JP4541037B2 - Internal inspection device for cylindrical structures - Google Patents

Description

  The present invention relates to an internal inspection device for a cylindrical structure that inspects the inner surface of the cylindrical structure such as an exhaust pipe or a chimney.

Conventionally, what is shown by patent document 1 as a thing regarding the internal inspection apparatus of a cylindrical structure is proposed, for example.
The inspection device described in Patent Document 1 is for inspecting the inner wall surface of an exhaust pipe of a power plant, and its schematic configuration is shown in FIG. As shown in FIG. 13, a gondola 104 equipped with a camera unit 103 is suspended from a lifting arm 107 provided on a platform 101 at the top of the exhaust stack 100 with a suspension wire 102, and a weight 105 is attached to the tip. The camera unit 103 shoots the inner surface while being lowered along the guide wire 109, and sends the photographic data to the ground monitoring device 108 through the captyre cable 106 for monitoring.

Japanese Patent Laid-Open No. 5-91512 (paragraphs [0006] to [0009] and FIG. 4)

By the way, although the exhaust gas flows strongly in the exhaust pipe 100 and turbulent flow is likely to occur, this turbulent flow is only required by being regulated by the weight 105 attached to the tip of the guide wire 109 as in Patent Document 1 described above. It is difficult to prevent the camera unit 103 from rolling due to the camera, and the camera unit 103 is constantly unstable, and the photographed image is disturbed. Further, when the turbulent flow is severe, there is a problem that the apparatus may collide with the inner wall.
In addition, in Patent Document 1, since the captyre cable 106 is attached to transmit photographing data, there is a problem that it is more easily affected by turbulence.

  In view of the above problems, the present invention can maintain a stable posture without being affected by turbulent flow generated inside the cylindrical structure, thereby enabling an internal inspection of the cylindrical structure that can be accurately and highly accurately inspected. An object is to provide an apparatus.

In order to solve the above problems, the present invention employs the following means.
That is, the internal inspection device for a cylindrical structure according to the present invention includes a frame, and a suspension unit that suspends the frame from the top of the cylindrical structure, and the frame includes the frame. A suction means for urging the wall surface of the cylindrical structure; a support means having a contact portion configured to contact the wall; a check means for checking the condition of the wall ; A protrusion amount adjusting mechanism for adjusting a protrusion amount from the frame, and the suction means is configured to move in the direction of the wall surface in conjunction with a change in the protrusion amount of the wheel and the wheel. An auxiliary suction means is provided in the frame in the vicinity of .

According to the present invention, since the frame is suspended from the top of the cylindrical structure by the suspension means, the frame descends by its own weight when the suspension means is extended, stops when the extension is stopped, Will rise. Since this frame is equipped with inspection means for inspecting the condition of the wall surface of the cylindrical structure, the condition of the wall surface can be inspected at any position in the vertical direction by adjusting the extension of the suspension means. it can.
In this case, since the frame is provided with support means having a contact portion provided so as to protrude to the wall surface side and is biased in the wall surface direction by the suction means, the frame has the contact portion of the support means abutted against the wall surface. It will be pressed against the wall in the form. Thus, since the frame is pressed against the wall surface by the suction means, even if the flow toward the apparatus is turbulent, the posture can be maintained without being disturbed. For this reason, since the inspection means attached to the frame can inspect the wall surface or the like with a constant posture, it is possible to perform an accurate and highly accurate inspection.
Since the contact portion of the support means is constituted by a wheel, the wheel is rotated by the frictional force with the wall surface as the frame moves up and down. Since the rolling friction coefficient of the wheel is smaller than the contact friction, the frictional force between the support means and the wall surface is reduced. Therefore, the frame can be smoothly moved up and down even when pressed against the wall surface by the suction means, so that an accurate and accurate inspection can be performed.
Since there is a protrusion adjustment mechanism that adjusts the protrusion of the wheel, if there is an obstacle such as a step protruding from the wall surface while the frame is moving up and down, the protrusion adjustment mechanism gradually reduces the protrusion of the wheel from the frame. When the frame is raised and lowered while decreasing, the wheel rotates while engaging one end of the step, and finally gets on the step. When the wheel reaches the other end of the step, the internal inspection device returns to the state before the step is reached by raising and lowering the frame while gradually increasing the protrusion amount of the wheel by the protrusion amount adjusting mechanism contrary to the above. .
Thus, even if there is a step in the ascending / descending direction of the frame, it is possible to move up and down over this step, so that the inspection work can be performed reliably and efficiently.
Since the auxiliary suction means is provided in the frame located in the vicinity of the wheel, the distance between the auxiliary suction means and the step surface is shortened when the wheel runs on the step and the distance between the frame and the wall (step) surface is close. It will be. For this reason, since the biasing force of the auxiliary suction means acts strongly, the frame can be held in a stable posture even when riding on a step where the posture tends to become unstable. Therefore, it is possible to perform an accurate and accurate inspection work.
Note that the urging force of the suction means needs to be a size that is not affected by the turbulent flow and smaller than the weight of the lifting object constituted by the frame, the inspection means, and the like. As the adsorption means, a magnet or a vacuum suction device is suitable.
Moreover, as a support means, the structure supported in multiple places or the structure supported on the surface which has a predetermined area is suitable for stable support.

