JP2730809B2 - Pipe inner working device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe inner surface working device, and more particularly to a pipe line in which curved pipes including straight pipes and deformed pipes are mixed, in particular, running in a water pipe to clean and clean the pipe inner surface. The present invention relates to a pipeline inner surface working device for performing operations such as painting.

[0002]

2. Description of the Related Art Conventionally, in order to provide for maintenance and construction of water pipes and the like, construction, etc., pipe inner surface working devices used for visual inspection, inspection, welding and the like have been manufactured. Various types of working devices are known as the system, and there are two types of devices: a device having a self-propelling capability and a device having no self-propelling capability.

[0003] The conventional apparatus is intended for a horizontal pipe and a pipe having a gentle inclination, and the passage of one deformed pipe is limited, and the passage of a vertical pipe cannot be performed.

[0004]

There are methods such as manual push-in and pulling with a wire rope for a device having no self-propelling ability. However, the manual push-in method has a limitation in human power, so the traveling distance is short. There is a disadvantage that the traction method using a wire rope or the like can be used only when both ends of the pipeline are open.

On the other hand, for a device having a self-propelled ability,
Devices using various power sources have been manufactured, and there are devices that can be used in a line in which straight pipes and bent pipes are mixed. However, there are various types of bent pipes, especially for deformed pipes that are often used in water pipes and are commonly called shrimp pipes.
The shape change is rapid and it is difficult to apply. Also,
Although development is being carried out for water pipes, the passage of a single deformed pipe is the limit, and the layout of applicable pipes is also limited.

[0006]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned drawbacks, and an object of the present invention is to run in a pipe having any arrangement and shape constituted by straight pipes and bent pipes (including deformed pipes). Another object of the present invention is to provide a pipe inner surface working device capable of performing operations such as cleaning and painting.

[0007]

In order to achieve this object, a pipeline inner surface working device according to the present invention includes a work carriage that travels in a pipeline to perform operations such as cleaning and painting of the pipeline inner surface;
The traveling drive vehicle that drives the work vehicle, the traveling drive vehicle, and the control vehicle that controls the work vehicle are connected in order, and the drive wheels that contact the inner wall of the pipeline when the traveling drive vehicle passes through the main traveling drive vehicle and the deformed pipe. Is composed of a sub-driving drive vehicle arranged, the sub-driving drive vehicle is arranged between the work vehicle and the main traveling drive vehicle,
The auxiliary traveling drive vehicle has driving wheels arranged at a predetermined height above a pedestal, and freely rotating wheels arranged below a pedestal.

The main traveling drive vehicle has a link mechanism composed of a panda graph having an upper link pivotally connected at an upper pivot point, a lower link pivotally connected at a lower pivot point, and a pivot mechanism at an upper pivot point of the link mechanism. A front upper drive wheel and a rear upper drive wheel arranged at a predetermined pitch in the front and rear so as to be simultaneously steerable at the same angle on the mounted pedestal; and a front lower part fixed in front and rear to an end of a lower link of the link mechanism. A front driving wheel and a rear lower driving wheel. The front lower driving wheel and the rear lower driving wheel are arranged such that a wheel that freely rotates without contacting the pipe wall in a straight pipe portion of the pipeline is positioned behind the front lower driving wheel.
And one in front of the rear lower drive wheel.

The lower drive wheel includes a cylinder having an outer circumferential groove in the wheel axis direction, a shaft in which a roller coated with rubber or the like is freely rotatably mounted in a circumferential direction of the cylinder, and The shaft is fixed at a predetermined angular pitch and has a hole having a hole that fits with the shaft. The shaft is mounted between the respective shaft stoppers by fitting the hole of the shaft stop with the roller. Are arranged in a plurality of rows, and the adjacent rollers arranged in the plurality of rows are installed in a state of contacting each other.

The work cart has a plurality of legs having freely rotating wheels as supporting legs and auxiliary legs having freely rotating wheels, and one of the legs having freely rotating wheels is mounted on the upper part of the work cart. The telescopic legs, the other legs are fixed at fixed angular pitch intervals in the circumferential direction of the pipe, and are fixed legs, and are separated from the telescopic legs by a predetermined distance in the pipe axis direction at a position substantially displaced by 180 ° in the circumferential direction of the pipe from the telescopic legs. And an auxiliary leg having a wheel which is disposed at a different position and has a gap with the inner surface of the pipe in the straight pipe portion.

