JP3522707B2 - In-pipe traveling 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 device for traveling in a pipe of a buried pipe such as a water and sewer pipe, and more particularly,
The present invention relates to a traveling device for a pipe, which is equipped with a device such as a camera and searches the pipe.

[0002]

2. Description of the Related Art As an example of this type of in-pipe traveling device, there is a device previously proposed by the applicant of the present application, as shown in FIG. 9 (Japanese Patent Application No. 11-162584). The traveling device S for pipes is equipped with a camera C as a device for imaging the inside of the sewer pipe K, and has a pair of directional front wheels 1a and a pair of rear wheels 1b for traveling inside the pipe.
And a traveling drive vehicle 2 that has a front wheel 2a and a pair of rear wheels 2b that are connected to the rear of the device-equipped vehicle 1 and that allow the device-equipped vehicle 1 to travel, and that allows the device to travel in the pipe. The vehicle is provided with a towing vehicle 3 having a front wheel 3a and a pair of rear wheels 3b mounted with a device that is towed by the traveling drive vehicle 2 and controls the air of the drive source. The traveling drive vehicle 2 includes a divided body 4 provided with wheels 2a and 2b,
A fixed head 5 attached to the front end of the split body 4 and two positions, an advanced position supported by the rear end of the split body 4 so as to be able to move forward and backward, and a retracted retracted position. And a feed actuator 7 mounted on the split body 4 for moving the movable head 6 back and forth.
And a contact position provided on each of the heads 5 and 6 for contacting the pipe wall to hold the heads 5 and 6 against the pipe wall, and a separation position separated from the contact position, via the link mechanism 8a. A plurality of movable leg portions 8 and a moving actuator 9 for moving the leg portions 8 to two positions of a contact position and a separated position are provided, and the leg portions 8 of the fixed head 5 and the movable head 6 are alternately arranged on the pipe wall. At the same time, the movable head 6 is moved forward and backward relative to each other, and travels in the pipe.

[0003]

In the traveling device S for pipes, which has been proposed above, there is a demand for more reliable passage of pipes because the pipes are not surely coped with the bends. The reason is that, firstly, both the equipment-equipped vehicle 1 and the traveling drive vehicle 2 are one vehicle, so that the length thereof is relatively long. Therefore, if the bend of the pipe is large, the pipe can be bent completely. This is because it may not be possible to drive without it. For this reason, there is a demand to enable traveling even if the pipe is bent. For example, in the case of the sewer pipe K, the pipe diameter is 200 mm to 800 mm.
In mm, there is a demand to be able to deal with cases where the maximum bending degree is 45 °. Secondly, in the equipment-equipped vehicle 1 and the traveling drive vehicle 2, a second reason is that the pair of directional front wheels 1a and 2a rolling on the pipe wall and the pair of rear wheels 1b rolling on the pipe wall. 2b and are provided,
This is because when there is no guide from the pipe when passing through the bend of the pipe, the traveling direction of the wheels may become unstable and the traveling may become unstable. The present invention has been made in view of such a problem, and an object thereof is to provide a traveling device for inside a pipe that can reliably cope with bending of the pipe and can pass the pipe more reliably.

[0004]

The technical means of the present invention for solving such a problem is a drive unit having a drive device for traveling in a pipe and a driven unit having various other devices. In the traveling device for a pipe provided with, each of the drive unit and the driven unit is divided into a plurality of divided bodies, and each divided body is connected by a hinge coupling via a connecting body having a shorter length than the divided body, The connecting body is provided with wheels that roll in the pipe. As a result, since the divided bodies are connected via the connecting body having a shorter length than this, when the device is inserted into the pipe, it is easy to insert the connected body in a fully connected state, and the entire connecting body serves as a joint. As if it were meandering and bendable, it can be easily inserted into a narrow tube, and the time required for putting it into the tube can be shortened. In addition, when passing through the bent portion of the pipe, the driving part and the driven part are divided into subdivided parts, and each divided body is connected through a connecting body having a shorter length than that of the divided body. However, by using the connecting body as a joint, it can meander like a serpentine and bend, so that it is possible to make a small turn and easily pass through the bent portion of the pipe. Further, since the connecting body is provided with the wheels that roll in the pipe, it is not necessary to provide the dividing body with the wheels, and accordingly, the dividing body can be formed compactly. Therefore, each dividing body can be formed into the pipe wall. It is possible to easily pass through the bent portion of the pipe also in this point by making it difficult to interfere with the contact with the pipe.

