JP2941040B2 - Pipe self-propelled device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an in-pipe self-propelled device that self-propells inside an industrial pipe or a biological pipe.

[Prior Art] As a self-propelling means in this kind of in-pipe self-propelling apparatus, there is one known, for example, in Japanese Patent Laid-Open No. 2-136119. This system consists of a tube-like elastic body for driving forward and backward, which expands and contracts in the axial direction by fluid pressure, and a pair of balloons provided before and after this elastic body, and moves by controlling expansion and contraction of the elastic body and the pair of balloons. It is to let.

[Problems to be Solved by the Invention] However, in the conventional self-propelled system, the structure of the driving unit including the elastic body, the balloon, and the like becomes considerably complicated, and the cost increases. In general, it is difficult to accurately control traveling, and particularly, it is not possible to accurately perform a minute movement. Further, fine movement and coarse movement cannot be performed by the same device.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problem, and an object of the present invention is to provide a simple structure, in which a precise movement can be controlled, and a fine movement and a coarse movement can be performed by the same device. It is to provide a self-propelled device.

[Means and Actions for Solving the Problems] In order to solve the above problems, the in-pipe self-propelled device of the present invention comprises:
A piezoelectric element capable of being rapidly deformed and expanded and contracted in the axial direction is provided. At one axial end of the piezoelectric element, a moving body that receives a frictional force from a wall in a tube that is about to run is provided. At the other end, an inertia body having a smaller mass than the moving member is provided, and a drive control means controls a drive voltage applied to the piezoelectric element, and the inertia when the piezoelectric element rapidly deforms and expands and contracts in its axial direction. The moving member is moved by using the inertial force of the body and the frictional force received by the moving member to perform a traveling operation.

Embodiment FIG. 1 shows a first embodiment of the present invention. The in-pipe self-propelled device 1 of this embodiment is for guiding the traveling of the insertion section 3 of the endoscope inside the pipe line 2.

That is, the in-pipe self-propelled device 1 comprises a front end member 4 as a moving body, a rear end member 5 as an inertial body, and a hollow laminated piezoelectric element (PZT) 6 connecting the two. The member 4 and the rear end member 5 are formed with insertion holes 7 and 8 through which the insertion portion 3 of the direct-view endoscope can pass. Front end member 4
The insertion hole 7 is formed with a small diameter that allows the insertion portion 3 of the endoscope to pass tightly, and the insertion hole 8 of the rear end member 5 is formed with a large diameter that allows the insertion portion 3 of the endoscope to pass loosely. . The front end member 4 is provided with a set screw 9 for tightening and fixing the insertion portion 3 passed through the insertion hole 4. The insertion portion 3 of the endoscope is inserted into the insertion hole 7 of the front end member 4 as shown in FIG.
From the rear end member 5 through the inside of the hollow laminated piezoelectric element 6
, And is fixed to the front end member 4 with a set screw 9. The distal end portion 3a of the insertion portion 3 for direct observation is exposed from the front end surface of the front end member 4 and faces forward. A coil 10 for protecting the piezoelectric element 6 is wound around the outer periphery of the hollow laminated piezoelectric element 6. A lead wire 12 for voltage application is connected to the electrode 11 of the laminated piezoelectric element 6, and this lead wire 12 is guided backward through the insertion hole 8 of the rear end member 5, and is inserted into the insertion portion of the endoscope. It is guided backward along 3. The lead wire 12 is fixed to the outer periphery of the insertion portion 3 using a stopper 13. In this manner, the lead wire 12 is connected to a drive power supply (not shown), and the voltage applied to the multilayer piezoelectric element 6 is controlled by the control means.

The front end member 4 of the in-pipe self-propelled device 1 is formed to have a larger outer diameter and a length along the front and rear than the rear end member 5. Further, the front end member 4 comes into contact with the inner wall of the conduit 2 and receives a frictional force. The rear end member 5 of the in-pipe self-propelled device 1 is formed to have a smaller outer diameter and a length along the front and rear than the front end member 4. For this reason, the rear end member 5 is normally arranged so as not to contact the inner wall of the pipeline 2. When comparing the masses of the front end member 4 and the rear end member 5, the rear end member 5 is smaller than the front end member 4. That is, when performing a traveling operation as described later, the front end member 4 functions as a moving body that moves while receiving friction from the wall surface of the pipeline 2, and the rear end member 5 functions as an inertial body.

2 and 3 conceptually show the principle of movement of the self-propelled device 1 of the present invention.