[0011]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing a preferred embodiment of a pipe inner surface working device according to the present invention. In the embodiment shown in FIG. 1, the pipe inner surface working device of the present invention
A work vehicle 2 for performing operations such as cleaning and painting the inner surface 1c of the pipeline by traveling inside the vehicle, a traveling drive vehicle 3 for driving the work vehicle,
A control truck 4 for controlling the traveling drive vehicle is connected in order.

The traveling driving vehicle 3 comprises a main traveling driving vehicle 3a and a sub traveling driving vehicle 3b. The sub traveling driving vehicle 3b is disposed between the work vehicle 2 and the main traveling driving vehicle 3a. The auxiliary traveling drive vehicle 3b is pivotally connected only in the same direction. For this reason, one end of the link 5 is
Is pivotally connected at a pivot point 8, and the other end is fixed to the auxiliary traveling drive vehicle 3b. One end of the link 6 is pivotally connected to the main traveling drive vehicle 3 a at a pivot point 9, and the other end is pivotally connected to the sub traveling drive vehicle 3 b at a pivot point 10. One end of the link 7 is pivotally connected to the main traveling drive vehicle 3 a at a pivot point 9, and the other end is pivotally connected to the control carriage 4 at a pivot point 11. Each of the links 5, 6, 7 has two links symmetrically with respect to the paper surface (FIG. 2).

In detail, one end of a link 5 formed of a pipe is connected to a bracket 5a by a bolt 5c (FIG. 9) and is connected to a work carriage 2 at a pivot 8 at a pin 8a.
Are pivotally connected by The pin 8a is fixed to the clamp cart 55 of the work cart 2. The other end of the link 5 is a mounting plate 5 of the pedestal 52 in the auxiliary traveling drive vehicle 3b.
2a (FIG. 8). In this way, the work cart 2 is pivotally connected only in the same direction 2a.
The link 6 and the main traveling drive vehicle 3a and the auxiliary traveling drive vehicle 3b are pivotally connected at pivot points 9 and 10 by pins 9a and 10a. In this way, the main traveling drive vehicle 3a and the sub traveling drive vehicle 3b are pivotally connected only in the same direction 3c, 9c, 9d. Thus, the pivoting direction 2a and the directions 3c, 9c, 9d are the same. However, the work cart 2 does not rotate clockwise around the pivot point 8 from the position shown in FIGS. 1 and 9, but only pivots counterclockwise from that position, and the pivot point 8 Pivot around. Further, the link 7, the main traveling drive vehicle 3 a, and the control carriage 4 are connected to pivot points 9, 11.
Are pivotally connected by pins 9a, 11a. As shown in FIGS. 1 and 2, the other end of the link 7 is fixed to a U-shaped bracket 12.
3 is attached, and the slider 14 is slidable along the groove of the bow-shaped rail 13. The slider 13 is pivotally connected at the pivot point 11 by a pin 11a in the same direction 11b.

As shown in FIGS. 2 and 3, the main driving vehicle 3a of the driving vehicle 3 is symmetrical with respect to the axis X and the axis Y. In FIG. 3, a main traveling drive vehicle 3 a traveling in a pipeline 1 includes an upper link 2 pivotally connected at an upper pivot point 16.
4, 25, lower link 19 pivoted at lower pivot point 9
a, 19b, 23a, 23b, and the upper link 24,
25 and a lower link 23a, 19b have a link mechanism L composed of a panda graph P pivoted at an intermediate pivot point 30. The main traveling drive vehicle 3a has upper drive wheels 15 arranged on a pedestal 15a pivotally attached to an upper pivot point 16 of a link mechanism L at predetermined pitches forward and backward so as to be simultaneously steerable by the same angle. The upper drive wheel 15 is connected to the pivot 1
6 has two drive wheels 15c on a pedestal 15a connected via side plates 15b. The drive wheels 15c are simultaneously steered by the same angle by a steering motor 15d.

