JP5712426B1

JP5712426B1 - Traveling cart

Info

Publication number: JP5712426B1
Application number: JP2014159952A
Authority: JP
Inventors: 秀幸根本
Original assignee: SURF ENGINEERING CO., LTD.
Current assignee: SURF ENGINEERING CO., LTD.
Priority date: 2014-08-06
Filing date: 2014-08-06
Publication date: 2015-05-07
Anticipated expiration: 2034-08-06
Also published as: JP2016038223A

Abstract

【課題】人がアクセスすることが難しい環境に配置される配管や、配管の湾曲する湾曲する部位や鉛直方向に延びる鉛直部位を容易かつ確実に走行できる走行台車を提供すること。【解決手段】走行対象Ｔの外面３を走行するための走行台車１であって、筐体５と、前記筐体５に装着され、前記走行対象Ｔの外面３を転動できる複数の第１の転動部材７、９と、前記複数の第１の転動部材７、９を駆動する駆動手段１１、１３と、を備え、前記複数の第１の転動部材７、９は、前記走行対象Ｔの中心Ｏに対し互いに対向配置される。【選択図】図１The present invention provides a traveling carriage that can easily and reliably travel on a pipe arranged in an environment that is difficult for humans to access, a curved part of the pipe, or a vertical part extending in the vertical direction. A traveling carriage 1 for traveling on an outer surface 3 of a traveling object T, the housing 5 and a plurality of first wheels mounted on the housing 5 and capable of rolling on the outer surface 3 of the traveling object T. Rolling members 7, 9 and driving means 11, 13 for driving the plurality of first rolling members 7, 9, and the plurality of first rolling members 7, 9 They are arranged opposite to each other with respect to the center O of the target T. [Selection] Figure 1

Description

本発明は、走行対象の外面を走行できる走行台車に関し、特に、配管の外面を検査するための検査装置が装着され配管の外面を走行できる走行台車にする。 The present invention relates to a traveling carriage capable of traveling on the outer surface of a traveling object, and in particular, a traveling carriage capable of traveling on the outer surface of a pipe by mounting an inspection device for inspecting the outer surface of the pipe.

従来より、ガス等の気体や液体を供給するための配管の外面を検査することが定期的に行われている。例えば、特許文献１は、ボイラの熱交換を行うための配管を検査するための管検査装置を開示する。 Conventionally, inspection of the outer surface of a pipe for supplying a gas such as gas or a liquid has been regularly performed. For example, Patent Document 1 discloses a pipe inspection device for inspecting piping for heat exchange of a boiler.

特許文献１の管検査装置は、水平方向に延在するレールと、レール上を走行する走行台車と、走行台車に吊り下げられ水平方向に走行可能な走行機構とを備える。走行機構は、水平方向に延びる配管に配置され、配管を検査するための検査機構を有する。 The pipe inspection apparatus of Patent Document 1 includes a rail extending in the horizontal direction, a traveling carriage that travels on the rail, and a traveling mechanism that is suspended from the traveling carriage and can travel in the horizontal direction. The traveling mechanism is disposed in a pipe extending in the horizontal direction and has an inspection mechanism for inspecting the pipe.

当該管検査装置によれば、走行台車に吊り下げられている走行機構を、検査対象である配管間の隙間を介して降ろし所望の配管に装着し、水平方向に延在する配管に沿って走行機構を走行させ、検査機構により配管の外面の検査が行われる。 According to the pipe inspection device, the traveling mechanism suspended from the traveling carriage is lowered through the gap between the pipes to be inspected, attached to the desired pipe, and travels along the pipe extending in the horizontal direction. The mechanism is run and the inspection of the outer surface of the pipe is performed by the inspection mechanism.

特開平７−１４５９０７号JP-A-7-145907

特許文献１に開示される管検査装置では、水平方向に延在する配管の水平部位については、走行機構が配管の延在する方向に沿って走行することで、配管の外面の検査を実行できる。しかし、水平方向に延在する配管の水平部位に連続し湾曲する湾曲部位や、湾曲部位に連続し鉛直方向に延在する鉛直部位については、走行機構が走行できるようには構成されていない。従って、配管の鉛直部位や湾曲部位を検査するためには他の検査装置を用意する必要があり、特許文献１の管検査装置では検査工程の簡易化や迅速化が難しい。 In the pipe inspection apparatus disclosed in Patent Literature 1, the horizontal portion of the pipe extending in the horizontal direction can be inspected on the outer surface of the pipe by the travel mechanism traveling along the direction in which the pipe extends. . However, the traveling mechanism is not configured to be able to travel with respect to a curved portion continuously curved to the horizontal portion of the pipe extending in the horizontal direction and a vertical portion continuously extending to the vertical direction. Therefore, in order to inspect the vertical part and the curved part of the pipe, it is necessary to prepare another inspection apparatus. With the pipe inspection apparatus of Patent Document 1, it is difficult to simplify and speed up the inspection process.

