JP2823511B2 - In-pipe traveling bogie device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe traveling bogie device which travels in a pipe having a relatively large diameter and is used for various operations such as inspection and cleaning of the pipe.

[0002]

2. Description of the Related Art For example, in a large plant such as a nuclear power plant, a large number of pipes such as a water pipe having a relatively large diameter are installed. It is necessary to perform inspection and cleaning of
When working inside such a pipe body, an in-pipe traveling bogie device provided with a traveling car that travels in the pipe body in the direction of the center axis of the pipe is usually used.

[0003] As a prior art relating to such an in-pipe traveling bogie device, as disclosed in Japanese Patent Application Laid-Open No. 1-293267, for example, a link having a scissor mechanism is provided for a wheel contacting an upper surface side and a wheel contacting a lower surface side in a pipe. While holding the posture of the bogie in the pipe by pressing each link to the upper and lower surfaces in the pipe by urging the link in the extension direction by a spring force to maintain the posture of the bogie in the pipe, 2. Description of the Related Art There is known a vehicle in which a drive mechanism and a steering mechanism are provided on wheels, and a bogie is driven by the drive mechanism and the traveling direction is adjusted by the steering mechanism.

[0004]

However, in such a conventional in-pipe traveling bogie device, wheels are disposed at two upper and lower positions so as to be stretched between upper and lower surfaces in the pipe to maintain its posture. When the body is a large-diameter tube, the height of the device must be large, and there is a problem that the size of the device increases the weight and the cost. In addition, there is a problem that urging means for stretching between the upper and lower surfaces in the pipe is required, and the structure of the apparatus becomes more complicated accordingly.

Further, as for the adjustment of the running direction, since the structure is such that the upper and lower surfaces in the pipe are stretched as described above, in order to adjust the running direction against running resistance, a steering mechanism is provided for each wheel. It is necessary to provide such a device, and there is also a problem that the structure of the device and its steering control are both complicated.

SUMMARY OF THE INVENTION The present invention has been made to provide an in-pipe traveling bogie apparatus capable of maintaining the attitude of the apparatus in a pipe and adjusting the traveling direction with a simpler and more compact configuration.

[0007]

According to the present invention, as a specific means for solving the above-mentioned problems, an appropriate working machine is mounted on a traveling carriage which travels in the direction of the center axis of a tube having a circular cross section. In the in-pipe traveling bogie device, the traveling bogie has main wheels that can be steered at both ends in the traveling direction and at the center in the width direction of the bogie, respectively, and both sides along the axial direction of the main wheels. A swinging member extending to the main body and swinging integrally with the steering of each of the main wheels; and a swinging member attached to both ends of the swinging member so as to be freely rotatable. A pair of left and right auxiliary wheels that are rollable along the inner surface of the tubular body at positions appropriately separated from the ground contact position of the wheels on the left and right sides in the circumferential direction of the tubular body, respectively.

[0008]

According to the present invention, the following functions and effects can be obtained by adopting such a configuration. The traveling cart is
The steerable main wheels arranged at both ends in the running direction and at the center in the width direction of the bogie support the entire weight including its own weight, and the main wheels themselves are driven to rotate, or the running bogie is pushed. The vehicle is driven by the main wheels by being pulled and driven.

In addition, the left and right tilting of the traveling carriage with the respective main wheels as fulcrums extends along both sides of the respective main wheels in the axial direction and interlocks with the turning of the respective main wheels. Auxiliary wheels provided at both ends of a swinging material that swings integrally are rotatably provided along the inner surface of the pipe at a position appropriately separated in the circumferential direction of the pipe from the ground position of the main wheels. Is stopped by doing
Thereby, the posture in the left-right direction of the entire in-pipe traveling bogie device is maintained.

On the other hand, when the grounding position of each of the main wheels deviates from the vertical line passing through the pipe center in the left and right direction as the traveling vehicle travels, the inclination of the traveling vehicle in the left and right directions with the main wheels as fulcrums is restricted. The contact position of the above-mentioned auxiliary wheels on the inner surface of the pipe is also shifted in the circumferential direction, so that the entire in-pipe traveling bogie device is tilted in the left-right direction. However, in this case, the work is easily and quickly performed by turning each of the main wheels and returning each of the main wheels to the vertical line. The platform can be horizontal.