As shown in FIG. 2, M is a moving body having a large mass (front end member 4), m is an inertial body having a small mass (rear end member 5), and P is a laminated piezoelectric element connecting the moving body M and the inertial body m. It will be described as. Then, by applying a drive voltage having a waveform as shown in FIG. 3 to the laminated piezoelectric element P, the forward / backward operation of the entire self-propelled device 1 can be performed.

First, the operation when moving forward, that is, when moving to the left, will be described. Before the start of the operation, the moving body M is placed on the base B and held by the static frictional force, and the piezoelectric element P is in a contracted state as shown in the diagram on the left side of FIG. For this reason, the inertial body m is attracted by the moving body M ahead and stands by.

In this state, when a high drive voltage is instantaneously applied to the piezoelectric element P to rapidly expand the piezoelectric element P, the moving body M and the inertial body m move simultaneously in opposite directions. At this time, the moving body M moves forward by a distance Δm ₁ while receiving the dynamic frictional force.

Next, the voltage applied to the piezoelectric element P is reduced to contract the piezoelectric element P, and the inertial body m is slowly pulled back toward the moving body M at a constant speed or a small acceleration. At this time, the speed of the moving body M is reduced so that the moving body M is stopped by the frictional force with the base B.

When the piezoelectric element P has sufficiently shrunk, the energization is suddenly stopped and the movement of the inertial body m is suddenly stopped. That is, when the pullback is suddenly stopped, the inertial body m has an effect of colliding with the moving body M. As a result, the entire self-propelled device starts moving forward by overcoming the frictional force, and moves and stops until kinetic energy is lost by the dynamic frictional force of the moving body M. This operation moves the distance Δm ₂ forward.

Thus, it is possible to move forward by a distance of (Δm ₁ + Δm ₂ ) in one cycle operation. By repeating this fine movement advance, it is possible to greatly advance. In addition, if the energy generated at the time of rapid deformation is taken into account at the time of the next rapid deformation by starting up immediately after the voltage is lowered, a larger momentum can be obtained.

On the other hand, when retreating, that is, when moving in the right direction, the reverse operation of the operation pattern is performed. That is, the second
As shown in the diagram on the right side of the figure, before the operation starts, the moving body M is placed on the base B and held by frictional force, and the piezoelectric element P is in an extended state. Therefore, the inertial body m is separated from the moving body M ahead.

When the application of the high voltage to the piezoelectric element P is instantaneously erased from this state, and the piezoelectric element P is rapidly reduced, the inertial force of the inertial body m becomes relatively larger than the frictional force of the moving body M. M and the inertial body m move simultaneously in opposite directions. At this time, the moving body M moves backward by a distance Δm ₁ .

Next, the voltage applied to the piezoelectric element P is gradually increased to extend the piezoelectric element P, and the inertial body m is moved backward at a constant acceleration from the moving body M side. At this time, the moving body M is slowly extended as if stopped by being held by the frictional force with the base B.

When the piezoelectric element P has sufficiently expanded, the movement of the inertial body m is suddenly stopped. As a result, a large inertial force is generated, and the entire self-propelled device 1 starts retreating by overcoming the frictional force,
The self-propelled device 1 moves and stops until the kinetic energy of the entire self-propelled device 1 is lost by the dynamic frictional force of the moving body M. This operation moves the distance Δm ₂ backward.

Thus, the distance of (Δm ₁ + Δm ₂ ) can be reduced by this one-cycle operation. By repeating this fine movement retreat, it can be made to retreat largely.

The traveling of the insertion section 3 of the endoscope can be driven by the forward / backward movement of the entire self-propelled device based on such a principle.

FIGS. 4 and 5 show a second embodiment of the present invention. In this embodiment, the front end member 15 is constituted by an inertial body m and the rear end member 16 is constituted by a moving body M, and these two members 15, 16 are connected by a hollow laminated piezoelectric element 17 (P). The insertion portion 3 of the endoscope is inserted through both the members 15 and 16 and the hollow laminated piezoelectric element 17 as described above, and the insertion portion 3 is connected to the rear end member 16 as shown in FIG. And is fixed by a set screw 9 provided in the above. Further, the rear end member 16 as a moving body having a larger mass than the front end member 15 is formed of a magnetic material (not necessarily formed of a magnetic material). Inside the rear end member 16, an electromagnetic coil 18 is arranged concentrically around the axis thereof, whereby the rear end member 16 is configured as an electromagnet. The lead wire 19 leading to the electromagnetic coil 18 and the lead wire 12 for voltage application leading to the electrode 11 of the multi-layer piezoelectric element 6 are combined and stopped on the outer periphery of the insertion portion 3 using the stopper 13 as described above. ing. The lead wire 12 for voltage application is guided rearward through a conduction hole 20 formed in the rear end member 16.