本発明は、かかる事情に鑑みてなされたものである。すなわち、人がアクセスすることが難しい環境に配置される配管等の走行対象や、走行対象の湾曲する湾曲部位や鉛直方向に延びる鉛直部位を容易かつ確実に走行できる走行台車を提供することを目的とする。 The present invention has been made in view of such circumstances. That is, an object of the present invention is to provide a traveling vehicle that can travel easily and reliably on a traveling object such as a pipe arranged in an environment that is difficult for humans to access, a curved part of the traveling object, or a vertical part extending in the vertical direction. And

上述した課題を解決し、目的を達成するために、本発明の第１の態様は、走行対象の外面を走行するための走行台車であって、筐体と、前記筐体に装着され、前記走行対象の外面を転動できる複数の第１の転動部材と、前記複数の第１の転動部材を駆動する駆動手段と、を備え、前記複数の第１の転動部材は、前記走行対象の中心に対し互いに対向配置される。 In order to solve the above-described problems and achieve the object, a first aspect of the present invention is a traveling carriage for traveling on an outer surface of a traveling object, the housing being mounted on the housing, A plurality of first rolling members capable of rolling on the outer surface of the traveling target; and a driving means for driving the plurality of first rolling members, wherein the plurality of first rolling members are the traveling They are arranged opposite to each other with respect to the center of the object.

また、本発明の走行台車の第２の態様によれば、前記第１の態様であって、前記複数の第１の転動部材は、気体が収容されている車輪である。 Moreover, according to the 2nd aspect of the traveling trolley | bogie of this invention, it is the said 1st aspect, Comprising: A said 1st rolling member is a wheel in which gas is accommodated.

本発明の走行台車の第３の態様によれば、前記第１又は第２の態様であって、前記筺体は、前記走行対象に対する前記複数の第１の転動部材の接触面積を調整するための連結調整部を有し、前記連結調整部により前記複数の第１の転動部材が互いに離接される。 According to the 3rd aspect of the traveling trolley | bogie of this invention, It is the said 1st or 2nd aspect, Comprising: In order that the said housing adjusts the contact area of these 1st rolling members with respect to the said driving | running | working object. The plurality of first rolling members are separated from and connected to each other by the connection adjustment unit.

本明細書において走行対象の中心に対して対向配置するとは、走行対象の軸心が延びる方向に垂直な面上における走行対象の外形を規定する図形の重心を通る直線と、当該図形を規定する線とが交わる図形の２点に配置される位置関係を意味する。例えば、図形が円である場合には、直径と図形を規定する円周とが交わる２つの交点に配置される位置関係を意味し、多角形である場合には、重心を通る直線と図形を規定する線分とが交わる２つの交点に配置される位置関係を意味する。 In this specification, “disposed oppositely to the center of the traveling object” means that a straight line passing through the center of gravity of the figure defining the outline of the traveling object on a plane perpendicular to the direction in which the axis of the traveling object extends, and the figure are defined. It means the positional relationship that is arranged at two points of the figure where the line intersects. For example, when the figure is a circle, it means a positional relationship that is arranged at two intersections where the diameter and the circumference defining the figure intersect. When the figure is a polygon, the straight line passing through the center of gravity and the figure are It means a positional relationship arranged at two intersections where the prescribed line segment intersects.

本発明にかかる走行台車の複数の第１の転動部材は、走行対象の中心に対し互いに対向配置するという簡易な構成により、水平部のみならず、湾曲部や鉛直部等のように走行対象が延在する方向が変化する形状であっても、走行台車は、走行対象を確実に走行することができる。 The plurality of first rolling members of the traveling carriage according to the present invention have a simple configuration in which they are arranged to face each other with respect to the center of the traveling object, so that not only the horizontal part but also the curved part, the vertical part, etc. Even if the shape in which the direction in which the vehicle extends is changed, the traveling carriage can reliably travel the traveling target.