Then, if necessary, the length L of the divided body is
With respect to the diameter D of the pipe, the relationship of the following equation 1 is set. Here, R is the radius of curvature of the tube, D is the diameter of the tube, d is the width (diameter) of the divided body, L is the length of the divided body, and K is the distance between the connected body and the divided body. With this, the length of the divided body can be subdivided within a predetermined range with respect to the diameter of the pipe.
The bent portion of the pipe can be reliably passed.

[0006]

[Equation 2]

[0007] Here, for example, in the case of a 200 A steel pipe long elbow, the following equation 2 is obtained. However, the units of d, L, and K are cm.

[0008]

[Equation 3]

Further, if Equation 2 is simplified, the following Equation 3 is obtained. However, a is a coefficient (1500 to 3000) and b is a coefficient (75 to 85).

[0010]

[Equation 4]

If necessary, one end and the other end of the connecting body are vertically hinged to the divided body connected to the connecting body so as to be rotatable about a vertical axis perpendicular to the axis of the pipe. It is configured to be connected via at least one of horizontal hinges pivotally supported about a horizontal axis orthogonal to the axis of the pipe. The hinge can easily pass through the bent part of the pipe, and if it has both vertical and horizontal hinges, it can also follow the inclination of the device up, down, left, and right, so that traveling is possible. It can be performed stably.

Further, if necessary, the connecting body is constructed by including a main body and a plurality of wheels provided on the outside of the main body and capable of rolling a pipe wall, and at one end and the other end of the main body. A configuration is provided in which at least one of a vertical hinge constituent portion forming the vertical hinge and a horizontal hinge constituent portion forming the horizontal hinge is provided. Since the hinge structure portion is provided in advance, the assembly with the divided body can be easily performed. Furthermore, if necessary, a plurality of wheels are provided in the radial direction. In each connecting body, the wheels abut on the tube wall in the radial direction, so that the support is ensured and the whole can be moved stably. Further, the divided body of the drive unit is divided for each drive device as needed. To that extent, the pipe is subdivided, and in this respect as well, the bent portion of the pipe can be easily passed.

If necessary, the drive unit divided bodies are divided into a center divided body, a front divided body connected to the center divided body via the connecting body, and a center divided body. And a rear divided body connected to the rear member via the connecting body, and the center divided body is provided with a feed actuator having a piston and a cylinder that expand and contract in two positions, an advanced position and a retracted position, The piston and cylinder of the feed actuator can be connected to the connecting body, and the front divided body and the rear divided body are respectively brought into contact with a pipe wall and hold the divided body against the pipe wall. A leg portion that is movable to two positions separated from the contact position and a movement actuator that moves the leg portion are provided, and the leg portions of the front divided body and the rear divided body are alternately arranged on the pipe wall. Each time has a configuration which is adapted to run the whole by stretching a feed actuator causes the abutment. The drive unit can be simplified and the device can be simplified, and the drive force can be easily increased by increasing the number of each divided body of the drive unit, depending on the condition of the weight and size of the device or the inside of the pipe. It is possible to easily meet the conditions.

Further, if necessary, the movable actuator is provided with a pair of pistons which are provided with the leg portion at the tip and extend and contract in two positions, an advanced position and a retracted position, which are in a 180 ° symmetrical positional relationship with each other, and each piston. It is configured to include a cylinder that is capable of expanding and contracting. The moving mechanism of the leg portion can be simplified. Further, if necessary, the movable actuator is provided with a pair of first and second pistons which are provided at the distal end thereof and extend and contract into two positions of an advance position and a retract position and which are in a 180 ° symmetrical positional relationship with each other. A first cylinder that holds the first piston so that it can expand and contract,
A second cylinder that is formed on the first piston and that holds the second piston in an expandable and contractable manner, and a working fluid is injected and discharged, and one end loosely fitted to the outside of the first piston and one end of which is the rear end side of the first cylinder. And a second coil piston, the other end of which is locked to the rear end side of the first piston and constantly biases the first piston in the contraction direction, and one end of which is loosely fitted to the outside of the second piston And a second coil spring that is locked to the inner rear end side of the two cylinders and has the other end locked to the rear end side of the second piston to constantly urge the second piston in the contraction direction. When the working fluid is injected into the second cylinder, the first and second pistons are extended against the biasing force of the first and second coil springs, and the working fluid is discharged from the second cylinder. And the second piston above the first It has a configuration which is adapted to shrink and by the biasing force of the second coil spring. Since two cylinders can be operated by injecting and discharging the working fluid with one cylinder, the operation timing of the pistons can be easily adjusted, and the leg portion can be reliably brought into contact with the pipe wall. Further, if necessary, a plurality of the front divided bodies, the center divided body, and / or the rear divided body are provided in plural. The driving force can be increased, and the condition of the weight and size of the device, the condition inside the pipe, and the like can be easily met.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION An in-pipe traveling device according to an embodiment of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 2, an in-pipe traveling apparatus S according to an embodiment of the present invention shown in FIGS. 1 to 8 is equipped with a camera C as an apparatus for imaging the inside of the pipe, and the camera C images the inside of the sewer pipe. It is used in a search system for searching. In the search system shown in FIG. 2, K is a sewer pipe buried underground,
M is a manhole that connects the sewer pipe K to the ground. Figure 2
In the figure, 10 is a vehicle equipped with a reel carriage 10a installed on the ground for sending and rewinding a camera cable, 11
Sends out an air hose for supplying air to an air actuator, etc., which will be described later, an electric control cable, and cables 11a such as a wire cable for pulling the in-pipe traveling device S from the traveling end. It is a sending and rewinding device for rewinding together. Reference numeral 12 is a compressor that supplies compressed air to the air hose, and 13 is a generator that supplies power to the ground equipment.