Further, the traveling direction of the traveling vehicle is adjusted by turning each of the main wheels, and the deviation between the axis of the traveling direction of the traveling vehicle and the pipe center axis can be corrected. The pair of left and right auxiliary wheels provided at both ends of the rocking member and rolling along the inner surface of the tube are freely rotatable. Thus, the traveling vehicle can be cornered by the differential action.

As described above, in the in-pipe traveling bogie device of the present invention, the posture holding of the in-pipe traveling bogie apparatus in the front-rear direction and the left-right direction is arranged on each main wheel that is in contact with the lower surface of the pipe body and on the side thereof. It is realized by each auxiliary wheel, and it is not realized by stretching on the lower surface side and the upper surface side of the tube body as in the above-mentioned known example. In addition, the height of the entire apparatus can be set lower, so that the apparatus can be reduced in size and cost. The effect of the downsizing of the device becomes particularly remarkable when the entire device is carried into and out of the tube through a limited space such as a manhole provided in the tube.

Further, since the entire weight of the device is supported by each main wheel, and each auxiliary wheel merely supports the tilting force of the traveling vehicle about the main wheel as a fulcrum in the left-right direction, the above-mentioned known example is used. As described above, there is no need for urging means for urging the wheels on the upper surface side and the lower surface side of the pipe body, and there is an advantage that the structure of the device can be simplified and the weight can be reduced accordingly.

Further, since the working equipment can always be kept horizontal by adjusting the running direction by the steering operation of the main wheels, for example, in an in-pipe traveling bogie device provided with a working table as the working equipment. In particular, workability and work safety are improved.

[0015] Further, the traveling cart is provided with a pair of left and right auxiliary wheels, which are provided at both ends of the swinging member and roll along the inner surface of the tube, respectively, so that the traveling cart can freely run. Therefore, the vehicle can travel freely not only in a straight tubular body but also in a curved tubular body, and the adaptability to working conditions is improved accordingly.

[0016]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a traveling bogie according to an embodiment of the present invention; FIG. The in-pipe traveling bogie apparatus Z is an apparatus used for checking or cleaning the inside of a pipe P such as a large-diameter water pipe in a large plant such as a nuclear power plant. And two work platforms 18 and 19 are attached to the travel platform 1.
The workers who boarded the vehicles 8 and 19 perform predetermined inspection and cleaning work.

The traveling carriage 1 includes a base member 2 formed of a girder member having a predetermined length, and a first rocking member 3 and a second rocking member 4 both formed of a girder member having a predetermined length. Have. The first oscillating member 3 and the second oscillating member 4 have their axial directions oriented in a direction orthogonal to the axial direction of the base material 2 so as to form a substantially H-shaped frame together with the base material 2. In this state, the central portion in the axial direction is pivoted with respect to both ends 2a and 2b of the base material 2 by the pivot pin 1.
It is pivotally attached by 0 and 10 so that it can swing.

Further, the first rocking member 3 and the second rocking member 4
The main wheels 8 and 9 are mounted via a main wheel support bracket 7 on the lower surface side of the central portion in the axial direction and on the same axis as the pivot pin 10. Therefore, when the first rocking member 3 and the second rocking member 4 are steered in the rocking direction by the steering cylinders 11 and 12 described later, the first main wheel 8 and the second main wheel 9 are rotated. Will be integrally turned. Each of the main wheels 8 and 9 is rotationally driven by a traveling motor 13.

On the other hand, auxiliary wheels 6 are attached to both ends of the first rocking member 3 and the second rocking member 4 via arm members 5 so as to freely rotate. As shown in FIG. 3, the mounting position and direction of the auxiliary wheel 6 are such that the extending directions of the rocking members 3 and 4 are orthogonal to the pipe center axis L ₀ of the pipe P (see FIGS. 5 and 6). When the main wheels 8 and 9 are in contact with the inner surface Pa of the pipe P, the pair of left and right auxiliary wheels 6 and 6 provided on the rocking members 3 and 4 are respectively connected to the pipes. The rocking members 3 and 4 are appropriately set so as to be able to hold the posture of the rocking members 3 and 4 in a horizontal state by approaching or contacting the inner surface Pa of the body P as much as possible.

A first steering cylinder 11 and a second steering cylinder 12 are disposed between the base member 2 and the rocking members 3 and 4, respectively. each main wheel 8, 9 by expansion and contraction movements of respective steering cylinders 11 and 12, as appropriate to the turning operation within the range of the angle α around the base axis L ₃ is made as shown in FIG. 2 It has become. In addition, each of these main wheels 8,
The steering operation of No. 9 is performed by manual operation by an operator who is on the worktables 18 and 19, which will be described later. The steering mode is such that the main wheels 8 and 9 are steered in the same direction, There is steering in the direction.