（ａ）は、第１の実施形態に係る配管検査用走行台車の平面図であり、（ｂ）は、第１の実施形態に係る配管検査用走行台車の連結調整部の拡大正面図であり、（ｃ）は、第１の実施形態に係る配管検査用走行台車の連結調整部の正面図であり、（ｄ）は、図１（ｃ）の線ＩＶ−ＩＶに沿った断面図である。(A) is a top view of the piping inspection traveling carriage according to the first embodiment, and (b) is an enlarged front view of the connection adjusting portion of the piping inspection traveling carriage according to the first embodiment. (C) is a front view of the connection adjustment part of the traveling inspection vehicle for piping inspection which concerns on 1st Embodiment, (d) is sectional drawing along line IV-IV of FIG.1 (c). . 図１に示す配管検査用走行台車が、配管を走行する状態を示す正面概略図である。FIG. 2 is a schematic front view showing a state in which the pipe inspection traveling carriage shown in FIG. 1 travels on a pipe. （ａ）は、第２の実施形態に係るＨ鋼検査用走行台車の平面図であり、（ｂ）は、図３（ａ）に示すＨ鋼検査用走行台車が、Ｈ形鋼を走行する状態を示す正面概略図である。(A) is a top view of the traveling trolley for H steel inspection concerning a 2nd embodiment, (b) is the traveling trolley for H steel inspection shown in Drawing 3 (a) runs H section steel. It is a front schematic diagram showing a state.

以下に、本発明に係る走行台車を適用した実施形態について図面を参照しつつ説明する。なお、各図において、同一の構成要素には同一の参照符号を付して重複する説明を省略する。また、本発明は、この実施形態に限定されるものではない。 Hereinafter, an embodiment to which a traveling carriage according to the present invention is applied will be described with reference to the drawings. In each figure, the same constituent elements are denoted by the same reference numerals, and redundant description is omitted. Further, the present invention is not limited to this embodiment.

〔第１の実施形態〕
図１（ａ）は、第１の実施形態に係る配管検査用走行台車１の平面図であり、図１（ｂ）は、第１の実施形態に係る配管検査用走行台車１の連結調整部２５の拡大正面図であり、図１（ｃ）は、第１の実施形態に係る配管検査用走行台車１の連結調整部２５の正面図であり、図１（ｄ）は、図１（ｃ）の線ＩＶ−ＩＶに沿った断面図である。なお、図１（ｂ）〜（ｄ）には、図面の明瞭化のため、連結調整部２５を主として記載することとし、配管検査用走行台車１のその他の構成要素は割愛されている。 [First Embodiment]
FIG. 1A is a plan view of a piping inspection traveling vehicle 1 according to the first embodiment, and FIG. 1B is a connection adjustment unit of the piping inspection traveling vehicle 1 according to the first embodiment. 25 is an enlarged front view of FIG. 1. FIG. 1C is a front view of the connection adjusting portion 25 of the pipe inspection traveling carriage 1 according to the first embodiment. FIG. 1D is a front view of FIG. 4 is a cross-sectional view taken along line IV-IV. In FIGS. 1B to 1D, for the sake of clarity, the connection adjustment unit 25 is mainly described, and other components of the piping inspection traveling carriage 1 are omitted.

図１（ａ）〜（ｄ）に示されるように、配管検査用走行台車１は、走行対象である断面環状の配管Ｔの外面３を走行する。配管検査用走行台車１は、筐体５と、筐体５
に装着され、配管Ｔの外面３上を転動できる第１の転動部材である複数の第１の車輪７、９と、第１の車輪７、９を駆動する駆動手段である電動モータ１１、１３と、を備える。さらに、複数の第１の車輪７、９は、配管Ｔの中心Ｏに対し互いに対向配置される。 As shown in FIGS. 1A to 1D, the pipe inspection traveling carriage 1 travels on the outer surface 3 of the pipe T having an annular cross section that is a traveling object. The pipe inspection traveling carriage 1 includes a housing 5 and a housing 5.
And a plurality of first wheels 7 and 9 that are first rolling members that can roll on the outer surface 3 of the pipe T, and an electric motor 11 that is a driving means for driving the first wheels 7 and 9. , 13. Further, the plurality of first wheels 7 and 9 are arranged to face each other with respect to the center O of the pipe T.