The in-pipe traveling device S basically comprises a drive unit Sa having a drive device for traveling in the pipe and a driven unit Sb having various other devices. The drive unit Sa and the driven unit Sb each include a plurality of divided bodies (5
0,55,56) (70,73,74,75,76,7
7, 78), and the divided bodies are connected to each other by hinges 30 and 40 via a connecting body 20 having a shorter length than that of the divided bodies. Further, the length L of the divided body is set to the relationship of the following Expression 1 with respect to the diameter D of the pipe. In Equation 1, as shown in FIG. 8, R is the radius of curvature of the pipe, and D
Is the diameter of the pipe, d is the width (diameter) of the divided body, L is the length of the divided body, and K is the distance between the connecting body 20 and the divided body.

[0017]

[Equation 5]

Here, for example, in the case of a 200 A steel pipe long elbow, the following equation 2 is obtained. However, the units of d, L, and K are cm.

[0019]

[Equation 6]

Further, if Equation 2 is simplified, the following Equation 3 is obtained. However, a is a coefficient (1500 to 3000) and b is a coefficient (75 to 85).

[0021]

[Equation 7]

As shown in FIGS. 3 to 6, the connecting body 20 includes a cross-shaped main body 21 having four legs 22. A plurality of wheels 23 capable of rolling on the tube wall Ka are rotatably provided at the tip ends of the legs 22 of the main body 21.
That is, a plurality of wheels (four in the embodiment) are provided in the radial direction in an equal angle relationship (a relationship of 90 ° in the embodiment). The lower wheel 23 is provided on a support member 24 that rotatably supports the lower wheel 23. This support member 24
Is rotatably supported by the leg 22 so as to rotate around the longitudinal axis of the leg 22 perpendicular to the axis of the wheel 23, thereby forming a caster capable of changing direction. Further, the connecting body 20 has a vertical hinge 3 whose one end and the other end are pivotally supported by a split body connected to the connecting body 20 so as to be rotatable about a vertical axis orthogonal to the axis of the pipe.
0 and a horizontal hinge 40 pivotally supported about a horizontal axis orthogonal to the axis of the pipe. The vertical hinge 30 is provided with a vertical one-side piece 32 having a vertical one-side insertion hole 31 having an axis in the vertical direction and provided in a pair at the upper and lower sides with a space therebetween. The other vertical insertion hole 3 having an axis in the direction
3, the other vertical piece 34 provided in a pair at the upper and lower sides with a space therebetween, the vertical one insertion hole 31 and the other vertical insertion hole 3
3. A vertical bolt 35 serving as a rotating shaft that is inserted into the vertical shaft 3, and a vertical nut 36 that is screwed into the vertical bolt 35 to prevent the bolt from coming off.
It consists of and. The horizontal hinge 40 includes a horizontal one-side piece 42, which is provided with a horizontal one-side insertion hole 41 having an axis in the horizontal direction, and which is provided in a pair on the left and right with a space therebetween, and a horizontal one-side piece 42.
The other lateral insertion piece 43, which is provided in a pair on the left and right with the other lateral insertion hole 43 having an axis line in the lateral direction, and which is provided in a pair on the left and right sides, and the lateral one insertion hole 41 and the other lateral insertion hole. It is composed of a horizontal bolt 45 as a rotary shaft that is inserted into the hole 43, and a horizontal nut 46 that is screwed into the horizontal bolt 45 to prevent the bolt from coming off.