In this embodiment, the rear end member 16 functionally constituting the moving body is provided.
As an electromagnet. When the traveling operation is performed as described above, the electromagnetic coil 18 is excited and the rear end member is activated.
The operation of magnetically adsorbing 16 to the wall of the pipeline is performed. Therefore, the rear end member 16 as the moving body is connected to the pipe 2
The frictional force with respect to the inner surface can be increased, so that the operation can be stabilized. Since the frictional force against the wall of the pipe 2 can be increased, the mass of the rear end member 16 can be reduced accordingly. Further, the movement of only the front end member 15 can be accelerated to increase the traveling speed and the traveling force. Furthermore, when the pipeline to be run is not horizontal, for example, a vertical pipeline or an inclined pipeline can be easily raised. Others are the same as the first embodiment.

In this embodiment, instead of forming the electromagnet, the member of the moving body may be formed of a permanent magnet. However, in the case of using an electromagnet, control may be performed such that the electromagnet is excited only in the step where the moving body should be kept stationary to increase the static force.

FIG. 6 and FIG. 7 show a third embodiment of the present invention. In the third embodiment, a balloon 21 is provided on the outer periphery of the rear end member 16 as a moving body instead of the electromagnet for increasing the frictional force in the second embodiment. The inside of the balloon 21 is provided with a supply path 22 formed inside the rear end member 16.
Supply passage 22 and the supply tube 2
4. A discharge tube 25 is connected to the discharge path 23. The supply tube 24 and the discharge tube 25 are fixed to the outer periphery of the insertion section 3 together with the lead wire 12 for voltage application by the stopper 13.

Thus, the balloon 21 is inflated by supplying pressurized fluid to the balloon 21 through the supply tube 24,
The wall is pressed against the wall of the running pipeline 2. Thereby, the frictional force with respect to the wall surface of the pipeline 2 can be increased.

FIG. 8 shows a fourth embodiment of the present invention. In the fourth embodiment, as in the first embodiment, a front end member 4 as a moving body, a rear end member 5 as an inertial body, and a hollow laminated piezoelectric element connecting the two. 6 constitutes the in-pipe self-propelled device 1, but differs in that a self-propelled chemical liquid injector 30 is incorporated into this device. That is, a chemical solution chamber 31 is formed in the front end member 4 as a moving body of the in-pipe self-propelled device 1, and a piston member 32 functioning as a second inertial body slides lightly and lightly in the chemical solution chamber 31. Interpolated freely. A through hole 33 is formed in the rear end member 5 functioning as the inertial body of the in-pipe self-propelled device 1.
A slide member 34 functioning as a second moving body is slidably inserted through 33. An inertia member 34 as a slide member is held by a frictional force with respect to the through hole 33.

The piston member 32 and the inertia member 34 are connected to the second laminated piezoelectric element 35 passing through the hollow laminated piezoelectric element 6 of the in-tube self-propelled device 1.
Are connected by That is, the piston member 32, the slide member 34, and the second laminated piezoelectric element 35 constitute a second self-propelled device. The second laminated piezoelectric element 35 is connected to a second lead wire 37 for supplying a drive voltage thereto.

Further, a spout 38 communicating with the chemical solution chamber 31 is formed on the entire end wall of the front end member 4. The outlet 38 is provided with a check valve 39 for preventing backflow.

Thus, the in-pipe self-propelled device 1 itself can be self-propelled inside the pipe line 2 as described above. If the self-propelled chemical liquid injector 30 incorporated in the in-pipe self-propelled device 1 is operated in the same manner to advance the piston member 32, the chemical liquid 40 in the chemical liquid chamber 31 is moved according to the amount of movement. It can be injected into the pipe 2. That is, the self-propelled device 1 functions as a so-called drug solution injection capsule. of course,
A function of guiding the endoscope may be added to this configuration. In addition, it may be configured to inject not only the drug solution 40 but also another liquid, or, conversely, it may be configured to collect a body fluid or the like from a conduit.