The main traveling drive vehicle 3a has two lower drive wheels 17 fixed to the front and rear ends of the lower links 19a and 23b of the link mechanism L, respectively. The two lower drive wheels 17 have wheels 39 that rotate freely without contacting the pipe wall of the pipe line 1 in the straight pipe section at the rear and the front, respectively. That is, in the straight pipe portion of the pipe, the wheel 39 that freely rotates without contacting the pipe wall is located behind the front lower drive wheel 17 by one.
And one in front of the rear lower drive wheel 17. A bracket 18 for fixing the lower rear drive wheel 17 to the lower link 19a and a bracket 20 for pivotally connecting the urging means 21 composed of a cylinder 21a and a piston 21b to the link 19a are pin-connected at a pivot point 22. Is done. The lower front drive wheel 17 is assembled in exactly the same manner in relation to the lower link 23b. The upper links 24 and 25 are pin-connected to the upper driving vehicle side plate 15b at pivot points 16 via brackets 26 and 27 fixed thereto. Also, the upper link 24
Is connected to the lower link 23a via brackets 28 and 29 at a pivot point 30 with a pin. The cylinder 21a is also pin-connected at the pivot point 30 at the same time. The links 23a and 24 and the cylinder 21a are pivotable about the pivot point 30. The same applies to the front biasing means including the cylinder and the piston. Lower links 19a and 19b, lower links 23a and 2
3b is fixedly connected by brackets 31 and 32, and the brackets 31 and 32 are pivotally mounted at a pivot 9 by a pin, and the guide plate 33 is fixed to the pin so as to be horizontal. Links 34 and 35 are links 23a and 19a
Are pivotally connected to the supporting members 36 and 37 fixed to the base. Further, at the pivot point 38, the groove 33 formed in the guide plate 33 is connected to the
a is fitted by a roller follower or the like by a slip pair. The front side is assembled in exactly the same way. The freely rotating wheel 39 is fixed to the bracket 18. The same applies to the front side.

The main traveling drive vehicle 3a configured as described above
When the urging means 21 composed of the cylinder 21a and the piston 21b expands and contracts, the lower drive wheel 17 is pressed through the brackets 20 and 18 against the inner wall of the pipeline 1 to generate a force that pushes up the pivot point 30, and the link 19 , 23 pivot with respect to pivot point 9. As a result, a force is generated that pushes up the pivot point 16 via the links 24 and 25, and the side plate 15
b, push up the upper drive wheel 15c via the pedestal 15a,
The upper drive wheel 15c is pressed against the inner wall of the pipeline 1, the four drive wheels are completely pressed at the pivot point 16 on the inner wall of the pipeline 1, and the rotation of the drive wheel enables traveling in the axial direction of the pipeline. Become. Links 19 and 23 are links 34 and 3
Since the sliding pivot point 38 between the guide plate 5 and the guide plate 33 is movable only in the axial direction of the pipe, the difference in the expansion and contraction speed between the cylinders can be absorbed, and the pantograph P always maintains a symmetrical shape, and each link is connected. It is possible to expand and contract without receiving an unnecessary load, and it is possible to cope with a predetermined change in the pipe diameter.

The function of the freely rotating wheel 39 is useful in a bent pipe. FIG. 4 is a conceptual diagram of traveling of the main traveling drive vehicle 3a in the curved pipe 1a. The figure shows a case where the main traveling drive vehicle is located at the center of the curved pipe (deformed pipe) 1a, wherein 15 is an upper drive wheel and 17 is a lower drive wheel. The figure shows a state in which the lower drive wheel 17 does not touch the inner wall of the bent pipe 1a, but the freely rotating wheel 39 touches the ground. In this case, the lower traveling drive vehicle 17 is connected to the curved pipe 1
In order to contact the inner wall of a, the lower drive wheel 17 needs to be present at the position of the freely rotating wheel 39, which is equivalent to shortening the length of the links 19a and 23b. Is reduced, and the range of the corresponding pipe diameter is reduced, which is disadvantageous. In addition, when the wheels 39 that freely rotate in the state shown in FIG. 4 are removed, the pantograph P extends, and parts other than the wheels of the mechanism of the main traveling drive vehicle 3a come into contact with the inner wall of the curved pipe, and the passage of the curved pipe becomes impossible. From the above, the wheels 39 that freely rotate,
As shown in FIG. 4, it is important to pass through the curved pipe (deformed pipe) 1a, and when passing through the deformed pipe, traveling is performed only by the upper drive wheels 15c2.