In the internal inspection device for a cylindrical structure according to the present invention, a plurality of the contact portions are provided,
The adsorbing means has an action center of urging force inside a surface formed by a plurality of the contact portions.

  Thus, since the contact part of the support means is provided with two or more, a flame | frame etc. will be supported by the surface formed by a contact part. Moreover, since the suction means has its action point inside the surface formed by the contact portion, the biasing force of the suction means acts on the contact portion and does not act on the outside of the surface formed by the contact portion. It becomes. For this reason, since a frame etc. can maintain the more stable attitude | position away from a wall surface, a more accurate and highly accurate check can be performed.

  Further, the internal inspection device for a cylindrical structure according to the present invention is characterized by including a lifting direction correcting mechanism for tilting the rotation axis of the wheel in a plane facing the wall surface.

As described above, since the elevating direction correcting mechanism for inclining the rotation axis of the wheel in the plane facing the wall surface is provided, when the axis of the wheel is inclined in the plane facing the wall surface by the elevating direction correcting mechanism, the wheel The rotation direction of the frame is inclined with respect to the lifting / lowering direction of the frame. Therefore, since the frame moves in the rolling direction of the wheel that is in contact with the wall surface, the ascending / descending direction of the frame can be easily changed.
For this reason, for example, when there is an obstacle in the ascending / descending direction of the frame, the obstacle can be easily avoided for inspection.

  In the internal inspection device for a cylindrical structure according to the present invention, the support means includes a support frame that is provided so as to be able to swing in a plane facing the wall surface with respect to the frame and supports the wheel. The ascending / descending direction correcting mechanism is configured to swing the support frame with respect to the frame in a plane facing the wall surface.

  According to the present invention, when the support frame is swung by the lifting direction correcting mechanism, the wheel axis is inclined in the plane of the frame, that is, the traveling direction of the wheel is changed. Will rotate in the direction. Therefore, since the frame moves in the rolling direction of the wheel that is in contact with the wall surface, the ascending / descending direction of the frame can be easily changed.

  Moreover, in the internal inspection device for a cylindrical structure according to the present invention, the suspension means extends in the width direction of the frame, and a suspension tool whose longitudinal center portion is connected to the frame; and the suspension tool A pair of wires engaged with each other at two substantially equal intervals from the central portion in the longitudinal direction, and the ascending / descending direction correcting mechanism is a pair of suspensions provided at intervals in the longitudinal direction of the suspension tool. And a pair of main body locking portions that are provided on the frame and engage with the respective lifting device locking portions.

  Thus, since the frame is supported by the lifting tool on which the pair of wires are lifted, the frame moves up and down by simultaneously feeding and feeding the pair of wires. Then, when only one wire is brought in, the hanger is inclined with one side facing up. Since a pair of suspension locking portions provided at intervals in the longitudinal direction of the suspension is engaged with the pair of main body engagement portions of the frame, one suspension according to the inclination of the suspension The locking portion raises one main body locking portion upward. Along with this, the frame is inclined obliquely with one side facing up, so that the axis of the wheel supported by the frame is similarly inclined. Accordingly, if the pair of wires are simultaneously fed out in this state, the wheel moves in the rolling direction, so that the up and down direction of the frame can be easily changed.

  Moreover, in the internal inspection device for a cylindrical structure according to the present invention, when the lifting device is in a horizontal state, a predetermined interval is provided between the lifting device locking portion and the main body locking portion. It is characterized by that.

  In this way, when the suspender is in a horizontal state, since the predetermined interval is provided between the suspender engaging portion and the main body engaging portion, the suspender engaging portion is configured so that the suspender is tilted. Even if it approaches the locking part, it does not engage with the main body locking part until a predetermined interval is exceeded. For this reason, since the raising / lowering direction of the frame is not changed until the inclination of the hanger exceeds a predetermined amount, for example, there is a difference in the wire feeding speed between the wires by appropriately setting the predetermined interval, etc. It is possible to prevent the elevation direction from being changed due to a factor that does not need to be changed. Therefore, since the frame does not tilt except for the necessity of avoiding obstacles, the posture of the inspection means during the inspection operation is stabilized, and an accurate inspection operation can be performed. In addition, the correction operation in the ascending / descending direction is reduced, and the efficiency of inspection work can be improved.

  Further, in the internal inspection device for a cylindrical structure according to the present invention, the protrusion amount adjusting mechanism includes a wheel support means for swingably supporting a rotation axis of the wheel in a plane substantially orthogonal thereto, and the wheel. And wheel position holding means for urging so as to be positioned at the neutral position.

According to the present invention configured as described above, when the wheel hits the step, the wheel receives a resistance force from the step and swings in the direction opposite to the traveling direction by the wheel support means. The amount of protrusion will gradually decrease until it reaches the step. Then, when the step is overcome and the resistance is lost, the wheel returns to the neutral position by the wheel position holding means.
In this way, the wheel swings due to the resistance received from the step and the amount of protrusion is adjusted, so that the apparatus can automatically get over the step. Therefore, the inspection work can be performed without considering the step.