また、本実施形態では、配管検査用走行台車１は、第１の転動部材である複数の第１の車輪７、９と協働する第２の転動部材である第２の車輪１５、１７、１９、２１を備える。第２の車輪１５、１７、１９、２１は、配管Ｔの中心Ｏに対し互いに対向配置される。すなわち、第１及び第２の車輪７、９、１５、１７、１９、２１は、中心Ｏから周方向に等間隔で放射状に設けられている。第１の車輪７、９と第２の車輪１５、１７、１９、２１は、配管Ｔを挟み転動可能に筐体５に支持されている。さらに、配管検査用走行台車１が配管Ｔに装着された状態では、図１（ａ）の平面視において、第１及び第２の車輪７、９、１５、１７、１９、２１が、筐体５の内面と配管Ｔの外面との間に配置されるような位置関係となる。 In the present embodiment, the piping inspection traveling carriage 1 is a second wheel 15 that is a second rolling member that cooperates with the plurality of first wheels 7 and 9 that are first rolling members. 17, 19, 21. The second wheels 15, 17, 19, and 21 are arranged to face each other with respect to the center O of the pipe T. That is, the first and second wheels 7, 9, 15, 17, 19, 21 are provided radially from the center O in the circumferential direction at equal intervals. The first wheels 7 and 9 and the second wheels 15, 17, 19, and 21 are supported by the housing 5 so as to be able to roll with the pipe T interposed therebetween. Further, in a state where the pipe inspection traveling carriage 1 is mounted on the pipe T, the first and second wheels 7, 9, 15, 17, 19, and 21 are the casings in the plan view of FIG. The positional relationship is such that it is arranged between the inner surface of 5 and the outer surface of the pipe T.

以下に配管検査用走行台車１の各構成要素について詳細に説明する。筐体５は、平面視で６角形状を呈し、２つの半片５ａ、５ｂ及び２つの連結調整部２３、２５により構成されている。また、一方の半片５ａの一端部は、連結調整部２３を介して一方の半片５ｂの一端部に連結され、他方の半片５ａの他端部３１は、連結調整部２５を介して他方の半片５ｂの他端部３３に連結され、筐体５は、配管Ｔの外周面３を囲繞するように延在する。また、筐体５の角部には、第１及び第２の車輪７、９、１５、１７、１９、２１が配置されている。本実施形態の第１の車輪７、９は、中心Ｏに対し、対向配置されて、同一寸法、同一構成であるので、一方の第１の車輪７について説明する。 Below, each component of the traveling truck 1 for piping inspection is demonstrated in detail. The housing 5 has a hexagonal shape in plan view, and includes two halves 5a and 5b and two connection adjusting portions 23 and 25. One end of one half 5a is connected to one end of one half 5b via a connection adjustment part 23, and the other end 31 of the other half 5a is connected to the other half via a connection adjustment part 25. Connected to the other end 33 of 5b, the housing 5 extends so as to surround the outer peripheral surface 3 of the pipe T. Further, first and second wheels 7, 9, 15, 17, 19, and 21 are arranged at the corners of the housing 5. Since the first wheels 7 and 9 of the present embodiment are opposed to the center O and have the same dimensions and the same configuration, only one of the first wheels 7 will be described.

第１の車輪７には、空気入りのスチレン・ブタジエンゴム（ＳＢＲ）ゴム等の合成ゴムから成るタイヤを利用することができる。また、本実施形態では、第１の車輪７は２つのタイヤにより構成され、当該タイヤは同一寸法、及び同一形状であり、電動モータ１１の回転軸２７に同軸に装着され、電動モータ１１により回転する。当該第１の車輪７と他方の第１の車輪９とは、中心Ｏに対し対向するように配置される。すなわち、配管Ｔの直径Ｘに対し線対称に、同軸に隣接する２つのタイヤが配置される。 For the first wheel 7, a tire made of synthetic rubber such as pneumatic styrene-butadiene rubber (SBR) rubber can be used. In the present embodiment, the first wheel 7 is constituted by two tires, the tires have the same dimensions and the same shape, are mounted coaxially on the rotating shaft 27 of the electric motor 11, and are rotated by the electric motor 11. To do. The first wheel 7 and the other first wheel 9 are arranged to face the center O. That is, two tires that are coaxially adjacent to each other are arranged symmetrically with respect to the diameter X of the pipe T.

なお、２つのタイヤは、互いに隣接する２つのタイヤの側面が直径Ｘに一致するように配置されているので、配管検査用走行台車１に芯出し機能を付与できる。また、タイヤの走行面（トレッド）には、タイヤの接地性を向上させるために排水性を実現できる溝が設けられている。 Since the two tires are arranged so that the side surfaces of the two tires adjacent to each other coincide with the diameter X, a centering function can be imparted to the piping inspection traveling carriage 1. Further, a groove that can achieve drainage is provided on the running surface (tread) of the tire in order to improve the ground contact property of the tire.

