passed through the bent conduit portion 101, the outer tube 46 of the auxiliary brake unit 3 is displaced in the diameter-expanding direction by elastic deformation (that is, the auxiliary brake unit 3 is operated), When the second slider unit 20B is moved from the proximal end side to the distal end side of the second elastic tube 10B in the bent pipe section 101 by slidingly contacting the pipe 100, which is the object, temporarily Even when the state in which the second slider unit 20B is locked to the step 102 or the like occurs, the second elastic tube 10B, the guide tube 5 and the like move relatively to the proximal end side, and the second drive unit 2B. Can be prevented from being displaced so as to be pushed inwardly in the bending direction of the bent duct portion 101. Therefore, it is possible to prevent the second slider unit 20B from being locked in the bent duct portion 101 so as not to move. Accordingly, even if the second slider unit 20B is locked to the step 102 or the like in the bent duct portion 101, for example, the second slider unit 20B is repeatedly moved forward and backward with respect to the elastic tube 10B or the like. 20B can be made to escape from the locked state, and the second slider unit 20B can be accurately passed through the bent duct portion 101 and the like.

  In this case, after the auxiliary brake unit 3 is operated, the first slider unit 20A is moved from the proximal end side to the distal end side of the first elastic tube 10A or the like with the first brake 30A being operated. The first elastic tube 10A and the like can be retracted and the second elastic tube 10B and the like can be bent in a predetermined manner inside the bent duct portion 101 and the like. Thereby, it is possible to give a degree of freedom when the second slider unit 20B moves forward with respect to the bent pipeline portion 101 and the like, and even when there is a step 102 or the like, In contrast, the second slider unit 20B can be passed more accurately.

  Here, for example, as shown in FIG. 18, the outer diameter φ2 of the second drive unit 2B when the second brake 30B is not in operation is within the allowable range in terms of structure and function. It is also possible to set 30A relatively smaller than the outer diameter φ1 of the first drive unit 2A when not in operation. By comprising in this way, the 2nd slider unit 20B can be passed more correctly with respect to the bending pipe line part 101. FIG.

  Further, for example, as shown in FIG. 19, it is possible to provide the auxiliary brake unit 3 also on the tip side of the first drive unit 2A. With this configuration, the first slider unit 20A can be accurately passed through the bent pipe line portion 101 and the like not only when the bent pipe line portion 101 becomes a problem but also when retracting. .

  For example, as shown in FIG. 20, the length L2 of the second elastic tube 10B or the like can be set to be relatively longer than the length L1 of the first elastic tube 10A or the like. With this configuration, the second elastic tube 10B can be suitably bent inside the bent conduit portion 101 and the like, and the second slider unit 20B can be more accurately attached to the bent conduit portion 101 and the like. Can be passed through.

  Further, for example, as shown in FIG. 21 or FIGS. 22 and 23, the auxiliary brake unit 3 can be configured to be detachable from the guide tube 5.

  In the example shown in FIG. 21, the auxiliary brake unit 3 has a base portion 70 made of an elastic body formed in a spiral shape, and a balloon 71 as a tube-like auxiliary brake provided on the outer peripheral portion of the base portion 70. Configured. The auxiliary brake unit 3 can be attached to the guide tube 5 by being wound around the outer periphery of the guide tube 5 while elastically deforming the base portion 70. Note that the fixing of the base portion 70 to the guide tube 5 can be realized by a frictional force by elastically pressing the base portion 70 against the guide tube 5 or by using a not-shown face tape or the like. it can.

  With such a detachable configuration, the auxiliary brake unit 3 can be provided on the moving device 1 by retrofitting.

  22 and 23, the auxiliary brake unit 3 includes a base portion 72 having a substantially cylindrical shape, and a sheet-like balloon 73 as an auxiliary brake provided on the outer peripheral portion of the base portion 72. It is configured.

  The base portion 72 of this modification has a pair of semi-cylindrical members 74 and 75, and one side of these semi-cylindrical members 74 and 75 is connected via a hinge 76. Further, of the pair of semi-cylindrical members 74, 75, a hook 74 a is provided on the other side of one semi-cylindrical member 74, and a convex portion that can be engaged with the hook 74 a on the other side of the other semi-cylindrical member 75. 75a is provided.