  In the internal inspection device for a cylindrical structure according to the present invention, the suction means is configured to be moved in a wall surface direction in conjunction with a change in the protruding amount of the wheel. .

Thus, the suction means is configured to move in the direction of the wall surface in response to a change in the amount of protrusion of the wheel, so when the wheel rides on a step and the interval between the frame and the wall surface is shortened, The suction means moves to the frame side by this shortened distance. For this reason, since the space | interval of an adsorption | suction means and a wall (level | step difference) surface is always maintained constant, the force which urges | biases the flame | frame by an adsorption | suction means to a wall surface is maintained constant during inspection work. Therefore, the inspection work can be carried out stably.
Note that the position of the surface formed by the plurality of wheels changes due to the swinging of the wheels, and in conjunction with this change in position, the center of action of the urging force in the suction means is changed within the surface facing the wall surface. It is preferable to do so.

  In the internal inspection device for a cylindrical structure according to the present invention, the auxiliary suction means is movable in the up-and-down direction.

  When the wheel rides on the step and the biasing force of the auxiliary suction means acts on the step surface, the auxiliary suction means is strongly held on the step surface. According to the present invention, since the auxiliary suction means is movable in the up-and-down direction, the auxiliary suction means that is strongly held on the step surface is the traveling direction in the frame even if the device advances and the wheel advances. Since it moves in the opposite direction, it remains at the corresponding position on the step surface. For this reason, even when the wheel gets over the step, the auxiliary suction means sucks at the position corresponding to the step surface, so that the stability when the wheel returns to the neutral position can be improved.

  According to the present invention, the internal inspection device is lifted and lowered while being urged by the suction means on the inner wall surface of the cylindrical structure, so that it is stable without being affected by the turbulent flow generated inside the cylindrical structure. You can move up and down while maintaining the posture. For this reason, the inspection means can accurately and accurately inspect the wall surface of the cylindrical structure.

Embodiments according to the present invention will be described below with reference to the drawings.
[First embodiment]
Hereinafter, an internal inspection device according to a first embodiment of the present invention will be described with reference to FIGS.
The internal inspection device 1 according to this embodiment is for inspecting the inside of an exhaust pipe (tubular structure) 3 of a power plant.
FIG. 1 is a cross-sectional view showing a state in which the internal inspection device 1 is inspecting the inside of the exhaust pipe 3. 2 is an enlarged partial cross-sectional view of the upper left end portion of FIG. FIG. 3 is a plan view in which a part of FIG. 1 is omitted.

A steel tower 5 that supports the exhaust tube 3 from the outside is provided on the outer surface of the exhaust tube 3. An emergency gas discharge cylinder 7 is installed inside the exhaust cylinder 3 via a support frame 9 in case of an emergency such as leakage of toxic gas. The support frame 9 is reinforced by a step 11 provided so as to protrude from the wall surface 10 over the entire circumference.
A platform 13 is provided on the outer periphery of the top of the exhaust tube 3 over the entire periphery.

The internal inspection device 1 according to the present embodiment includes a winch 15 provided on the platform 13, a suspension frame 17 provided on the top of the exhaust stack 3, and a wire fed from the winch 15 via the suspension frame 17. 19 is attached, and an inspection device 21 suspended in the exhaust pipe 3 is provided.
The winch 15, the suspension frame 17 and the wire 19 constitute the suspension means of the present invention.
The platform 15 is provided with an operation panel 23 for the winch 15 and an image monitoring device 25.

FIG. 4 is a plan view of the inspection device 21 according to the present embodiment. FIG. 5 is a side view of the inspection device 21.
The inspection device 21 includes a frame 27, suction means 29 that urges the frame 27 in the direction of the wall surface 10, support means 31 that contacts the wall surface 10 and supports the inspection device 21, and changes the lifting direction of the frame 27. An ascending / descending direction correcting mechanism 33, a protruding amount adjusting mechanism 35 for adjusting the protruding amount of the supporting means 31 from the frame 27, and an inspecting means 37 for checking the state of the wall surface 10 are provided.

The frame 27 has a substantially rectangular main body frame 41 having a rectangular hole 39 at the center, and side frames 43 and 44 provided on both sides of the hole 39 of the main body frame 41 with the main body frame 41 interposed therebetween. And are provided.
The side frame 43 has an elongated, substantially rectangular parallelepiped shape, and is provided so as to protrude downward from the main body frame 41.
An eye plate 47 is fixedly attached to the lower side 45 of the main body frame 41. The eye plate 47 is connected to the wire 19 by a hook 49.

  On the wall surface 10 side of each side frame 44 (the lower side in the drawing in FIG. 1 and the right side in FIG. 2), there are auxiliary frames 51 each having a substantially rectangular parallelepiped shape with upper and lower ends cut away from the wall surface 10 toward the upper and lower ends. It is attached. Auxiliary wheels 53 are provided at the upper and lower ends of each auxiliary frame 51. The auxiliary wheel 53 at the lower end is provided so as to slightly protrude from the auxiliary frame 51.