As shown in FIGS. 3 and 4, at the one end and the other end of the main body 21 of the connecting body 20, a pair of vertical one-side pieces 32 as vertical hinge constituting parts constituting the vertical hinge 30 and At least one of the pair of horizontal one-side pieces 42 is provided as a horizontal hinge forming portion forming the horizontal hinge 40. In the embodiment, the coupling body 20
There are two types. One type (FIG. 3A) has a pair of vertical one-sided pieces 32 at one end of the main body 21.
And a pair of horizontal one-side pieces 42 are provided at the other end of the main body 21. The other type (Fig. 3 (b)) is the main body 21
A pair of vertical one-sided pieces 32 is provided at one end, and a pair of vertical one-sided pieces 32 is similarly provided at the other end of the main body 21. In advance
Since the connecting body 20 is provided with the hinge forming portion, it can be easily assembled with the divided body. Further, at the end of the divided body, there are provided a pair of other vertical pieces 34 as vertical hinge constituting portions constituting the vertical hinge 30 and a pair of other horizontal pieces 44 constituting horizontal hinge constituting portions constituting the horizontal hinge 40. At least one of them is provided. In the divided bodies located at both ends of the device S, it is not always necessary to provide hinge constituent parts at both ends, and only one of the ends has a pair of the other vertical piece 34 and a pair of the other horizontal piece. It suffices to provide any one of 44.

Next, the structure of the drive section Sa will be described. The divided body of the drive unit Sa is configured to be divided for each drive device. Therefore, the drive unit Sa is simplified and the device S is simplified. Specifically, the divided body of the drive unit Sa is
A center division body 50, a front division body 55 connected to the front division body of the center division body 50 via the connecting body 20, and a rear division body connected to the rear division body of the center division body 50 via the connection body 20. And a body 56. At least one of the front divided body 55, the center divided body 50, and the rear divided body 56 is provided with a plurality. In the embodiment, each divided body 50, 55, 56
Are connected to each other via three connecting bodies 20. The number of each divided body is appropriately determined depending on the total length and weight of the device S. In addition, in the middle of the three center division bodies 50, a controller of a feed actuator 53, which will be described later, of the center division body 50 is provided.
5 are connected via a connecting body 20. As shown in FIG. 7, the center divided body 50 is provided with an air-driven feed actuator 53 having a piston 51 and a cylinder 52 that expand and contract in two positions, an advanced position F and a retracted position R. For the piston and the cylinder of the feed actuator 53 of the center division body 50, a pair of other vertical parts as vertical hinge constituent parts constituting the vertical hinge 30 and a pair of horizontal parts as horizontal hinge constituent parts constituting the horizontal hinge 40. At least one of the other pieces 44 is provided.

The front divided body 55 and the rear divided body 56 are respectively in contact position X for contacting the pipe wall Ka and holding the divided body with respect to the pipe wall Ka, and a separated position Y separated from the contact position X. Leg portion 57 that can be moved to two positions, and the leg portion 57
And an air-driven moving actuator 60 for moving the. As a result, the leg portions 57 of the front division body 55 and the rear division body 56 are alternately brought into contact with the pipe wall Ka, and the feed actuator 53 of the center division body 50 is expanded and contracted each time so that the entire body travels. As shown in FIGS. 5 and 6, the moving actuator 60 includes a pair of pistons that are provided with a leg portion 57 at the tip thereof and extend and contract in two positions of an advanced position F and a retracted position R, which are 180 ° symmetric with each other. And a cylinder that holds each piston so that it can expand and contract.

More specifically, the movable actuator 60 has a pair of first and second pistons 61, which are provided with a leg portion 57 at the tip and extend and contract in two positions of an advanced position F and a retracted position R, which are 180 ° symmetrical to each other. , 62, a first cylinder 63 that holds the first piston 61 in a stretchable manner, and a second cylinder 64 that is formed in the first piston 61 and that holds the second piston 62 in a stretchable manner and into which working fluid is injected and discharged. And the one end is locked to the rear end side of the first cylinder 63 and the other end is locked to the rear end side of the first piston 61 so that the first piston 61 moves in the contracting direction. A first coil spring 65 that is constantly urged, and one end that is loosely fitted to the outside of the second piston 62 and has a second cylinder 64.
A second coil spring 66 that is locked to the inner rear end side of the second piston and the other end of which is locked to the rear end side of the second piston 62 and constantly biases the second piston 62 in the contraction direction. . The leg portion 57 is formed of an elastic body such as rubber in a cup shape, and is detachably attached to the pistons 61 and 62 with a bolt 58. Therefore, since the leg portion 57 is cup-shaped, the leg portion 57 has good adhesion to the tube wall Ka and can be reliably held at the time of contact, and the leg portion 57 is detachable, so that the leg portion 57 can be easily replaced when worn. With such a configuration of the moving actuator 60,
By injecting air as a working fluid into the second cylinder 64, the first and second pistons 61 and 62 are extended against the biasing forces of the first and second coil springs 65 and 66, and the second cylinder 64 is operated. When the air as the fluid is discharged, the first and second pistons 61 and 62 are contracted by the urging force of the first and second coil springs 65 and 66. Therefore, the injection and discharge of the working fluid are performed by one cylinder 64, and the two pistons 61,
Since 62 can be operated, the operation timing of the pistons 61 and 62 can be easily taken, and the leg portion 57 can be reliably brought into contact with the pipe wall Ka.