  The auxiliary brake unit 3 can be mounted on the outer periphery of the guide tube 5 by opening and closing a pair of semi-cylindrical members 74 and 75 that constitute the base portion 72. As shown in FIG. 23, the fluid supply pipe 55 for supplying fluid to the auxiliary brake unit 3 of this modification is wound around the outer periphery of the guide tube 5.

  With such a detachable configuration, the auxiliary brake unit 3 can be provided on the moving device 1 by retrofitting.

  For example, as shown in FIG. 24, the auxiliary brake unit 3 can be configured to be movable in the longitudinal direction with respect to the guide tube 5.

  The auxiliary brake unit 3 in the present modification includes an inner tube 77 disposed on the outer peripheral side of the guide tube 5, an outer tube 78 serving as an auxiliary brake that covers the outer peripheral side of the inner tube 77, the inner tube 77, and the outer tube 77. A front base 79 and a rear base 80 connected to the distal end and the base end of the tube 78, and a guide tube outer 81 that covers the outer periphery of the guide tube 5 are configured.

  The distal end side of the inner tube 77 and the distal end side of the outer tube 78 are bonded and fixed to the front base 79, whereby the distal end side of the inner tube 77 and the distal end side of the outer tube 78 are hermetically sealed. Similarly, the proximal end side of the inner tube 77 and the proximal end side of the outer tube 78 are bonded and fixed to the rear base 80, whereby the proximal end side of the inner tube 77 and the proximal end side of the outer tube 78 are hermetically sealed. It is sealed. And by these sealing, the pressure chamber 82 is formed between the inner tube 77 and the outer tube 78. Further, the distal end side of the fluid supply pipe 55 communicates with the pressure chamber 82 on the proximal end side of the inner tube 77 and the outer tube 78.

  Further, the inner peripheral surfaces of the front base 79 and the rear base 80 are in sliding contact with the outer peripheral surface of the guide tube 5 via an O-ring 83.

  Further, the distal end portion of the guide tube outer 81 is fixed to the proximal end portion of the rear base 80 in a liquid-tight manner.

  According to such a configuration, the relative distance between the second drive unit 2 </ b> B and the auxiliary brake unit 3 can be appropriately adjusted by moving the front base 79 and the rear base 80 relative to the guide tube 5. it can.

  In this case, the movement of the front base 79 and the rear base 80 can be realized by relatively moving the guide tube outer 81 on the proximal end side of the guide tube 5. Alternatively, it can be realized by supplying or sucking air or the like between the guide tube 5 and the guide tube outer 81.

  Further, for example, as shown in FIG. 25, the auxiliary brake unit 3 includes an elastic tube 85 as an auxiliary brake that is directly fixed to the outer periphery of the guide tube 5 via a bobbin adhering portion 86. Is also possible.

  Here, the base end side of the elastic tube 85 of this modification is being fixed to the outer periphery of the guide tube 5 in the state folded in the bag shape inside. As a result, as shown by a two-dot chain line in FIG. 25, when a fluid from a fluid supply pipe (not shown) is supplied to the inside of the elastic tube 85, the elastic tube 85 is displaced in the diameter-expanding direction and the proximal end side. It is displaced to.

  If comprised in this way, after the elastic tube 85 is slidably contacted with inner peripheral surfaces, such as piping 100, the guide tube 5 can be extruded to the front end side of a longitudinal direction.

  For example, as shown in FIG. 26, the auxiliary brake unit 3 includes an annular member 88 fixed to the outer periphery of the guide tube 5 and a plurality of small balloons as auxiliary brakes extending to the proximal end side of the annular member 88. 89, and can be configured.

  If comprised in this way, the guide tube 5 will be pushed out to the front end side of a longitudinal direction, after the several small balloon 89 is slidably contacted to inner peripheral surfaces, such as piping 100, similarly to the modification shown in FIG. be able to.

  For example, as shown in FIGS. 27 and 28, the auxiliary brake unit 3 includes an annular member 90 fixed to the outer periphery of the guide tube 5, and an auxiliary brake whose tip side is swingably supported by the annular member 90. The plurality of oscillating bodies 91, the latching claw portions 92 provided on the plurality of oscillating bodies 91, and the balloon 93 provided on the inside of the plurality of oscillating bodies 91 can also be configured. .

  With this configuration, when a fluid from a fluid supply pipe (not shown) is supplied to the balloon 93, the proximal end side of the rocking body 91 is displaced in the diameter-enlarging direction so that the locking claw 92 is connected to the pipe 100 or the like. It is possible to make sliding contact with the inner peripheral surface.