Next, the support means 31, the raising / lowering direction correction mechanism 33, the protrusion amount adjustment mechanism 35, and the suction means 29 will be described.
Arc-shaped moving holes 59 and 60 are provided at both ends of the main body frame 41. A support frame 55 having substantially the same width as the main body frame 41 is provided across the hole 39 of the main body frame 41. Actuators 61 and 62 are attached to attachment brackets 57 and 58 provided on both lower sides of the main body frame 41, respectively. The tip portions 63 and 64 of the actuators 61 and 62 are rotatably attached to both end portions of the support frame 55, respectively, and are provided so as to be movable along the movement holes 59 and 60.
A support shaft 65 extending along the longitudinal direction is rotatably attached to the wall surface 10 side of the support frame 55.
These mounting brackets 57, 58, moving holes 59, 60 and actuators 61, 62 constitute a lifting direction correcting mechanism 33.

A pair of horizontal holding plates (wheel support means) 67 are fixed at intervals in the longitudinal direction of the support shaft 65. Each horizontal holding plate 67 has a substantially semicircular shape protruding downward, and is attached so that the central axis of the circular portion coincides with the central axis of the support shaft 65.
A wheel (contact portion) 71 is rotatably attached to an end portion of the straight portion of each horizontal holding plate 67 on the wall surface 10 side by an attachment shaft 73.
On the opposite side of each horizontal holding plate 67 from the wheel 71, an arc-shaped weight (wheel position holding means) 69 extending approximately 120 ° is provided.
The wheel 71 and the weight 69 are suspended from each other with the support shaft 65 as a fulcrum, and are configured to maintain the state shown in FIG.
The support shaft 65, the horizontal holding plate 67, and the weight 69 constitute a protrusion amount adjusting mechanism 35.

Both ends of the attracting means 29 are constituted by magnets 75 that are rotatably supported on mounting shafts 73 provided on the horizontal holding plates 67. The length from the attachment shaft 73 to the outer end of the magnet 75 is substantially the same as the rotation radius of the wheel 71. The magnet 75 is an electromagnet and is disposed between the wheels 71.
The support means 55 is configured by the support frame 55, the support shaft 65, the horizontal holding plate 67, and the wheels 71.
Fluctuating external force W (N / m ² ) due to wind acts on the wind receiving area A (m ² ) of the inspection device 21 in order to stabilize the inspection device 21 as the attracting force F (N) of the magnet 75, that is, the urging force. As shown in the following equation, the value is set to a sufficiently large value (for example, twice) with respect to the external force.
F ≧ 2 · W · A · μ (where μ is the coefficient of friction between the wheel 12 and the wall surface)
The suction force F is selected within a range smaller than the weight of the inspection device 21, and may be doubled or more if there is a margin in the range.

In the present embodiment, as the protrusion amount adjusting mechanism, the wheel 71 is rotatably attached to the support shaft 65 by the horizontal holding plate 67 and the position thereof is held by the weight 69, but is not limited thereto. . For example, the wheel 71 may be rotatably attached to the tip of an arm whose one end is rotatably attached to the support shaft 65, and the arm may be pulled by springs from both the upper and lower sides. Moreover, you may make it provide a wheel at the front-end | tip of the expansion-contraction arm provided fixedly.
Moreover, in this embodiment, although it is set as the wheel 71 as a contact part, it is not limited to this, For example, a rod-shaped member and a plate-shaped member may be sufficient. In the case of a rod-shaped member, it is preferable to install the inspection device 21 at a plurality of locations in order to stably support the inspection device 21.

The inspection means 77 includes a monitoring camera 79 that captures the appearance of the wall surface, an auxiliary camera 81 that checks the lowered position and lifted state of the inspection device 21, a recording device that records the captured data, and the captured captured data that is stored on the platform 13. A wireless transmission device for transmitting to the image monitoring device 25 and a mounted device 83 including a power supply device for supplying power to these devices are provided.
The auxiliary camera 81 is attached to the support frame 55, and is configured to incline in synchronization with the incline in the opposing surface of the wall surface 10 of the support frame.
In addition, two antennas 85 that transmit signals between the wireless transmission device and the image monitoring device 25 are attached to the support frame.
The photographing camera 79 and the mounted device 83 are attached to a space formed by the main body frame 41 and the auxiliary frame 43 below the main body frame 41.
The monitoring camera 20 and the auxiliary camera 21 are each provided with an illumination lamp (not shown).

The inspection work of the internal inspection device 1 according to the present embodiment described above will be described.
First, the suspension frame 17 is installed on the top of the exhaust pipe 3, and the winch 15, the operation panel 23, the image monitoring device 25, and the like are installed on the platform 13.
Next, after attaching the hook 49 provided at the tip of the wire 19 to the inspection device 21, the winch 15 is activated and the inspection device 21 is suspended in the exhaust tube 3 so that the wheel 71 side faces the wall surface of the exhaust tube 3. Lower.