電動モータ１１の回転軸２７及び電動モータ１３の回転軸２９は、配管Ｔの外面３の接線方向に延在している。このように図１（ａ）の平面視において、両回転軸２７、２９の回転軸心は、鉛直方向に直交し、互いに平行で同一平面状に延在する。また、回転軸２７、２９及び第２の車輪１５、１７、１９、２１の回転軸心が、配管Ｔの長手方向（すなわち、図１（ａ）の中心Ｏを通り紙面を表裏方向）に直交する。回転軸２７、２９及び第２の車輪１５、１７、１９、２１の回転軸心が、同一平面上に延在する。 The rotating shaft 27 of the electric motor 11 and the rotating shaft 29 of the electric motor 13 extend in the tangential direction of the outer surface 3 of the pipe T. As described above, in the plan view of FIG. 1A, the rotational axes of the rotary shafts 27 and 29 are orthogonal to the vertical direction, and are parallel to each other and extend in the same plane. Further, the rotation axes of the rotation shafts 27 and 29 and the second wheels 15, 17, 19, and 21 are orthogonal to the longitudinal direction of the pipe T (that is, through the center O of FIG. To do. The rotation shafts 27 and 29 and the rotation axes of the second wheels 15, 17, 19, and 21 extend on the same plane.

第２の転動部材である第１の車輪１５、１７、１９、２１は、第１の車輪７、９が設けられている角部を除く筐体５の４つの角部に回転可能に支持されている。４つの第２の車輪１５、１７、１９、２１は、同一寸法、及び同一形状であるので、第２の車輪１５について説明する。 The first wheels 15, 17, 19, and 21 that are the second rolling members are rotatably supported by the four corners of the housing 5 except the corners where the first wheels 7 and 9 are provided. Has been. Since the four second wheels 15, 17, 19, and 21 have the same dimensions and the same shape, the second wheel 15 will be described.

第２の車輪１５は、第１の車輪と同様に、空気入りのスチレン・ブタジエンゴム（ＳＢＲ）ゴム等の合成ゴムから成るタイヤを利用することができる。また、第２の車輪１５と第２の車輪１９とは、中心Ｏに対向するように配置され、同様に、他の第２の車輪１７と第２の車輪２１は、中心Ｏに対向するように配置されている。また、タイヤの走行面（トレッド）には、排水性を持たせるための溝が設けられている。 As with the first wheel, a tire made of a synthetic rubber such as a pneumatic styrene-butadiene rubber (SBR) rubber can be used for the second wheel 15. Further, the second wheel 15 and the second wheel 19 are arranged so as to face the center O, and similarly, the other second wheel 17 and the second wheel 21 face the center O. Is arranged. Further, a groove for providing drainage is provided on the running surface (tread) of the tire.

なお、第２の車輪１５、１７、１９、２１は、第１の車輪７、９が配管Ｔに対する芯出しを行う構成であるので、必ずしも本発明の必要な構成要素ではないが、配管検査走行車両１の配管Ｔに対する芯出しを確実に行うために装着されている。上記構成により、図２に示すように、例えば、配管Ｔの鉛直方向に延びる鉛直部Ｔ１において、配管検査用走行台車１が外面３の周方向に回転することなく、鉛直方向に関する上下方向に移動できる。 The second wheels 15, 17, 19, and 21 are configured so that the first wheels 7 and 9 center the pipe T. Therefore, the second wheels 15, 17, 19, and 21 are not necessarily necessary components of the present invention. It is mounted in order to reliably center the pipe 1 of the vehicle 1. With the above configuration, as shown in FIG. 2, for example, in the vertical portion T <b> 1 extending in the vertical direction of the pipe T, the pipe inspection traveling carriage 1 moves in the vertical direction with respect to the vertical direction without rotating in the circumferential direction of the outer surface 3. it can.

さらに、配管検査用走行台車１は、各電動モータ１１、１３を制御するための制御部８１を備える。制御部８１は、配管検査用走行台車１の各構成要素である、電動モータ１１、１３、筐体５に装着され、配管Ｔの外面３を撮像する不図示の撮像カメラ等の各構成要素に電気的に連結され、各構成要素の制御を司る。制御部８１は、既知のＣＰＵ（Central Processing Unit）、所定のプログラムを格納するＲＯＭ（Read Only Memory）、ＲＡＭ（Random Access Memory）、各種設定値を格納するＥＥＰＲＯＭ（Electrically Erasable and Programmable Read Only Memory）等を備えるともに、ＣＰＵがＲＯＭ等に記憶されている制御プログラムを実行することで後述するように、配管検査用走行台車１の走行や撮像カメラの制御といった種々の処理を実行する。従って、制御部８１は、不図示の入力手段から入力される操作者の指令に基づき、所定タイミングで配管検査用走行台車１を作動させる。 Furthermore, the piping inspection traveling carriage 1 includes a control unit 81 for controlling the electric motors 11 and 13. The control unit 81 is mounted on the electric motors 11 and 13 and the casing 5 which are the respective components of the pipe inspection traveling carriage 1, and includes components such as an imaging camera (not illustrated) that images the outer surface 3 of the pipe T. It is electrically connected and controls each component. The control unit 81 includes a known CPU (Central Processing Unit), a ROM (Read Only Memory) that stores a predetermined program, a RAM (Random Access Memory), and an EEPROM (Electrically Erasable and Programmable Read Only Memory) that stores various setting values. As described later, the CPU executes various processes such as traveling of the piping inspection traveling carriage 1 and control of the imaging camera, as will be described later. Accordingly, the control unit 81 operates the pipe inspection traveling carriage 1 at a predetermined timing based on an operator command input from an input unit (not shown).