  For example, as shown in FIGS. 29 and 30, the auxiliary brake unit 3 includes an annular member 94 fixed to the outer periphery of the guide tube 5, and a crooked shape in which the tip end side is swingably supported by the annular member 94. It is also possible to have an umbrella portion 95 serving as an auxiliary brake and a balloon 96 provided inside the umbrella portion 95.

  With this configuration, when a fluid from a fluid supply pipe (not shown) is supplied to the balloon 96, the proximal end side of the umbrella part 95 is displaced in the diameter-expanding direction so as to be in sliding contact with the inner peripheral surface of the pipe 100 or the like. It becomes possible to make it.

  In addition, for example, as shown in FIG. 31, it is also possible to provide a stretchable portion 97 that can be stretched in the longitudinal direction between the first drive unit 2A and the second drive unit 2B. The stretchable portion 97 is formed of, for example, a bellows-like cylindrical member, and can be bent with a smaller force than the guide tube 5 or the like.

  If comprised in this way, it will become easy to displace the 2nd drive unit 2B, and it will become possible to pass the 2nd slider unit 20B more accurately with respect to the bending pipe line part 101. FIG.

  In addition, for example, as shown in FIG. 32, it is also possible to provide a stretchable portion 97 that can be stretched in the longitudinal direction between the second drive unit 2B and the auxiliary brake unit 3. For example, the stretchable portion 97 is drunk with a bellows-like cylindrical member, and can be bent with a smaller force than the guide tube 5 or the like.

  If comprised in this way, it will become easy to displace the 2nd drive unit 2B, and it will become possible to pass the 2nd slider unit 20B more accurately with respect to the bending pipe line part 101. FIG.

  Also, for example, as shown in FIGS. 33 and 34, the guide tube 5 is divided into a first guide tube 5A and a second guide tube 5B between the second drive unit 2B and the auxiliary brake unit 3. However, it is also possible to adopt a configuration in which these are connected via the connecting portion 110 so as to be able to come in contact with and separate from each other.

  In this case, the connecting portion 110 includes a first connector portion 111 provided at the proximal end of the first guide tube 5A and a second connector portion 112 provided at the distal end of the second guide tube 5B. It is configured.

  As shown in FIG. 34, the first connector portion 111 is rotatable to a connector portion main body 115 made of a base fixed to the base end of the first guide tube 5A and an outer peripheral portion of the connector portion main body 115. And a female screw member 116 held on the head.

  Inside the connector portion main body 115, an opening portion 115a for communicating with the channel 5a of the first guide tube 5A is provided.

  In addition, on the base end surface of the connector section main body 115, the first and second front fluid supply pipes 15A and 15B and the first and second rear fluid supply pipes 16A inserted into the first guide tube 5A are provided. , 16B are provided with fluid connector pins 115b.

  In addition, on the base end surface of the connector unit main body 115, for example, when various sensors such as an image sensor and an ultrasonic probe are provided on the distal end side termination member 13 or the like, the signal line signal line and the electrical line of these sensors are electrically connected. The electrode pin 115c connected to is provided.

  Further, a guide pin 115 d for positioning with the second connector portion 112 is provided on the base end surface of the connector portion main body 115.

  The 2nd connector part 112 is comprised by the nozzle | cap | die fixed to the front-end | tip of the 2nd guide tube 5B.

  An opening 112a communicating with the channel 5a of the second guide tube 5B is provided inside the second connector portion 112.

  The first connector portion 112 is inserted into the second guide tube 5B at positions corresponding to the fluid connector pins 115b of the first connector portion 111 at the front end surface of the second connector portion 112. Fluid connector pin receiving portions 112b communicating with the front fluid supply pipes 15A and 15B and the first and second rear fluid supply pipes 16A and 16B are provided.

  In addition, an electrode plate 112 c is provided at a position corresponding to each electrode pin 115 c of the first connector portion 111 on the distal end surface of the second connector portion 112.

  In addition, a guide groove 112 d corresponding to the guide pin 115 d of the first connector portion 111 is provided on the distal end surface of the second connector portion 112.

  Furthermore, a male screw portion 112e that can be screwed with the female screw member 116 of the first connector portion 111 is provided on the outer periphery on the distal end side of the second connector portion 112.