The first work table 18 is formed of a rectangular frame having a predetermined size, and is vertically movable at a position near the first main wheel 8 of the traveling vehicle 1. Are located. That is, a pair of right and left columns 15, 15 are arranged upright at predetermined intervals in parallel on the upper surface side of the base material 2, and each column 15, 15 A table 16 is mounted slidably in the vertical direction along each of the columns 15,15. The elevating table 16 is supported by an elevating cylinder 17 disposed on the support columns 15, 15, and is moved up and down integrally with the first work table 18 as the elevating cylinder 17 expands and contracts. The first worktable 18 is mainly used for inspection work on the upper side of the pipe P, and when it is set at the raised position (shown by a dashed line in FIGS. 1 and 3 (reference numeral 18 ′). ) Is located above the pipe P.

The second work table 19 is provided with the first work table 1.
8 is a rectangular frame body of a predetermined size as in FIG. 8, but is mainly used for inspection work on the lower side of the pipe P, and is different from the first worktable 18. The traveling carriage 1 is fixedly disposed at a position near the second main wheel 9 by bolting.

In FIG. 1, reference numeral 23 denotes an illuminator provided on the first work table 18 and second work table 19, and 21 denotes a control unit 21. The in-pipe traveling bogie device Z carries in and out of the pipe P through a manhole. Therefore, in this embodiment, the base 2 and the first rocking member 3 of the traveling bogie 1 are used. The second rocking member 4 can be disassembled by inserting and removing the pivot pins 10, 10, respectively, and the auxiliary wheels 6, 6, provided on the rocking members 3, 4 respectively.
Each of the main wheels 8 and 9 has a bolt fastening structure. Further, the lower ends of the columns 15, 15 have a fitting structure to the base member 2 and are bolted. The control unit 21 is also bolted to the base material 2.

Subsequently, the in-pipe traveling bogie apparatus Z having the above-described configuration.
When the in-pipe operation is performed, first, the in-pipe traveling bogie device Z is disassembled into various members, and is sequentially carried into the pipe P from the manhole. Then, the assembly is assembled in the pipe P. At this time, it is desirable that the base material axis L _{3 of the} base material 2 be used.
And the tube central axis L ₀ of the tube P is assembled in a state that matches the vertical direction. Therefore, after the assembly is completed, as shown in FIG. 3, the longitudinal axis L ₄ of the in-pipe traveling bogie device Z extending vertically from the main wheels 8, 9 through the centers of the struts 15, 15 is aligned with the pipe P. The first work table 18 and the second work table 19 are in a state of being substantially aligned with the vertical line L ₂ passing through the center.

In this state, an operator rides on each of the working tables 18 and 19, and rotates the main wheels 8 and 9 by the running motors 13 so that the in-pipe running carriage apparatus Z is driven.
Is performed at a predetermined speed while performing a predetermined pipe work. In this pipe work, each workbench 1
It is desirable that 8, 19 be held horizontally. However, in practice, even if the horizontal state is initially set as described above, the main wheels 8 are set as shown by a solid line in FIG. , 9 may be shifted in the left-right direction. When the displacement in the left-right direction occurs, the longitudinal axis L ₄ of the in-pipe traveling bogie device Z has a predetermined inclination angle (θ) with respect to the vertical line L ₂ as shown in FIG. 18 and 19 are inclined in the left-right direction. In such a case, each of the steering cylinders 11,
12 is operated so that the main wheel direction lines L ₅ and L ₆ of the main wheels 8 and 9 are directed forward toward the pipe center axis L ₀ in the running direction, and the pipe center of the base material axis L ₃ is turned. promote a return to the axis L ₀ side. As a result, the in-pipe traveling bogie device Z is promptly improved in its inclined state, and the work tables 18 and 19 are brought into a horizontal state. That is, in those in this embodiment, each main wheel 8,9 appropriate respective work always by and steered at all times the base axis L ₃ is operated so as to coincide with the tube central axis L ₀ base to 1
The pipes can be operated more safely while holding the horizontal position of 8, 19.