連結調整部２３、２５は、筐体５を構成する半片５ａ、５ｂを任意の間隔を有し連結するための手段である。半片５ａ、５ｂの両端のフランジ部３１、３３間の距離を調節することにより、第１及び第２の車輪７、９、１５、１７、１９、２１の外面３に対する接触面積を調整することが可能である。なお、連結調整部２３、２５は、同一寸法で同一形状であるので、一方の連結調整部２５を用いてその構成について説明する。 The connection adjusting units 23 and 25 are means for connecting the half pieces 5a and 5b constituting the housing 5 with an arbitrary interval. By adjusting the distance between the flange portions 31 and 33 at both ends of the half pieces 5a and 5b, the contact area with respect to the outer surface 3 of the first and second wheels 7, 9, 15, 17, 19, and 21 can be adjusted. Is possible. In addition, since the connection adjustment parts 23 and 25 are the same size and are the same shape, the structure is demonstrated using one connection adjustment part 25. FIG.

連結調整部２５は、半片５ｂのフランジ部３３に固定される連結フランジ部６３を備えるスライド固定部８３と、半片５ａのフランジ部３１に固定される連結フランジ部６１を備えるスライド移動部８５とを備える。スライド固定部８３及びスライド移動部８５は、図１（ｄ）の側面視でＬ字形状のスライド支持部材６９に支持される。スライド固定部８３は、締結具７１によりスライド支持部材６９に固定され、スライド移動部８５は、スライド支持部材６９に対して摺動可能に締結具７３により装着されている。なお、スライド支持部材６９は、締結具７３が貫通する面に、図１（ｃ）の左右方向に延在する不図示の貫通孔が設けられ、締結具７３が当該貫通孔内を移動できる。従って、スライド固定部８３とスライド移動部８５とは、互いに相対位置を調整できる構成である。 The connection adjustment part 25 includes a slide fixing part 83 including a connection flange part 63 fixed to the flange part 33 of the half piece 5b, and a slide moving part 85 including a connection flange part 61 fixed to the flange part 31 of the half piece 5a. Prepare. The slide fixing portion 83 and the slide moving portion 85 are supported by an L-shaped slide support member 69 as viewed from the side in FIG. The slide fixing portion 83 is fixed to the slide support member 69 by the fastener 71, and the slide moving portion 85 is mounted by the fastener 73 so as to be slidable with respect to the slide support member 69. The slide support member 69 is provided with a through hole (not shown) extending in the left-right direction in FIG. 1C on the surface through which the fastener 73 passes, and the fastener 73 can move in the through hole. Therefore, the slide fixing portion 83 and the slide moving portion 85 are configured such that their relative positions can be adjusted.

さらに、スライド固定部８３には、ネジ固定部５１が設けられている。また、スライド移動部８５には、ネジ螺合部５３が設けられている。そして、ネジ固定部５１に雄ねじ５５の一端部が固定され、雄ねじ５５の他端部が、ネジ螺合部５３に螺合できる構成である。 Further, the screw fixing portion 51 is provided in the slide fixing portion 83. Further, the slide moving portion 85 is provided with a screw threaded portion 53. Then, one end portion of the male screw 55 is fixed to the screw fixing portion 51, and the other end portion of the male screw 55 can be screwed to the screw screwing portion 53.

さらに、スライド固定部８３にはガイド固定部５７が設けられ、ガイド固定部５７に円柱状のガイド部材６５が連結される。スライド移動部８５には、ガイド部材６５と相補的な形状で、ガイド部材６５が挿通可能な円筒状のガイド受け部５９が設けられている。さらに、ガイド受け部５９には、その半径方向に貫通し螺刻されているねじ穴が設けられ、ガイド部材６５を固定するためのネジ切りされている固定ボルト６７を前記ねじに螺合しガイド部材６５に当接することにより、ガイド部材６５を任意の位置で固定する。 Further, a guide fixing portion 57 is provided in the slide fixing portion 83, and a columnar guide member 65 is connected to the guide fixing portion 57. The slide moving portion 85 is provided with a cylindrical guide receiving portion 59 that is complementary to the guide member 65 and into which the guide member 65 can be inserted. Further, the guide receiving portion 59 is provided with a threaded hole that is threaded through in the radial direction, and a threaded fixing bolt 67 for fixing the guide member 65 is screwed to the screw to guide the guide. By contacting the member 65, the guide member 65 is fixed at an arbitrary position.