  In the first connector portion 111 and the second connector portion 112, each fluid connector pin 115b is inserted into the corresponding fluid connector pin receiving portion 112b, and each electrode pin 115c is electrically connected to the corresponding electrode plate 112c. Furthermore, in a state where the guide pin 115d is inserted into the guide groove 112d, the female screw member 116 is connected by being screwed to the male screw portion 112e.

  If comprised in this way, it will become possible to connect the 2nd guide tube 5B of arbitrary length prepared beforehand replaceably with respect to 5 A of 1st guide tubes, for example. Further, by preparing in advance a plurality of second guide tubes 5B provided with auxiliary brake units 3 having different specifications, a combination of the first and second drive units 2A and 2B and the auxiliary brake unit 3 can be used. It is also possible to arbitrarily change it accordingly.

  For example, as shown in FIGS. 35 and 36, a blade 120 made of the same mesh tube as the first and second mesh tubes 12A and 12B is provided on the outer peripheral side of the outer tube 46 of the auxiliary brake unit 3. It is also possible. The blade 120 serves to protect the outer tube 46 from damage and the like, and to improve the sliding resistance when the auxiliary brake unit 3 is operated.

  In this case, for example, the tip side of the blade 120 is slidable along the longitudinal direction of the guide tube 5 in order to greatly deform the mesh and ensure a sufficient amount of deformation in the diameter expansion direction of the blade 120.

  More specifically, an annular member 121 slidable in the longitudinal direction of the guide tube 5 is provided on the front end side of the front connection base 47. The outer periphery of the annular member 121 is covered with the tip side of the blade 120. Further, a front blade base 122 is fitted on the outer periphery of the blade 120 on the front end side, whereby the front end side of the blade 120 is held by the annular member 121.

  On the other hand, the base end side of the blade 120 is disposed so as to cover the outer periphery of the rear connection base 48. A rear blade base 123 is fitted on the outer periphery of the base end side of the blade 120, whereby the base end side of the blade 120 is held by the rear connection base 48.

  If comprised in this way, when the outer tube 46 is deform | transformed in the diameter expansion direction, the front end side (annular member 121) of the braid | blade 120 will be drawn near to the front connection nozzle | cap | die 47 side (refer FIG. 36). As a result, the mesh of the blade 120 is allowed to be greatly deformed, and the blade 120 can be deformed integrally with the outer tube 46 in the diameter increasing direction.

  For example, as shown in FIGS. 37 and 38, a blade 120 made of the same mesh tube as the first and second mesh tubes 12A and 12B is provided on the outer peripheral side of the outer tube 46 of the auxiliary brake unit 3. It is also possible. In this case, the blade 120 serves to protect the outer tube 46 from breakage and the like and to improve the sliding resistance when the auxiliary brake unit 3 is operated.

  In this modification, the front end side of the blade 120 is disposed so as to cover the outer periphery of the front connection base 47. The front blade base 122 is fitted on the outer periphery of the blade 120 at the front end side, whereby the front end side of the blade 120 is held by the front connection base 47.

  Further, the base end side of the blade 120 is disposed so as to cover the outer periphery of the rear connection base 48. A rear blade base 123 is fitted on the outer periphery of the base end side of the blade 120, whereby the base end side of the blade 120 is held by the rear connection base 48.

  In this case, the inner tube 45 is formed in an accordion shape and can be expanded and contracted in the longitudinal direction in order to greatly deform the mesh and ensure a sufficient amount of deformation of the blade 120 in the diameter increasing direction.

  If comprised in this way, when the outer tube 46 will be deform | transformed in the diameter-expanding direction, the inner tube 45 will be shrunk | retracted to a longitudinal direction (refer FIG. 38). As a result, the mesh of the blade 120 is allowed to be greatly deformed, and the blade 120 can be deformed integrally with the outer tube 46 in the diameter increasing direction.

  Further, for example, as shown in FIGS. 39 and 40, the auxiliary brake unit 3 provided with a blade can be divided into two in the longitudinal direction so as to be detachable from the guide tube 5.

  More specifically, the auxiliary brake unit 3 of this modification is configured by, for example, connecting two auxiliary brake unit halves 130 having the same shape to each other.