FIG. 5 shows the upper driving wheel 1 of the main traveling driving vehicle 3a.
FIG. 5 is a basic structural diagram of an embodiment of No. 5 (two upper drive wheels 15c). The upper drive wheel 15c includes a drive wheel mounting seat 40,
It has a bearing retainer 41, a bearing 42, a bearing retainer 43, a sector gear 44, and a pinion gear 45.
The sector gear 44 is fixed to the bearing retainer 41 with bolts, and the bearing retainer 41 is attached to the drive wheel mounting seat 40.
Is fixed with bolts. The bearing 42 is fitted into the pedestal 15a, and is fixed by the bearing retainers 41 and 43 and the driving wheel mounting seat 40. On the other hand, the pinion gear 45 is fixed to the motor shaft of the steering motor 15d. With the above structure, when the steering motor 15d rotates a predetermined angle,
The engagement between the sector gear 44 and the pinion gear 45 causes the bearing retainer 41 and the drive wheel mounting seat 40 to move into the sector gear 4.
4. The pinion gear 45 is rotated by a predetermined angle according to the gear ratio, the drive wheel 15c is rotated, and steering becomes possible. Since the two drive wheels 15c have the same structure, they can be simultaneously steered by the steering motor 15d.

FIG. 6 is an external view of an embodiment of the lower drive wheel 17, and FIG. 7 is a sectional view thereof. Lower drive wheel 17
Are a metal cylinder 46 having an outer circumferential groove 46a in the circumferential direction, a shaft stopper 47, a roller 48 covered with rubber or the like, a shaft 49 on which the roller 48 is freely rotatably mounted in the circumferential direction of the cylinder 46, a bush. Consists of 50. The shaft stopper 47 is a cylinder 4
6 has a hole 47a fixed at a predetermined angular pitch in the outer peripheral groove and fitted to the shaft 49. As shown in FIG.
Can rotate with respect to the shaft 49. The shaft 49 is the shaft stopper 4
7 is attached by being inserted and fitted into the hole 47a of the shaft stopper 47, and the shaft stopper 47 is attached to the metal cylinder 4
6 are fixed at equal intervals over the entire circumference, so that when the metal cylinder 46 rotates, the roller 48 rotates together with the metal cylinder. Therefore, the drive wheel can slide by rotating the roller 48 left and right with respect to the traveling direction while traveling by rotation. The roller 48 is a metal cylinder 46
Are arranged in two rows along the pipe circumferential direction, and the adjacent rollers 48 arranged in a plurality of rows are arranged to be in contact with each other, so that the two rows of rollers 48 rotate in opposite directions to each other. From the above, the lower drive wheel can slide only when one of the rows of rollers 48 is in contact with the running surface. When both rollers 48 are in contact with the running surface, they have the property of not causing slippage.

This characteristic is used for maintenance of the main traveling drive vehicle,
It has the advantage of being able to stand stably even when placed as a single unit on a flat surface for inspection, etc., and also, when traveling in a pipeline, cleans by steering the upper drive wheel to change the attitude of the main drive vehicle. When changing the posture of the entire work apparatus for painting, an appropriate brake is automatically applied, and the posture can be changed smoothly.

FIG. 8 is an external view of an embodiment of the auxiliary traveling drive vehicle 3b. The auxiliary traveling drive vehicle 3b includes a drive wheel 51a, a drive wheel mounting base 51b, a pedestal 52, legs 53a, and wheels that freely rotate, that is, casters 53b. The drive wheels 51a have the same structure as the upper drive wheels 15c of the main traveling drive vehicle 3a, and the drive wheel mounting base 51b has a height changed according to the applicable pipeline diameter. Drive wheel 51a, mounting base 5
1b and the pedestal 52 are fixed by bolts 51c and 52a, respectively. The height of the leg 53a is also changed according to the pipe diameter, and is fixed with the caster 53b and the bolt 53c.
3a and pedestal 52 are similarly fixed with bolts 52b. The distance from the uppermost part of the drive wheel 51a to the lowermost part of the caster 53b is set to be slightly smaller than the pipe diameter. The auxiliary traveling driving vehicle 3b naturally generates a traveling force only when the driving wheel is pressed against the inner wall of the pipeline, and when the auxiliary wheel 3b is separated from the inner wall of the pipeline, the traveling power is merely generated by rotating even if the driving wheel is driven. Does not occur. In addition, caster 5
3b is for preventing the position of the pivot point 10 from being largely displaced from the center of the pipeline axis due to a change in the pipeline shape.