When power is supplied to the magnet 75 when the inspection device 21 is lowered into the exhaust tube 3 to some extent, the magnet 75 is attracted to the wall surface 10 and biases the inspection device 21 toward the wall surface 10. Then, the inspection device 21 is pressed against the wall surface 10 with the wheel 71 in contact with the wall surface 10.
In this case, since the tip of the magnet 75 moves in the direction of the wall surface 10, the support shaft 65, the mounting shaft 73, and the magnet 75 form a straight line as shown in FIG. For this reason, a pair of wheel 71 comes to be located in the neutral position shown in the figure. And since the magnet 75 is provided between the pair of wheels 71 and the magnet acts in a plane formed by the pair of wheels, the inspection device 21 can maintain a stable posture.

In this state, inspection work is started.
The power supply device included in the mounted device 83 is turned on, and the surveillance camera 79, auxiliary camera 81, illumination lamp, recording device, and wireless transmission device are turned on.
Next, when the winch 15 is operated and the wire 19 is fed out, the inspection device 21 descends as the wheel 71 rotates. The inspection device 21 is only in contact with the wall surface 10 and the wheel 71. For this reason, since the rolling friction coefficient of the wheel 71 is small, the inspection device 21 can move smoothly even when it is biased to the wall surface by the magnet 75.

At that time, the surrounding wall surface 10 is photographed by the monitoring camera 79. The captured data is sequentially recorded in a recording device, and is sent from the wireless transmission device to the image monitoring device 25 on the platform 13 by the antenna 85. On the platform 13, the inspector continues monitoring while viewing the sent image.
This inspection is performed while lowering the inspection device 21 at a predetermined speed. In some cases, the winch 15 is operated and the inspection device 21 is temporarily stopped at a specific position or stopped at regular intervals to concentrate a specific wall surface. Or you may make it image | photograph and inspect the whole wall surface.

  Thus, since the inspection device 21 is lifted and lowered to perform the inspection work while being biased in the wall surface direction by the magnet 75, even if a turbulent flow occurs in the exhaust stack 3, for example, a roll occurs. The posture is not disturbed and a stable posture can be maintained. For this reason, since the posture of the surveillance camera 79 is not disturbed, an accurate and highly accurate inspection can be performed.

Next, the function of the protrusion amount adjusting mechanism 35 will be described with reference to FIG.
During this inspection, if the wheel 71 of the inspection device 21 hits the step 11 of the wall surface 10, the wheel 71 receives resistance from the step 11. Thereby, the wheel 71 rotates the horizontal holding plate 67 in the direction of the arrow A shown in FIG. That is, since the wheel 71 swings upward about the support shaft 65, the protruding amount of the wheel 71 from the inspection device 21 (frame 27) gradually decreases. Then, as shown in FIG. 7B, the wheel 71 rides on the step 11 when the decrease in the protruding amount reaches a position corresponding to the height of the step.
When the wheel 71 gets over the step 11, resistance from the step 11 to the wheel 71 is lost. Therefore, the wheel 71 is rotated by the weight 69 in the direction opposite to the arrow A so that the horizontal holding plate 67 rotates. Return to the neutral position shown in Fig. 7 (A).

As described above, the wheel 71 receives the resistance force from the step 11, so that the protrusion amount from the frame 27 is automatically adjusted, and the step 11 can be overcome. For this reason, since the inspection work can be performed without taking the step 11 into consideration, the inspection can be performed efficiently.
At this time, since the magnet 75 is attached to the attachment shaft 73 of the wheel 71, the magnet 75 moves as the wheel 71 swings as shown in FIG. 7B, but the relative relationship with the wheel 71 does not change. . For this reason, since the urging force by the magnet 75 is kept the same both when descending the wall surface 10 and when descending on the step 11, the inspection work is stable even when there is a step. It can be carried out.

Next, the function of the raising / lowering direction correction mechanism 33 will be described with reference to FIG.
On the inner surface 10 of the exhaust cylinder 3, there are obstacles that cannot be overcome by the protrusion adjustment mechanism 35, such as the support frame 9 of the emergency gas discharge cylinder 7. In addition, there is a case where a place to be particularly inspected is found in a place different from the raising / lowering direction. Furthermore, the case where the raising / lowering direction shifts | deviates with the state of the wall surface 10 is also considered.
The lowering (or ascending) state of the inspection device 21 is photographed by the auxiliary camera 81 and wirelessly transmitted to the image monitoring device 25 and monitored. When the inspection device 21 approaches an internal obstacle, for example, the support frame 9 for the emergency gas discharge cylinder 7 within a predetermined distance, for example, one actuator 61 is extended. When the actuator 61 is extended, the tip 63 moves upward along the moving hole 59.

Thereby, since the support frame 55 inclines to the right with respect to the frame 27, the rotation axis of the wheel 71 attached to the support frame 55 similarly inclines to the right. For this reason, since the inspection apparatus 21 advances in the rotation direction of the wheel 71, the inspection apparatus 21 moves in the diagonally right direction as the inspection apparatus 21 descends. Then, when passing through the obstacle, the actuator 61 is contracted and descends straight. Alternatively, in some cases, the other actuator 62 may be further extended to return the lift position to the left.
This operation can be performed not only for avoiding obstacles, but also when inspecting a place to be inspected or when correcting a shift in the ascending / descending direction of the inspection device 21 normally.