  As shown in FIG. 40, the auxiliary brake unit half body 130 includes a front base half 131 for constituting an annular front base attached to the outer periphery of the guide tube 5 and a guide tube closer to the base end side than the front base. A rear base half 132 for constituting a rear base attached to the outer periphery of the outer base 5, and an outer tube 133 and a blade 134 held between the front base half 131 and the rear base half 132, The front cover half 135 for constituting the front cover for covering the front base and the rear cover half 136 for constituting the rear cover for covering the rear base are configured.

  More specifically, a tube connection portion 131a and a blade connection portion 131b are formed in a step shape on the proximal end side of the front base half 131, and the outer tube 133 is connected to the tube connection portion 131a and the blade connection portion 131b. And the front end side of the blade 134 is connected.

  Further, a tube connecting portion 132a and a blade connecting portion 132b are formed in a step shape on the front end side of the rear base half body 132, and the outer tube 133 and the blade 134 are connected to the tube connecting portion 132a and the blade connecting portion 132b. The proximal side is connected. Further, a fluid connector 132 c for connecting a fluid supply pipe (not shown) to the inside of the outer tube 133 is provided on the base end side of the rear base half 132.

  A hook 135 a is provided on one side of the front cover half 135, and a convex portion 135 b is provided on the other side of the front cover half 135.

  Similarly, a hook 136 a is provided on one side of the rear cover half 136, and a convex portion 136 b is provided on the other side of the rear cover half 136.

  The pair of front base half 131 and rear base half 132 to which the outer tube 133 and the blade 134 are connected in this way are assembled so as to cover the outer periphery of the guide tube 5 from both sides of the guide tube 5.

  Then, the outer periphery of the pair of front base halves 131 is covered by the pair of front cover halves 135, and the hooks 135a are locked to the convex portions 135b, so that the front base halves 131 are placed on the outer periphery of the guide tube 5. Fixed.

  Similarly, the outer periphery of the pair of rear base halves 132 is covered by the pair of rear cover half halves 136, and the hooks 136a are locked to the convex portions 136b. 5 is fixed to the outer periphery.

  With such a detachable configuration, the auxiliary brake unit 3 can be provided on the moving device 1 by retrofitting.

  In addition, this invention is not limited to each embodiment described above, A various deformation | transformation and change are possible, and they are also in the technical scope of this invention. Needless to say, the configurations of the above-described embodiments and modifications may be combined as appropriate.

DESCRIPTION OF SYMBOLS 1 ... Moving apparatus 2A ... Drive unit 2A ... 1st drive unit 2B ... 2nd drive unit 3 ... Auxiliary brake unit 4 ... Fluid adjustment part 5 ... Guide tube 5a ... Channel 7 ... Endoscope 10A ... 1st elasticity Tube (first tube body)
10B ... 2nd elastic tube (2nd tube body)
11A: First flexible tube (first tube body)
11B ... 2nd flexible tube (2nd tube body)
11a: Channel 12A: First mesh tube (first tube body)
12B ... 2nd mesh tube (2nd tube body)
13 ... Front end side termination member 13a ... Tapered surface 14 ... Termination member 15A ... 1st front side fluid supply pipe 15B ... 2nd front side fluid supply pipe 16A ... 1st back side fluid supply pipe 16B ... 2nd back side fluid Supply pipe 17A ... first front pressure chamber 17B ... second front pressure chamber 18A ... first rear pressure chamber 18B ... second rear pressure chamber 19 ... proximal end member 20A ... first slider unit 20B ... 2nd slider unit 21A ... 1st front slider 21B ... 2nd front slider 21a ... Projection protrusion 21b ... Guide groove 22A ... 1st back slider 22B ... 2nd back slider 22a ... For guide Projection 22b ... Guide groove 23A ... First coil spring 23B ... Second coil spring 25 ... Slider body 26 ... Roller 26a ... Rolling surface 30A ... 1 brake 30B ... 2nd brake 31 ... brake member 32 ... front rocking body 32a ... claw cover 33 ... rear rocking body 33a ... claw cover 34 ... shaft 35 ... shaft 36 ... locking claw 37 ... locking Claw part 38 ... Connecting member 40 ... Stopper ring 41 ... Leak hole 45 ... Inner tube 45a ... Channel 46 ... Outer tube 47 ... Front side connecting base 48 ... Rear side connecting base 49 ... Outer tube 50 ... Spacer 51 ... Outer tube 52 ... Joint 53 ... Pressure chamber 55 ... Fluid supply pipe 65 ... Compressor 66 ... Regulator 67 ... Electropneumatic proportional valve 68 ... Control computer 70 ... Base part 71 ... Balloon 72 ... Base part 73 ... Balloon 74 ... Semi-cylindrical member 74a ... Hook 75 ... Semi-cylindrical member 75a ... Convex part 76 ... Hinge 77 ... Inner tube 78 ... Outer Tube 79 ... Front base 80 ... Rear base 81 ... Guide tube outer 82 ... Pressure chamber 83 ... O-ring 85 ... Elastic tube 86 ... Pincushion bonding part 87 ... Locking claw part 88 ... Ring member 89 ... Small balloon 90 ... Ring member 91 ... Oscillator 92 ... Locking claw part 93 ... Balloon 94 ... Annular member 95 ... Umbrella part 96 ... Balloon 97 ... Stretchable part 100 ... Pipe line 101 ... Bent pipe part 102 ... Step 110 ... Connection part 111 ... First Connector part 112 ... Second connector part 112a ... Opening part 112b ... Fluid connector pin receiving part 112c ... Electrode plate 112d ... Guide groove 112e ... Male screw part 115 ... Connector part body 115a ... Opening part 115b ... Fluid connector pin 115c ... Electrode Pin 115d ... Guide pin 116 ... Female thread 120 ... Blade 121 ... Shaped member 122 ... front blade base 123 ... rear blade base 130 ... auxiliary brake unit half 131 ... front base half 131a ... tube connecting part 131b ... blade connecting part 132 ... rear base half 132a ... tube connecting part 132b ... Blade connecting part 133 ... Outer tube 134 ... Blade 135 ... Front cover half 135a ... Hook 135b ... Convex part 136 ... Rear cover half 136a ... Hook 136b ... Convex part