Next, the structure of the driven portion Sb will be described. As shown in FIG. 1, the divided body of the driven portion Sb is divided for each device. Specifically, the driven part Sb is
The camera division 70 is provided at the frontmost position of the apparatus S and carries the camera C. The camera division 70 has a leg 71
A plurality of wheels 72 capable of rolling on the pipe wall Ka are provided via the. A plurality of wheels 72 (four in the embodiment) are provided in the radial direction in an equiangular relationship (a relationship of 90 ° in the embodiment). Further, the driven portion Sb is the camera division body 70.
A converter division body 73 and a converter division body 7 which are connected to the camera via a connection body 20 to perform DA conversion of image data of a camera and the like.
3, a camera control division 74 for controlling the camera C, which is connected to the first front division body 55 and is also connected to the front division body 55, and the center division body 5 described above.
Controller division body 75, in which the controller of the feed actuator 53 of 0 is provided,
Two controller divided bodies 76, 77 connected to each other through 0 to control the movement actuator 60 of the front divided body 55 and the rear divided body 56, and connected to the last controller divided body 77 via the connected body 20. Feed actuator 53
And an air tank divider 78 having an air tank for the moving actuator 60. In addition, if there is a necessary device, it may be connected to an appropriate place through the connecting body 20 as a divided body. Also, divided bodies (50, 55, 56)
In (70, 73, 74, 75, 76, 77, 78), the wheels 72 are provided only in the camera divided body 70 and not in the other divided bodies, and are formed so compactly.

Therefore, when the inside of the sewer pipe K is imaged by the traveling device S for pipes according to the embodiment of the present invention,
Do as follows. First, when the traveling device S for inside the pipe is put into the pipe, the divided bodies are connected in advance through the connecting body 20 and are inserted from the manhole M as shown in FIG. In this case, the drive unit Sa and the driven unit Sb are each divided into a plurality of divided bodies, and the divided bodies are connected to each other via the connecting body 20 having a shorter length than the divided body, so that the whole body is divided. , Since the connecting body 20 serves as a joint and bends like a serpentine meandering, even in a narrow place,
It can be inserted easily and the time required for charging can be shortened.

Then, the inside of the pipe is made to travel and the image is taken by the camera C. Here, basic running will be described. As shown in FIG. 5, first, the moving actuator 60 of the rear divided body 56 is driven to position the leg portion 57 at the contact position X, and as shown in FIG. 6, the movable actuator 60 of the front divided body 55 is moved. Drive the leg 57
To the separated position Y. In this case, the rear split body 56
Since there are a plurality of the leg portions 57 and the plurality of leg portions 57 are brought into contact with the tube wall Ka, the holding is assured. In this state, referring to FIG. 7, the feed actuator 53 of the center division body 50 is extended and positioned at the advance position F. As a result, the rear divided body 56 is prevented from being attached to the pipe wall Ka by the leg portion 57.
Since it is held at, the center divided body 50, the front divided body 55, and the divided bodies (73, 74, 75) of the driven portion Sb, which are located in front of the rear divided body 56, move forward. In this case, the wheels 23 of the connecting body 20 roll on the pipe wall Ka, but each connecting body 2
At 0, since four wheels 23 are provided in the radial direction in an equiangular relationship, the wheels 23 come into contact with the pipe wall Ka in the radial direction in each coupling body 20, so that the support is ensured,
The whole moves stably.

Next, the moving actuator 60 of the front divided body 55 is operated to position the leg portion 57 at the abutting position X, and the moving actuator 60 of the rear divided body 56 is operated to move the leg portion 57 to the separated position Y. Located in. In this case, since there are a plurality of front divided bodies 55 and the plurality of leg portions 57 are brought into contact with the pipe wall Ka, the holding is assured accordingly. In this state, the feed actuator 53 of the center division body 50 is contracted to the retreat position R. As a result, the front divided body 55 is held on the pipe wall Ka by the leg portions 57, so that the divided bodies (75, 76) of the center divided body 50, the rear divided body 56, and the driven portion Sb that are located after the front divided body 55. , 77, 78)
Moves forward. In this case as well, the wheels 23 of the connected body 20 roll on the pipe wall Ka, but in each connected body 20, since four wheels 23 are provided in the radial direction in an equiangular relationship, radiation is generated in each connected body 20. Since the wheel 23 comes into contact with the pipe wall Ka in the direction, the support is ensured and the whole moves stably. In this way, the leg portions 57 of the front divided body 55 and the rear divided body 56 are alternately brought into contact with the pipe wall Ka, and the feed actuator 53 is moved forward and backward to move the device S each time. In this case, since the front divided body 55, the center divided body 50, and the rear divided body 56 can be connected in an appropriate number, the driving force can be easily increased by increasing the number of divided bodies (50, 55, 56). The condition of the weight and size of the device S, the condition inside the pipe, and the like can be easily met.