FIG. 9 shows a basic outline drawing of an embodiment of the work cart 2. The work carriage 2 includes a work head 54, a head 54 equipped with a cleaning brush, a painting nozzle, a visual camera 54a, and the like.
Mechanism 5 for centering and clamping
5, a bracket 56 fixed to the clamp mechanism 55, a bracket 5a fixed to the link 5 with bolts 5c, and an attachment 5b fixed to the link 5. Bracket 56
And 5a are pivotally connected by pins, and the fixture 5b is fixed to the side surface 52c (FIG. 8) of the pedestal 52 of the auxiliary traveling drive vehicle 3b by bolts.

The work cart 2 has extendable and contractible clamp legs 57, fixed legs 58, and auxiliary legs 59. The clamp leg 57 and the fixed leg 58 have two wheels 57a and 58a, and the auxiliary leg 59 has one wheel 59a. Clamp leg 57,
The three legs of the fixed leg 58 are normally mounted at a pitch of 120 ° in the circumferential direction of the pipe, and all of them have lengths changed according to the pipe diameter. The auxiliary leg 59 is disposed slightly rearward on the opposite side of the clamp leg 57 and has a length such that the wheel does not contact the pipe wall in the straight pipe portion. The attachment of the auxiliary leg 59 may be a fixed method or a telescopic method using a spring or the like. The work head 54 is configured to be rotatable in the pipe circumferential direction with respect to the clamp mechanism 55, and the work is performed by centering and fixing the clamp mechanism 55 by the clamp legs. On the other hand, the auxiliary leg 59 is important when pulling out the work cart from the bent pipe. The force for pushing and pulling the work cart is transmitted through the pivot point 8. Most preferably, the force acting on the pivot point 8 in the case of a bent tube is always in a direction along the bent line. This is because the work cart is always kept in a posture along the curved pipe. The number of points in contact with the inner wall of the pipeline increases due to the wheel of the auxiliary leg 59, and the direction of the force acting on the pivot point 8 approaches the direction along the pipeline by bending, and at the same time the wheel of the auxiliary leg 59 contacts the inner wall of the pipeline. It is possible to prevent the work cart from being inclined with respect to the pipe axis direction.

The control trolley 4 is provided with wheels 4a which are normally mounted at a pitch of 120 ° in the circumferential direction of the pipe, and is a mere housing for controlling power supply and signal transmission / reception to the work trolley 2 and the traveling drive vehicle 3. Description is omitted. Finally, the running condition of the pipeline inner surface working device configured as described above will be described using a curved pipe (deformed pipe) as an example.

FIGS. 10 and 11 are conceptual diagrams showing the situation where the apparatus for working on the inner surface of a pipe for polishing and painting according to the present invention passes through the deformed pipe 1a. In order to explain the function including the function of the auxiliary traveling drive vehicle, a pipe from the horizontal straight pipe 1 to the vertical straight pipe 1 via the deformed pipe 1a is shown. When the pipeline inner surface working device approaches the deformed pipe 1a, the steering motor 15d (FIGS. 3 and 5) is operated.
5, the bearing retainer 41 and the drive wheel mounting seat 40 are rotated by a predetermined angle according to the gear ratio of the gears 44 and 45, and the two drive wheels 15c are simultaneously steered and pivoted only in the same direction at the pivot points 9 and 10. The work carriage 2 pivots at the pivot point 8 and is changed in the direction of the deformed pipe 1a by the main traveling drive vehicle 3a and the sub traveling drive vehicle 3b movably connected.