FIG. 9 to FIG. 11 show a fifth embodiment of the present invention. In this embodiment, an ultrasonic receiver 50 is provided for receiving an ultrasonic wave radiated (transmitted) from the self-propelled device 1 in the tube when the piezoelectric element P is driven. Then, the time from the transmission time to the reception time, which is known from the drive signal for the piezoelectric element P, is known, and the distance from the ultrasonic receiver 50 to the in-pipe self-propelled device 1 is indirectly measured. In this case, the oscillation drive signal for the piezoelectric element P may be a drive signal for movement for performing the above-described traveling operation, or an alternating voltage having a particularly high frequency for position detection may be applied. Good. The in-pipe self-propelled device 1 may be used as a receiver, and may receive ultrasonic waves from an oscillator provided separately. Further, the reflection of the ultrasonic wave radiated from the inertial body m of the in-tube self-propelled device 1 may be received by the inertial body m and received by the piezoelectric element P to measure the time difference.

Fig. 10 shows the installation of the ultrasonic receiver 50 at the entrance of the pipeline 2,
This is an example in which the distance to the in-pipe self-propelled device 1 that runs in the pipe line 2 is measured, and the position of the inner-pipe self-propelled device 1 in the pipe 2 is known.

FIG. 11 shows a case where a plurality of ultrasonic receivers 50 are installed at different positions, distances from the in-pipe self-propelled device 1 to each ultrasonic receiver 50 are measured, and a three-dimensional position is measured from these data. This is an example.

It should be noted that the present invention is not limited to the above-described embodiments, and various modifications are conceivable.

[Effect of the Invention] As described above, according to the in-pipe self-propelled device of the present invention,
The traveling mechanism is constituted by a piezoelectric element which can be expanded and contracted in the axial direction, a moving body for generating a frictional force provided at one axial end of the piezoelectric element, and an inertial body provided at the other axial end of the piezoelectric element. As a result of simplifying the configuration of the unit, the drive control means appropriately applies a drive voltage to the piezoelectric element, expands and contracts the piezoelectric element in its axial direction, and performs a running operation using frictional force and inertial force. Accurate traveling operation can be controlled, and fine movement and coarse movement can be performed by the same device.

[Brief description of the drawings]

1 to 3 show a first embodiment of the present invention, FIG. 1 is a sectional view of a self-propelled device in a pipe, FIG. 2 is an explanatory diagram showing a principle traveling operation, and FIG. FIGS. 4 and 5 show a waveform diagram of a drive voltage applied to the piezoelectric element. FIGS. 4 and 5 show a second embodiment of the present invention. FIG.
FIG. 6 is a sectional view taken along line AA in FIG. 4, and FIGS.
FIG. 6 shows a third embodiment of the present invention. FIG. 6 is a cross-sectional view of the self-propelled device in the pipe, FIG. 7 is a cross-sectional view taken along line BB in FIG. 6, and FIG. 9 to 11 show a fifth embodiment of the present invention, FIG. 9 is a schematic explanatory view thereof, and FIGS. The figure is a perspective view of the usage example. M: moving body, m: inertial body, P: piezoelectric element, 1 ...
In-pipe self-propelled device, 2 ... pipe line, 3 ... insertion section, 4 ... front end member, 5 ... retreat member, 6 ... piezoelectric element, 12 ... lead wire.

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Toshihiko Suzuda 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside O-Limpus Optical Industry Co., Ltd. (72) Inventor Yorio Matsui 2-43-2 Hatagaya, Shibuya-ku, Tokyo No. Within Olympus Optical Co., Ltd. (72) Koichi Tatsumi, inventor 2-43-2, Hatagaya, Shibuya-ku, Tokyo Inside Olympus Optical Co., Ltd. (72) Katsuya Suzuki, 2-43, Hatagaya, Shibuya-ku, Tokyo No. 2 Within Olympus Optical Co., Ltd. (56) References JP-A-2-136119 (JP, A) JP-A-61-67079 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB Name) B61B 13/10

Claims (1)

(57) [Claims] A piezoelectric element capable of being rapidly expanded and contracted by being rapidly deformed in the axial direction, a moving body attached to one end of the piezoelectric element in the axial direction and receiving a frictional force from a wall in a pipe, An inertial body attached to an end and having a smaller mass than the moving member, and an inertial force of the inertial body when the piezoelectric element is rapidly deformed and expanded and contracted in its axial direction by controlling a driving voltage applied to the piezoelectric element. A self-propelled in-pipe device comprising: a traveling operation control means for moving the moving member by utilizing a frictional force received by the moving member.