When the device S passes through the bent portion of the pipe in the traveling of the traveling device S for pipes as described above, for example, as shown in FIG. Reference numeral 50 denotes a connecting body 20 which is connected by a hinge connection, and further, a vertical hinge 30 which pivotally supports a vertical axis orthogonal to the axis of the pipe and a lateral hinge which pivotally supports a horizontal axis orthogonal to the axis of the pipe. Since they are connected by at least one of the hinges 40, they can be bent at this hinge and can easily pass through the bent portion of the pipe. Further, since each divided body is divided for each device, it is subdivided accordingly, and in this respect also, it becomes possible to easily pass through the bent portion of the pipe. Further, in the divided body, only the camera divided body 70 (wheel 72) is provided with the wheels, and the divided body is formed compactly as compared with the other divided bodies. Therefore, each divided body is provided with the pipe wall Ka. It is difficult to interfere with the contact with the pipe, and even at this point, the pipe can easily pass through the bent portion. Furthermore, the length L of the divided body
Has the relationship of the above-mentioned formula 1 with respect to the diameter D of the pipe, and therefore the length of the divided body is subdivided within a predetermined range with respect to the diameter of the pipe. You will be able to pass through the bends.

That is, since the drive portion Sa and the driven portion Sb are divided and subdivided, and each divided body is connected to each other through the connecting body 20 having a shorter length than the dividing body, the entire connecting body 20 is connected. With the joint as a joint, it bends like a snake and bends, so it becomes possible to make a small turn.
You will be able to easily drive in curved areas. For example,
It is possible to deal with the case where the bending angle of the pipe is 45 ° or more. Further, as the hinge, both a vertical hinge 30 pivotally supported around a vertical axis orthogonal to the axis of the pipe and a horizontal hinge 40 pivotally supported about a horizontal axis orthogonal to the axis of the pipe are used. Since it is provided, it is possible to follow the inclination of the device S in the up, down, left, and right directions, so that the vehicle travels stably. In this way, according to the traveling device S for pipes, it becomes possible to easily travel even in a bent portion.
It becomes possible to run a long distance exceeding 1 km, and it becomes possible to perform maintenance of sewer pipes and the like very easily.

Although the in-pipe traveling apparatus S of the present invention is equipped with the camera C as a device, the device is not necessarily limited to this, and various devices other than the camera C may be installed as appropriate. You can change it. Further, it goes without saying that the traveling device S for pipe of the present invention may be used not only for the sewer pipe K but for any pipe.

[0034]

As described above, according to the in-pipe traveling device of the present invention, the drive section and the driven section are each divided into a plurality of divided bodies, and the divided bodies are connected to each other with a shorter length than the divided bodies. Since the wheels are connected to each other by a hinged connection through the body, and the wheels that roll in the pipe are provided in the connected body, the drive section and the driven section are divided into subdivided parts, and each divided body has a shorter length than the divided body. Since it is connected via the connecting body, the whole body can be bent meandering like a snake with the connecting body as a joint, so that it can make a small turn and easily pass through the bent portion of the pipe. You can Further, since the connecting body is provided with the wheels that roll in the pipe, it is not necessary to provide the dividing body with the wheels, and accordingly, the dividing body can be compactly formed. It is possible to easily pass through the bent portion of the pipe also in this point by making it difficult to interfere with the contact with the pipe. Further, since the divided bodies are connected via the connecting body having a shorter length than this, it is possible to easily insert the divided body into a narrow pipe and shorten the time for charging into the pipe.

When the length L of the divided body is set to the relation of the equation 1 with respect to the diameter D of the pipe, the length of the divided body is subdivided within a predetermined range with respect to the diameter of the pipe. Therefore, the bent portion of the pipe can be reliably passed. In addition, one end and the other end of the connecting body are supported by a divided body connected to the connecting body so as to pivotally support a vertical hinge rotatably around a vertical axis orthogonal to the axis of the pipe and a horizontal axis orthogonal to the axis of the pipe. When connected via at least one of the lateral hinges rotatably supported on the hinge, the bent portion of the pipe can be easily passed through the hinge, and both the vertical hinge and the horizontal hinge are provided. For example, it is possible to follow the inclination of the upper, lower, left, and right devices, so that the traveling can be performed stably.