Thus, when it is detected from the image of the auxiliary camera 81 or the wire 19 payout length of the winch 15 that the inspection has been completed to the bottom of the exhaust pipe 3, the winch 15 is wound up and the inspection device 21 is raised.
Also in this case, as in the case of the descent, the ascending / descending direction correcting mechanism 33 is steered while looking at the image of the auxiliary camera 81 to raise it so as not to contact the obstacles. The inspection device 21 can automatically climb over the step 11 of the wall surface 10 and rise.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIGS.
The internal inspection device 1 according to the present embodiment is different from that of the first embodiment described above in the configuration of the suction unit 29. Since other components are the same as those of the first embodiment described above, description of these components is omitted here.
In addition, the same code | symbol is attached | subjected to the member same as 1st embodiment mentioned above.

The attracting means 29 in the present embodiment is provided with an auxiliary magnet 87 in addition to the magnet 75 in the first embodiment described above.
The auxiliary magnet 87 is formed by connecting three magnets 97, and is disposed on the wall surface 10 side in each auxiliary frame 51, and is attached to be movable in the longitudinal direction of the auxiliary frame 51.
A weight 89 is provided inside the auxiliary frame 51 on the main body frame 41 side. A weight 91 is provided on the moving path of the magnet 87. The upper end of the weight 89 and the upper end of the weight 91 are connected by a rope 93 that passes through a sheave 95 provided on the upper portion of the auxiliary frame 51.

The weight 89 has a larger weight that is the sum of the weight of the weight 91 and the auxiliary magnet 87. Therefore, the upper end portion of the weight 91 is configured to support the lower end portion of the auxiliary magnet 87, and the auxiliary magnet 87 is positioned in the vicinity of the wheel 71 as shown in FIG.
On the other hand, when the inspection device 21 is raised, the weight 91 acts on the weight 89 because the attracting force to the step 11 of the auxiliary magnet 87 acts in addition to the weight of the weight 91 and the auxiliary magnet 87. It is configured to move downward against the weight of 89.

The operation of the internal inspection device 1 according to the present embodiment described above will be described with reference to FIGS. 9 and 10. Since the present embodiment functions particularly when climbing over the step 11, an operation for getting over the step 11 will be described. Other functions and effects are the same as those of the first embodiment.
First, the movement of the auxiliary magnet 87 will be described with reference to FIG.
FIG. 9A shows a steady state when descending, that is, a state in which the inspection device 21 is attracted and moved by the magnet 75. In this case, since the attracting force of the auxiliary magnet 87 on the wall surface 10 is not acting greatly, the auxiliary magnet 87 maintains the state of being placed on the weight 91.

When the wheel 71 rides on the step 11, the auxiliary magnet 87 and the step 11 surface approach each other, so that the attractive force of the auxiliary magnet 87 acts on the step 11 surface and becomes integral with the step 11 surface. For this reason, the auxiliary magnet 87 moves away from the weight 91 and relatively upwards as shown in FIG.
Thereafter, when the wheel 71 gets over the step 11, the distance between the auxiliary magnet 87 and the wall surface 10 increases, so that the attracting force of the auxiliary magnet 87 does not act greatly. As shown in FIG. The magnet 87 is restored to its original position by its own weight.
Note that the state of FIG. 9B is different when the inspection device 21 is raised. That is, when the auxiliary magnet 87 is strongly attracted to the surface of the step 11, the weight 91 is pushed down against the weight of the weight 89 by the attracting force, so that the auxiliary magnet 87 moves relatively downward. When not engaging with the surface of the step 11, the state is as shown in FIG.

Next, the function of the auxiliary magnet 87 will be described with reference to FIG.
FIG. 10A shows a state in which the inspection device 21 is attracted and lowered by the magnet 75. In this case, since the attracting force of the auxiliary magnet 87 does not act on the wall surface 10, the auxiliary magnet 87 remains in the vicinity of the wheel 71.
Then, as shown in FIG. 10B, when the wheel 71 hits the step 11, the wheel 71 gradually swings upward by the protrusion amount adjusting mechanism 35, and the protrusion amount from the frame auxiliary frame 51 is reduced. It becomes like this. As a result, the auxiliary magnet 87 comes close to the surface of the step 11, the attractive force with respect to the surface of the step 11 increases, and the auxiliary magnet 87 moves relatively upward in the auxiliary frame 51 as the wheel 71 moves.

As shown in FIG. 10C, when the wheel 71 rides on the step 11, the suction force of the auxiliary magnet 87 on the step 11 becomes the maximum, and the inspection device 21 is stepped with the suction force combined with the suction force of the magnet 75. It will be energized to 11th.
As the inspection device 21 is lowered, the auxiliary magnet 87 moves in the auxiliary frame 51 integrally with the surface of the step 11. This movement ends when the auxiliary magnet 87 reaches the upper end of the auxiliary frame 51, and thereafter, the auxiliary magnet 87 moves together with the inspection device 21 on the surface of the step 11.
Thus, since the inspection device 21 is biased to the surface of the step 11 in a state in which the attracting force between the magnet 75 and the auxiliary magnet 87 is applied, the inspection device 21 is in the state of riding on the step 11 where the posture tends to become unstable. 21 can be held in a stable posture. Therefore, it is possible to perform an accurate and accurate inspection work.