FIG. 10 shows a case where the work cart 2 is present in the deformed pipe 1a. In this case, in the main traveling drive vehicle 3a, the upper and lower drive wheels 15c, 15c, 17, 17
All generate force effectively, and the force pulling the control carriage 4 through the pivot point 9 and the link 7 and the pivot point 9, the link 6,
The force for pushing the work vehicle 2 through the pivot point 10, the auxiliary traveling drive vehicle 3b, the link 5, and the pivot point 8, as well as the pivot point 9, the link 6,
Drive wheels 51a of the auxiliary traveling drive vehicle 3b via the pivot point 10
Is converted into a force that presses against the inner wall of the pipeline. Furthermore, the level position of the pivot point 8 (FIG. 10) is shifted by the work vehicle 2 that has entered the deformed pipe 1a with respect to the pivot point 9 when traveling in the horizontal straight pipe 1, and the link 5 moves relative to the auxiliary traveling drive vehicle 3a. Since the angle changes, the drive wheels 51 of the sub-drive vehicle 3b are driven.
a is pressed against the inner wall of the pipeline, so that the auxiliary traveling drive vehicle 3b
Also generates a force, and the work vehicle 2 via the link 5 and the pivot point 8
Is converted into the force to press. However, the force generated by the auxiliary traveling driving vehicle 3b changes depending on the angle between the link 6 and the auxiliary traveling driving vehicle 3b.

FIG. 11 shows a case where the main traveling drive vehicle 3a is present in the deformed pipe 1a. In this case, the lower drive wheel 17
Does not come into contact with the inner wall of the pipeline, and the freely rotating wheel 39 as an auxiliary wheel contacts and is pressed against the inner wall of the pipeline. As a result, the traveling drive force of the main traveling drive vehicle 3a is reduced, and the vehicle travels with only the two upper drive wheels. However, on the other hand, the angle of the link 5 with respect to the sub-drive vehicle 3b is further increased, so that the pressing force of the drive wheels 51a of the sub-drive vehicle 3b against the inner wall of the pipeline increases, and the drive power of the sub-drive vehicle 3b is reduced. This can compensate for the decrease in the traveling driving force of the main traveling driving vehicle 3a.

In order to obtain a necessary driving force only by the main driving vehicle 3a without the auxiliary driving vehicle 3b, it is necessary to increase the power of the motor and the like used for the main driving vehicle 3a. The shape of the wheel 15c becomes large, which is disadvantageous. In addition, the presence of the auxiliary traveling drive vehicle 3b brings each pivot point closer to the center of the pipeline, and improves the power transmission, which is beneficial. Further, when the work vehicle 2 is pulled out, the weight of the work vehicle 2 is advantageously added to the traveling force of the traveling drive vehicle.

Further, in a case where the work vehicle is run in a direction from the vertical straight pipe to the horizontal straight pipe via the deformed pipe to the horizontal straight pipe, or from the horizontal straight pipe to the horizontal straight pipe via the deformed pipe, The wheels 53b of the auxiliary traveling drive vehicle and the auxiliary wheels 59 of the work vehicle come into contact with the inner wall of the pipeline, and do not increase the distance between the position of the pivot point 10 and the center of the pipeline axis. It is beneficial for the following effects.

[0030]

As described above, the pipe inner surface working device according to the present invention can be applied to any pipe shape such as a horizontal pipe, a straight pipe, a bent pipe and a vertical pipe in which a straight pipe and a bent pipe (deformed pipe) are mixed. Stable traveling can be performed on the pipeline, and work such as cleaning and painting can be performed.Therefore, the range of application to the actual pipeline is wide, the corrosion resistance of the inner surface of the pipeline is improved, and the reliability of the pipeline is improved. Can be enhanced. Conventionally, the work on the inner surface of the pipe has been very uncomfortable and requires work in an inferior environment, and there has been a problem in terms of safety, but according to the pipe inner surface working device of the present invention, This eliminates the need for the operator to enter the pipeline, and solves health and safety problems.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of a pipeline inner surface working device of the present invention.

FIG. 2 is a plan view showing an embodiment of the pipeline inner surface working device of the present invention.

3 is a side view of a basic structure of a part of a main traveling drive vehicle of the pipeline inner surface working device shown in FIG. 1;

FIG. 4 is a conceptual diagram of traveling a deformed pipe of a main traveling drive vehicle

FIG. 5 is a side view of the basic structure of the upper drive wheel of FIG. 2;

FIG. 6 is an external side view of a lower drive wheel portion shown in FIG. 2;

FIG. 7 is a sectional view of a lower drive wheel.