Further, the connecting body is constituted by a main body and a plurality of wheels provided on the outside of the main body and capable of rolling the pipe wall, and a vertical hinge is formed at one end and the other end of the main body. When at least one of the hinge constituent portion and the lateral hinge constituent portion forming the lateral hinge is provided, the hinge constituent portion is provided in advance, so that the assembly with the divided body can be easily performed. Furthermore, when a plurality of wheels are provided in the radial direction, the wheels come into contact with the pipe wall in the radial direction in each connecting body, so that the support is ensured and the entire body can be moved stably. In addition, when the divided body of the drive unit is configured by dividing the drive unit for each drive device, the drive unit is subdivided correspondingly, and in this respect also, the bent portion of the pipe can be easily passed.

Further, the drive unit divided body is a center divided body,
A front divided body and a rear divided body are provided, a feed actuator is provided in the center divided body, a leg portion and a moving actuator for moving the leg portion are provided in the front divided body and the rear divided body. When the leg portions are alternately brought into contact with the pipe wall and the feed actuator is expanded / contracted each time to run the whole body, the drive unit is simplified, the device can be simplified, and each drive unit is divided. By increasing the number of bodies, it is possible to easily increase the driving force, and it is possible to easily meet the conditions of the weight and size of the device, the conditions inside the tube, and the like.

Furthermore, the movable actuator holds a pair of pistons having a leg portion at the tip and extending and contracting in two positions, an advancing position and a retracting position, which are in a 180 ° symmetrical positional relationship with each other, and each piston is capable of expanding and contracting. When it is configured to include the cylinder, the moving mechanism of the leg portion can be simplified. In this case, the movable actuator extends the first and second pistons against the biasing forces of the first and second coil springs by injecting the working fluid into the second cylinder, and discharges the working fluid from the second cylinder. At this time, if the first and second pistons are configured to be contracted by the biasing forces of the first and second coil springs, the working fluid can be injected and discharged by one cylinder to operate the two pistons. The operation timing can be easily adjusted, and the leg portion can be reliably brought into contact with the pipe wall.
Further, when a plurality of divisions are provided in at least one of the front division body, the center division body, and the rear division body, the driving force can be increased, and the weight and size conditions of the device or the conditions inside the pipe can be increased. Etc. can be easily dealt with.

[Brief description of drawings]

1A and 1B are diagrams showing an in-pipe traveling device according to an embodiment of the present invention, in which FIG. 1A is a plan view and FIG. 1B is a side view.

FIG. 2 is a diagram showing a sewer pipe search system to which the in-pipe traveling device according to the embodiment of the present invention is applied.

FIG. 3 is a diagram showing a configuration of a connected body of the traveling device for inside the pipe according to the embodiment of the present invention, in which (a) is a perspective view showing one type and (b) is a perspective view showing another type. Is.

FIG. 4 is a view showing a connected body of the traveling device for inside a pipe according to the embodiment of the present invention, in which (a) is a front view and (b) is a side view.

FIG. 5 is a side view showing a connected state of the front divided body and the rear divided body of the drive unit of the traveling apparatus for inside the pipe according to the embodiment of the present invention, and a side view showing a configuration of a moving actuator.

FIG. 6 is a plan view showing a connected state of the front divided body and the rear divided body of the drive unit of the in-pipe traveling device according to the embodiment of the present invention, and a plan view showing a configuration of a moving actuator.

FIG. 7 is a view showing the connected state of the center divided bodies of the drive unit of the traveling apparatus for inside the pipe according to the embodiment of the present invention together with its action, and FIG. 7A is a plan view showing a state when the feed actuator is contracted. , (B) are plan views showing a state when the feed actuator is extended.

FIG. 8 is a diagram showing a dimensional relationship between the divided body and the pipe of the traveling device for inside the pipe according to the embodiment of the present invention.

FIG. 9 is a side view showing a prior art example of an in-pipe traveling device.