When the inspection device 21 is lowered with the auxiliary magnet 87 positioned above the wheel 71 and the wheel 71 gets over the step 11, the wheel 71 is returned to the neutral position by the protrusion amount adjusting mechanism 35.
At this time, since the auxiliary magnet 87 positioned above the wheel 71 still exerts a large attracting force on the surface of the step 11, the inspection device 21 can be maintained in a stable posture. For this reason, the wheel 71 can stably return to the neutral position.

When the inspection device 21 further descends and the auxiliary magnet 87 gets over the step 11, the attractive force of the auxiliary magnet 87 to the wall surface 10 becomes small. Therefore, as shown in FIG. Is dropped and placed on the weight 91.
When the inspection device 21 is raised, it functions in substantially the same manner except that the auxiliary magnet 87 is located below the wheel 71 in FIG.

  As described above, according to the present embodiment, the auxiliary magnet 87 is installed in addition to the magnet 75, and the auxiliary magnet 87 is interlocked with the protrusion amount adjustment mechanism so that the magnet 75 is attracted and moved together. There is an effect that the step 11 can be safely and reliably overcome.

[Third embodiment]
Next, a third embodiment of the present invention will be described using FIG. 11 and FIG.
The internal inspection device 1 according to the present embodiment is different from that of the first embodiment described above in the configuration of the suspending means, the configuration of the elevation direction correcting mechanism 33, and the configuration of the support means 31 associated therewith. Since other components are the same as those of the first embodiment described above, description of these components is omitted here.
In addition, the same code | symbol is attached | subjected to the member same as 1st embodiment mentioned above.

  The suspension means in this embodiment includes two winches (not shown) provided on the platform 13, a suspension 24, a pair of eye plates 20, 22 provided on both upper surfaces of the suspension 24, Two wires 12 and 14 that are drawn from the winch via a suspension frame (not shown), hooks 16 and 18 that connect the tips of the wires 12 and 14 to the eye plates 20 and 22, and the center in the longitudinal direction of the lifting tool 24 A connecting member 26 fixed to the lower surface of the unit and connected to an eye plate 47 fixed to the main body frame 41 is provided.

  In the present embodiment, the support means 31 is different from the first embodiment described above in that the support frame 56 is fixedly attached to the main body frame 41, but is otherwise configured in the same manner. The protrusion amount adjustment means 35, the suction means 29, and the inspection means 37 are configured in the same manner as in the first embodiment.

The lifting direction correcting mechanism 33 of the present embodiment includes a pair of main body locking portions 36 and 38 that are provided to protrude from both upper ends of the main body frame 41, and brackets 28 and 28 that are respectively provided on the lower surfaces of both ends of the hanger 24. 30 and suspension-holding portions 32 and 34 provided at the distal end portions of the brackets 28 and 30 are provided.
The main body locking part 36 and the hanging tool locking part 32 are in a positional relationship of engaging in the vertical direction. Moreover, the main body latching part 38 and the hanging implement latching part 34 are in a positional relationship to be engaged in the vertical direction.
As shown in FIG. 11, when the fishing gear 24 is in a horizontal state, a gap S is provided between the lifting device locking portions 32 and 34 and the main body locking portions 36 and 38.

Operation | movement of the internal inspection apparatus 1 concerning this embodiment demonstrated above is demonstrated.
In addition, since this embodiment functions especially when correcting the raising / lowering direction of the inspection apparatus 21, the operation | movement which corrects an raising / lowering direction is demonstrated. Other functions and effects are the same as those of the first embodiment.

Preparations similar to those in the first embodiment described above are performed, and then inspection work is started.
The inspection work is performed by pulling out the two wires 12 and 14 at the same time and lowering the inspection device 21 in such a state that the lifting tool 24 is kept horizontal as shown in FIG.
At this time, the lowering direction of the inspection device 21 may be shifted to the right or left, that is, the inspection device 21 may be tilted to the right or left, due to an error in the feeding speed of the two winches or the wall surface state. When this state is detected by the captured image of the auxiliary camera 81 transmitted to the image monitoring device 25 on the platform 13, the descending direction of the inspection device 21 is corrected while referring to this image data.

For example, when it is detected that the inspection device 21 is descending to the lower left, when the feeding speed of the wire 12 is decreased, the hanger 24 is in a state of rising to the right with the wire 12 side up.
When the wire 12 side of the hanger 24 moves upward by a distance S between the main body locking portion 36 and the hanger locking portion 32, the hanger locking portion 32 is engaged with the main body locking portion 36 as shown in FIG. Will match.
In this state, when the feeding speed of the wire 12 is reduced, the wire 12 side of the hanger 24 is further up, so that the hanger latching portion 32 pushes up the main body latching portion 36. Thereby, since the main body frame 41 is corrected so as to be horizontal, the rotation axis of the wheel 71 becomes horizontal, and the lowering direction of the inspection device 21 can be corrected.

When the obstacle is to be avoided on the right side, if the wire 12 side of the hanger 24 is further adjusted upward from the previous state, the main body frame 41 is inclined upward. The axis of rotation of the fixedly attached wheel 71 tilts upward to the right.
If the two wires 12 and 14 are fed out at the same speed in this state, the inspection device 21 moves in the rotation direction of the wheel 71, so that it moves in the diagonally right direction as it descends, and an obstacle can be avoided. .