On the other hand, when the in-pipe traveling bogie device Z travels along the curved pipe portion of the pipe P, as shown in FIG. The first main wheel 8 and the second main wheel 9 are steered by angles β ₁ and β _{2 with} respect to the base axis L ₃ , respectively, so that the axis passes through the center of curvature Q of the pipe P. In this case, the pair of left and right auxiliary wheels 6, 6 provided at both ends of the swing members 3, 4 are both freely rotatable, so that a differential action automatically works between the two. Even if the pair of left and right auxiliary wheels 6 and 6 are in contact with the inner surface of the tube P at the same time, traveling between the outer inner surface having a large radius of curvature and the inner inner surface having a small radius of curvature. The difference in distance is reliably absorbed, and the in-pipe traveling bogie device Z smoothly corners while maintaining the horizontal state of the work tables 18 and 19. It becomes possible to perform row, in which the safety of pipe work in the bent tube portion is sufficiently ensured.

Further, in the in-pipe traveling bogie apparatus Z of this embodiment, the posture holding in the front-rear direction and the left-right direction is arranged on each of the main wheels 8, 9 which are grounded on the lower surface side of the pipe P and on the side thereof. Are realized by the auxiliary wheels 6, 6,..., The height of the device can be set lower than the diameter of the tube P. It can contribute to cost reduction, etc.
In particular, the downsizing is a suitable structure when the in-pipe traveling bogie device Z is carried in and out of the pipe P through the manhole as in this embodiment.

Further, the in-pipe traveling bogie device Z of this embodiment
In, the total weight of the device is supported by each main wheel 8,9,
Since the tilting force in the left and right direction of the traveling vehicle 1 with the main wheels 8 and 9 as fulcrums is supported by the auxiliary wheels 6, 6,... There is no need for an urging means for urging the wheels on the upper surface side and the lower surface side, and there is an advantage that the structure of the device can be simplified and the weight can be reduced accordingly.

In this embodiment, the steering operation of the in-pipe traveling bogie device Z is manually performed by an operator. However, the present invention is not limited to this operation. Can be automatically controlled based on the inclination angle. Further, in this embodiment, work tables 18 and 19 are provided as work equipment.
The present invention is not limited to this, and it goes without saying that various equipment such as a spray nozzle for cleaning water and a cleaning brush can be provided as working equipment.
Further, in this embodiment, the traveling carriage 1 is of a self-propelled type, but in another embodiment of the present invention, it may be of a towed type.

[Brief description of the drawings]

FIG. 1 is a side view of a traveling vehicle according to an embodiment of the present invention.

FIG. 2 is a view taken in the direction of arrows II-II in FIG.

FIG. 3 is a view taken in the direction of arrows III-III in FIG. 1;

FIG. 4 is an explanatory diagram of a traveling state of a straight pipe portion of the traveling vehicle shown in FIG. 1;

FIG. 5 is a view taken in the direction of arrows VV in FIG. 4;

FIG. 6 is an explanatory diagram of a traveling state of a curved section of the traveling vehicle shown in FIG. 1;

[Explanation of symbols]

1 is a traveling vehicle, 2 is a base material, 3 is a first rocking material, 4 is a second rocking material, 5 is an arm material, 6 is an auxiliary wheel, 7 is a main wheel support bracket, 8 is a first main wheel, 9 is the second main wheel, 10 is the pivot pin,
11 is a first steering cylinder, 12 is a second steering cylinder, 13 is a traveling motor, 15 is a support, 16
Is a lifting table, 17 is a lifting cylinder, 18 is a first working table,
19 is a second work table, 21 is a control unit, 22 is a weight, 23 is an illuminating light, P is a pipe, and Z is a traveling carriage device in a pipe.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-60-35675 (JP, A) JP-A-1-293267 (JP, A) JP-A-60-143174 (JP, A) JP-A-61- 64574 (JP, A) JP-A-5-33600 (JP, A) JP-A-63-96969 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B61B 13/10

Claims (1)

(57) [Claims] 1. An in-pipe traveling bogie device comprising a traveling bogie traveling in the direction of the center axis of a pipe having a circular cross-section and having appropriate working equipment mounted thereon. A main wheel that can be steered to both ends and a central portion in the width direction of the bogie, and extend to both sides along the axial direction of the main wheel, and are integrally formed in conjunction with the turning of the main wheel. And a swinging member which swings freely at both ends of the swinging member.
At a position appropriately separated from the ground contact position of the main wheel on the inner surface of the tubular body on both the left and right sides in the circumferential direction of the tubular body .
A pair of left and right supplements that can roll along the inner surface of the tube
An in-pipe traveling trolley device comprising a wheel .