Claims (9)

A flexible first tube body, a first slider unit provided on an outer peripheral side of the first tube body and movable in a longitudinal direction of the first tube body, and the first slider unit A first drive unit having a first brake displaceable in a diameter-expanding direction of
A flexible second tube body, a second slider unit provided on an outer peripheral side of the second tube body and movable in a longitudinal direction of the second tube body, and the second slider unit A second brake displaceable in the diameter expansion method, and a second drive unit connected to the base end side of the first drive unit,
An auxiliary brake unit having an auxiliary brake that is displaceable in the diameter-expanding direction and that is connected to the base end side of the second drive unit.   The moving device according to claim 1, wherein an outer diameter of the second drive unit is smaller than an outer diameter of the first drive unit.   The moving device according to claim 1, wherein a length of the second tube body is longer than a length of the first tube body.   The moving device according to claim 1, wherein the auxiliary brake unit is fixed to a guide tube provided continuously to a proximal end side of the second drive unit.   The moving device according to claim 1, wherein the auxiliary brake unit is detachably attached to a guide tube that is connected to the base end side of the second drive unit.   The moving device according to claim 1, further comprising an expansion / contraction portion that can expand and contract in a longitudinal direction between the first drive unit and the second drive unit.   The moving device according to claim 1, further comprising an extendable portion that can be extended and contracted in a longitudinal direction between the second drive unit and the auxiliary brake unit. A flexible first tube body, a first slider unit provided on an outer peripheral side of the first tube body and movable in a longitudinal direction of the first tube body, and the first slider unit A first drive unit having a first brake that is displaceable in the diameter-expanding direction, a flexible second tube body, and the second tube body provided on the outer peripheral side of the second tube body. A second slider unit that is movable in the longitudinal direction of the tube body, and a second brake that is displaceable in a method of expanding the diameter of the second slider unit. A second drive unit continuously provided on the side, and an auxiliary brake unit having an auxiliary brake that is displaceable in the diameter-expanding direction and provided on the base end side with respect to the second drive unit. A moving method of a moving device,
An auxiliary brake operation procedure for sliding the auxiliary brake against an object in the nipping space after the first drive unit has passed through the bent pipe line existing in the nipping space;
A first brake operating procedure for bringing the first brake into sliding contact with an object in the sandwiched space;
And a second slider unit advancing procedure for moving the second slider unit from the proximal end side to the distal end side of the second tube body in a state where the operation of the second brake is released. A moving method of a moving device.   Between the first brake operation procedure and the second slider unit advancement procedure, the first slider unit is mounted on the base of the first tube body while the first brake is operated. The moving method of the moving apparatus according to claim 8, further comprising a first slider unit advancing procedure for advancing from the end side to the front end side.

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