FIG. 8 is a basic structural diagram of a portion of the auxiliary traveling drive vehicle of FIG. 1;

FIG. 9 is a side view of a part of the work cart in FIG. 1;

FIG. 10 is a traveling state diagram of a pipeline inner surface working device in a pipeline including a deformed pipe.

FIG. 11 is a traveling state diagram of a pipeline inner surface working device in a pipeline including a deformed pipe.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Pipe line 1a ... Deformed pipe 1c ... Pipe line inner surface 2 ... Work truck 3 ... Traveling drive vehicle 3a ... ... Main traveling driving vehicle 3b... Sub traveling driving vehicle 4... Control trolley 15... Upper driving wheel 17... Lower driving wheel 51a Drive wheel 53b Wheel 54 Work head 59 Auxiliary leg 16 Upper pivot Support point 24, 25 ... Upper link 9 ... Lower pivot point 19a, 19b, 23a, 23b ... Lower link P ... ··· Panda graph L · ····· Link mechanism 39 ······ Freely rotating wheel 15a ····· Pedal 46a ······ Outer peripheral groove 6 Cylinder 48 Roller 49 Shaft 47a Shaft 47 Shaft Stopper 52 ······················ Wheels 57a ········································· ········· Expandable legs 58 ······· Fixed legs 59 ······ Auxiliary legs 59a ········· Wheels

Continuation of the front page (72) Inventor Shigeru Fujiwara 2-1-1, Nishichuo, Kure City, Hiroshima Pref. CXR Co., Ltd. 153458 (JP, A) Japanese Utility Model 3-91277 (JP, U)

Claims (4)

(57) [Claims] 1. A work vehicle that travels in a pipeline to perform operations such as cleaning and painting the inside surface of the pipeline, a drive vehicle that drives the work vehicle, and a control vehicle that controls the travel drive vehicle. were coupled in order, the traveling drive vehicle consists mainly traveling drive wheel and auxiliary driving drive wheel, together with the sub-traveling drive vehicle is disposed between the main traveling drive vehicle and the work vehicles, the
The sub-drive vehicle has drive wheels at a predetermined height above the pedestal.
And freely rotate wheels at the bottom of the pedestal.
Due to this, no tractive force is generated during normal running,
A pipeline inner surface working device configured to generate traction force only when passing through . 2. A link mechanism comprising a pandagraph having an upper link pivotally connected at an upper pivot point, a lower link pivotally connected at a lower pivot point, and an upper portion of the link mechanism. A front upper drive wheel and a rear upper drive wheel, which are arranged at a predetermined pitch in front and rear so as to be simultaneously steerable at the same angle on a pedestal pivotally attached to a pivot point, and front and rear at an end of a lower link of the link mechanism, respectively. The front lower drive wheel and the rear lower drive wheel are fixed to the front lower drive wheel and the rear lower drive wheel, and the front lower drive wheel and the rear lower drive wheel are wheels that freely rotate without contacting a pipe wall in a straight pipe portion of the pipeline. The pipeline inner surface working device according to claim 1, wherein one is provided behind the front lower drive wheel and one is provided in front of the rear lower drive wheel. 3. The lower drive wheel includes a cylinder having an outer circumferential groove in a wheel axis direction, a shaft covered with rubber or the like, which is freely rotatably mounted in a circumferential direction of the cylinder, and A shaft stopper fixed in the outer circumferential groove at a predetermined angular pitch and having a hole that fits with the shaft, wherein the shaft is mounted between the respective shaft stoppers by fitting the hole of the shaft stopper. 3. The tube according to claim 2, wherein the rollers are arranged in a plurality of rows along a circumferential direction of the cylinder, and adjacent rollers arranged in the plurality of rows are installed in a state of contacting each other. Road surface work equipment. 4. The work vehicle has a plurality of legs having freely rotating wheels as supporting legs and auxiliary legs having freely rotating wheels, and works on one of the legs having the freely rotating wheels. A telescopic leg attached to the upper part of the bogie, and the other legs are fixed legs attached at a predetermined angle pitch in the circumferential direction of the pipe, and the telescopic legs are axially displaced by 180 ° from the telescopic leg in the pipe axial direction. 2. The pipeline inner working device according to claim 1, further comprising an auxiliary leg which is disposed at a position further rearward by a predetermined distance and has wheels having a gap with the pipe inner surface in the straight pipe portion.