上記構成の連結調整部２５は、前述の雄ねじ５５を回転させることにより、スライド固定部８３とスライド移動部８５との図１（ｃ）の左右方向に関する相対的な位置決めを行うことで、筐体５を構成する両半片５ａ、５ｂ間の距離を規定する。もちろん、両半片５ａ、５ｂの位置決めを行う際には、ガイド部材６５の固定ボルト６７を予め緩めることでガイド部材６５を図１（ｃ）の左右方向に移動可能な状態にして、雄ねじ５５により半片５ａ及び５ｂの相対的な位置決めした後に、固定ボルト６７を締めガイド部材６５を固定する。なお、連結調整部２５は、油圧シリンダや電動シリンダ等の動力シリンダを備え、制御部８１からの駆動信号により動力シリンダを作動することで、スライド移動部８５及びスライド固定部８３の相対位置を調整する構成とすることも可能である。 The connection adjusting unit 25 having the above-described configuration rotates the male screw 55 described above, thereby positioning the slide fixing unit 83 and the slide moving unit 85 relative to each other in the left-right direction in FIG. 5 defines the distance between the two halves 5a and 5b. Of course, when positioning the both halves 5a and 5b, the fixing bolt 67 of the guide member 65 is loosened in advance so that the guide member 65 can be moved in the left-right direction in FIG. After the relative positioning of the half pieces 5a and 5b, the fixing bolt 67 is tightened to fix the guide member 65. The connection adjustment unit 25 includes a power cylinder such as a hydraulic cylinder or an electric cylinder, and adjusts the relative positions of the slide moving unit 85 and the slide fixing unit 83 by operating the power cylinder in response to a drive signal from the control unit 81. It is also possible to adopt a configuration.

〔配管検査用走行台車の動作〕
次に上記構成の配管検査用走行台車１の動作について図２を主として参照しつつ説明する。図２は、図１に示す配管検査用走行台車１が、配管Ｔを走行する状態を示す正面概略図である。なお、図２は、図面の明瞭化のため、図中の配管検査用走行台車１の説明に必要な構成要素のみを示している。 [Operation of a traveling truck for piping inspection]
Next, the operation of the pipe inspection traveling carriage 1 having the above configuration will be described with reference mainly to FIG. FIG. 2 is a schematic front view showing a state in which the pipe inspection traveling carriage 1 shown in FIG. Note that FIG. 2 shows only components necessary for the description of the piping inspection traveling carriage 1 in the drawing for the sake of clarity.

図２において、配管Ｔは、図面の上下方向、すなわち鉛直方向に延在する鉛直部Ｔ１と、図面の左右方向、すなわち水平方向に延在する水平部Ｔ２と、鉛直部Ｔ１と水平部Ｔ２とを連結し所定の曲率半径を有する湾曲部Ｔ３とを備える。 In FIG. 2, a pipe T includes a vertical portion T1 extending in the vertical direction of the drawing, that is, a vertical direction, a horizontal portion T2 extending in the horizontal direction of the drawing, that is, a horizontal direction, a vertical portion T1, and a horizontal portion T2. And a curved portion T3 having a predetermined radius of curvature.

図２では、配管検査用走行台車１が、鉛直部Ｔ１、水平部Ｔ２、湾曲部Ｔ３にそれぞれ示されているが、走行状態を示す目的で描かれている。従って、配管検査用走行台車１は、複数及び単一いずれで用いても、本発明の目的は達成できることは言うまでもない。 In FIG. 2, the piping inspection traveling carriage 1 is shown in the vertical portion T1, the horizontal portion T2, and the curved portion T3, respectively, but is drawn for the purpose of showing the traveling state. Therefore, it goes without saying that the object of the present invention can be achieved regardless of whether the piping inspection traveling carriage 1 is used in plural or single.