[Explanation of symbols]

S In-pipe traveling device K sewer pipe Ka pipe wall M manhole 10 vehicles 10a reel truck 11 Delivery rewinding device 11a cables 12 compressor 13 Generator Sa drive unit Sb follower C camera 20 connected body 21 body 22 legs 23 wheels 24 Support member 30 vertical hinges 31 Vertical one-sided insertion hole 32 vertical one piece 33 Vertical insertion hole 34 Vertical other piece 35 vertical bolt 36 Vertical Nut 40 horizontal hinge 41 Horizontal one-sided insertion hole 42 Horizontal one-sided piece 43 Horizontal insertion hole 44 Other piece for horizontal use 45 horizontal bolt 46 Side nut 50 center division F advance position R retracted position 51 pistons 52 cylinders 53 Feed actuator 55 Front division 56 Rear split body 57 Leg X Contact position Y separation position 58 bolt 60 moving actuator 61 First piston 62 Second piston 63 First cylinder 64 second cylinder 65 First coil spring 66 Second coil spring 70 camera division 71 Leg 72 wheels 73 Converter divided body 74 Camera control division 75 Controller split body 76,77 Controller split body 78 Air tank divided body

Continuation of front page (56) Reference JP-A-60-191882 (JP, A) JP-A-63-27756 (JP, A) JP-A-3-50082 (JP, A) JP-A-58-50304 (JP , A) JP 2000-346279 (JP, A) JP 6-24333 (JP, A) Actually open 2-54673 (JP, U) Actually open 62-114884 (JP, U) (58) Survey Fields (Int.Cl. ⁷ , DB name) B61B 13/10

Claims (6)

(57) [Claims] 1. An in-pipe traveling apparatus including a drive unit having a drive device for traveling in a pipe and a driven unit having various other devices, wherein the drive unit and the driven unit are each divided into a plurality of divided bodies. It is divided into, each of the divided bodies together connected by hinged via a short connecting member having a length from the divided body, only set the wheels rolling on the tube in the coupling body, the divided body of the drive unit The drive unit is divided for each drive device, and the drive unit division body is divided into a center division body and the center division body.
Front part of the body that is connected to the front alligator through the connecting body
Via the split body and the back ring of the center split body
And a rear divided body connected to each other,
Pis that expands and contracts in two positions, an advanced position and a retracted position on the split body
Installed feed actuator with ton and cylinder
Piston and cylinder of the feed actuator
The connecting body can be connected to the front split body and
Each of the rear divisions is brought into contact with the pipe wall to attach the division to the pipe wall.
The contact position held against the contact and the distance apart from the corresponding contact position
The leg part that can be moved to two positions, and the leg part can be moved
The front divided body is provided with a moving actuator for
When the leg portions of the rear divided body are alternately contacted with the pipe wall,
Every time the feed actuator is expanded and contracted
And move the above-mentioned moving actuator to the tip of the leg section.
18 to each other, which expands and contracts in two positions, the forward and backward positions.
A pair of first and second pistons having a 0 ° symmetrical positional relationship
And a first cylinder that holds the first piston so that it can expand and contract.
And the second piston formed on the first piston
It is held so that it can be expanded and contracted and working fluid is injected and discharged.
The second cylinder and the first piston
One end is locked to the rear end of the first cylinder and the other end is
The first piston is contracted by being locked to the rear end side of the stone.
The first coil spring that constantly urges the
Is loosely fitted to the outside of the ton and one end is the inside rear end of the second cylinder
And the other end is locked to the rear end side of the second piston.
A second coil sp that constantly urges the second piston in the contracting direction.
And a working flow to the second cylinder.
By injecting the body, the first and second pistons are moved to the first and second
Beauty was extension length against the biasing force of the second coil spring, the upper
When discharging the working fluid from the second cylinder
And the second piston of the first and second coil springs
An in-pipe traveling device characterized in that it is reduced in size by the urging force . 2. The in-pipe traveling device according to claim 1, wherein the length L of the divided body is set to the relation of the following formula 1 with respect to the diameter D of the pipe. [Equation 1] Here, R is the radius of curvature of the tube, D is the diameter of the tube, d is the width (diameter) of the divided body, L is the length of the divided body, and K is the distance between the connected body and the divided body. 3. One end and the other end of the connecting body are attached to a split body connected to the connecting body, to a vertical hinge and a pipe axis that are pivotally supported about a vertical axis orthogonal to the axis of the pipe. 3. The in-pipe traveling device according to claim 1, wherein the traveling device for pipes is connected via at least one of horizontal hinges that are pivotally supported about orthogonal horizontal axes. 4. The connecting body comprises a main body and a plurality of wheels provided outside the main body and capable of rolling a pipe wall, and the vertical hinges are provided at one end and the other end of the main body. 4. The in-pipe traveling device according to claim 3, wherein at least one of a vertical hinge forming part that forms the horizontal hinge and a horizontal hinge forming part that forms the horizontal hinge is provided. 5. The in-pipe traveling device according to claim 4, wherein a plurality of the wheels are provided in a radial direction. Wherein said front split body, center split body, according to claim 1, 2, 3, 4 or 5 SL, characterized in that plurality in at least one of the divided body of the rear divided body
On-board traveling device.