As described above, according to the lifting direction correcting mechanism of the present embodiment, the two wires can be individually operated to correct the shift in the lifting direction of the inspection device. A contact or collision can be prevented.
In addition, when the hanger 24 is in a horizontal state, the gap S is provided between the main body locking portions 36 and 38 and the hanger locking portions 32 and 34. If the amount does not exceed this interval S, the elevation direction is not corrected. In this way, by appropriately setting the predetermined interval, it is possible to prevent the elevation direction from being changed due to a factor that does not need to be changed, for example, the wire feeding speed is different between the wires. Therefore, since the frame does not tilt except for the necessity of avoiding obstacles, the posture of the inspection means during the inspection operation is stabilized, and an accurate inspection operation can be performed. In addition, the correction operation in the ascending / descending direction is reduced, and the efficiency of inspection work can be improved.

It is sectional drawing which shows the working state of the internal inspection apparatus concerning 1st embodiment of this invention. . It is a fragmentary sectional view which expands and shows the upper left end part of FIG. It is a top view which abbreviate | omits and shows a part of FIG. It is a top view of the inspection device concerning a first embodiment of the present invention. It is a side view of the inspection device concerning a first embodiment of the present invention. It is a top view of the inspection device concerning a first embodiment of the present invention. It is a side view which shows the protrusion amount adjustment mechanism concerning 1st embodiment of this invention. It is a side view which shows the inspection apparatus concerning 2nd embodiment of this invention. It is sectional drawing explaining operation | movement of the auxiliary magnet concerning 2nd embodiment of this invention. It is a side view explaining the function of the adsorption | suction means concerning 2nd embodiment of this invention. It is a top view of the inspection apparatus concerning 3rd embodiment of this invention. It is a top view of the inspection apparatus concerning 3rd embodiment of this invention. It is sectional drawing which shows the conventional internal inspection apparatus.

DESCRIPTION OF SYMBOLS 1 Internal inspection apparatus 3 Exhaust pipe 10 Wall surface 12,14 Wire 15 Winch 24 Hanging tool 27 Frame 29 Adsorption means 31 Support means 32, 34 Hanging tool latching part 33 Lifting direction correction mechanism 35 Projection amount adjustment mechanism 36, 38 Main body latch Part 37 Inspection means 55, 56 Support frame 67 Horizontal holding plate 69 Weight 87 Auxiliary magnet

Claims (9)

Frame,
Suspension means for suspending the frame from the top of the tubular structure,
The frame includes suction means for biasing the frame toward the wall surface of the cylindrical structure;
A support means having a contact portion composed of a wheel that contacts the wall surface;
Inspection means for inspecting the condition of the wall surface;
A protrusion amount adjusting mechanism for adjusting a protrusion amount from the frame of the wheel , and
The suction means is configured to move in the direction of the wall surface in conjunction with a change in the protrusion amount of the wheel, and includes an auxiliary suction means in the frame in the vicinity of the wheel. Internal inspection device for cylindrical structures. A plurality of the contact portions are provided,
The internal inspection device for a cylindrical structure according to claim 1, wherein the suction means has a center of action of an urging force inside a surface formed by the plurality of contact portions. The internal inspection device for a cylindrical structure according to claim 1 or 2 , further comprising an ascending / descending direction correction mechanism that inclines the rotation axis of the wheel in a plane opposite to the wall surface. The support means includes a support frame provided so as to be able to swing in a plane facing the wall surface with respect to the frame, and supporting the wheel,
The interior of the cylindrical structure according to claim 3 , wherein the ascending / descending direction correcting mechanism is configured to swing the support frame in a plane facing the wall surface with respect to the frame. Inspection device. The suspending means extends in the width direction of the frame and has a longitudinal central portion connected to the frame, and two hanging portions that are substantially equidistant from the central portion in the longitudinal direction of the suspension. A pair of combined wires,
The ascending / descending direction correcting mechanism includes a pair of suspender engaging portions provided at an interval in the longitudinal direction of the suspender, and a pair of suspender engaging portions provided on the frame and respectively engaged with the respective suspender engaging portions. The internal inspection device for a cylindrical structure according to claim 3 , further comprising a main body locking portion. The tubular structure according to claim 5 , wherein when the hanging tool is in a horizontal state, a predetermined gap is provided between the hanging tool locking portion and the main body locking portion. Internal inspection device. The protrusion amount adjusting mechanism is
Wheel support means for swingably supporting a rotation axis of the wheel in a plane substantially orthogonal thereto;
The internal inspection device for a cylindrical structure according to any one of claims 1 to 6, further comprising wheel position holding means for urging the wheel to be positioned at a neutral position. The cylindrical structure according to any one of claims 1 to 7, wherein the suction means is configured to move in a wall surface direction in conjunction with a change in the protrusion amount of the wheel. Internal inspection device for things. The internal inspection device for a cylindrical structure according to any one of claims 1 to 8, wherein the auxiliary suction means is movable in the up-and-down direction.

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