操作者は、制御部８１を用い、電動モータ１１、１３を駆動する。なお、本実施形態では、同一性能の電動モータ１１、１３を利用し、電動モータ１１、１３の駆動タイミングを一致させることにより、第１の車輪７、９を同時に回転させる構成である。なお、単一の電動モータを用い、両第１の車輪７、９を駆動する構成にすることも可能である。 The operator drives the electric motors 11 and 13 using the control unit 81. In addition, in this embodiment, it is the structure which rotates the 1st wheels 7 and 9 simultaneously by using the electric motors 11 and 13 of the same performance, and making the drive timing of the electric motors 11 and 13 correspond. It is also possible to use a single electric motor to drive both the first wheels 7 and 9.

次に、湾曲部Ｔ３における配管検査用走行台車１の動きについて、鉛直部Ｔ１に位置する配管検査用走行台車１が上昇する例を用いて説明する。第１の転動部材７−１、９−１、筐体５−１で示す位置に到達するまでは、配管検査用走行台車１は鉛直方向上方に直線上を進む。配管検査用走行台車１が、第１の車輪７−１、９−１、筐体５−１で示す位置から上方に進む際、湾曲部Ｔ３の外面３の内側稜線３Ｉが、図２中において左方向に傾き、第１の車輪７−１に近づく方向に外面３が延在しているので、外側稜線３Ｏ側に位置する第１の車輪９−１に比して内側稜線３Ｉ側に位置する第１の車輪７−１に、相対的に大きな荷重が掛かる。そうすると、同じトルクを発生する電動モータ１１であっても、第１の車輪７−１の回転数が第１の車輪９−１の回転数より低くなる、又は第１の車輪７−１が停まる。 Next, the movement of the piping inspection traveling carriage 1 at the curved portion T3 will be described using an example in which the piping inspection traveling carriage 1 located at the vertical portion T1 is raised. Until the position shown by the first rolling members 7-1 and 9-1 and the casing 5-1 is reached, the piping inspection traveling carriage 1 advances in a straight line upward in the vertical direction. When the traveling carriage 1 for pipe inspection proceeds upward from the position indicated by the first wheels 7-1 and 9-1 and the casing 5-1, the inner ridgeline 3I of the outer surface 3 of the curved portion T3 is shown in FIG. Since the outer surface 3 is inclined in the left direction and extends in a direction approaching the first wheel 7-1, it is located on the inner ridge line 3I side as compared with the first wheel 9-1 located on the outer ridge line 30 side. A relatively large load is applied to the first wheel 7-1. Then, even if the electric motor 11 generates the same torque, the rotation speed of the first wheel 7-1 becomes lower than the rotation speed of the first wheel 9-1 or the first wheel 7-1 stops. Maru.

従って、外側稜線３Ｏ側に位置する第１の車輪９−１が第１の車輪９−２の位置に進む。すなわち、第１の車輪７−１、９−２、筐体５−２で示す位置に配管検査用走行台車１が移動する。さらに、上方に進もうとすると、筐体５−２と湾曲部Ｔ３の外面３が第１の車輪９−２に近づく方向に延在しているので、外側稜線３Ｏ側に位置する第１の車輪９−２に対する荷重が、内側稜線３Ｉ側に位置する第１の車輪７−１に対する荷重より大きくなる。そうすると、同じトルクを発生する電動モータ１１であっても、第１の車輪９−２の回転数が第１の車輪７−１の回転数より低くなるか、又は第１の車輪９−２が停まる。従って、内側稜線３Ｉ側の第１の車輪７−１が第１の車輪７−２の位置に移動し、配管検査用走行台車１は、筐体５−３で示す位置に到達する。 Accordingly, the first wheel 9-1 located on the outer ridge line 30 side advances to the position of the first wheel 9-2. That is, the piping inspection traveling carriage 1 moves to the positions indicated by the first wheels 7-1 and 9-2 and the casing 5-2. Furthermore, if it tries to advance upward, since the outer surface 3 of the housing | casing 5-2 and the curved part T3 is extended in the direction approaching the 1st wheel 9-2, the 1st located in the outer side ridgeline 3O side. The load with respect to the wheel 9-2 becomes larger than the load with respect to the 1st wheel 7-1 located in the inner side ridgeline 3I side. Then, even if it is the electric motor 11 which generate | occur | produces the same torque, the rotation speed of the 1st wheel 9-2 will become lower than the rotation speed of the 1st wheel 7-1, or the 1st wheel 9-2 will be. Stop. Accordingly, the first wheel 7-1 on the inner ridge line 3I side moves to the position of the first wheel 7-2, and the traveling truck 1 for pipe inspection reaches the position indicated by the housing 5-3.

配管検査用走行台車１は、その筐体が参照符号５−３で示す位置から上昇する場合には、先に説明した筐体が参照符号５−１で示す位置と同様に、外側稜線３Ｏ側に位置する第１の車輪９−２に比して内側稜線３Ｉ側に位置する第１の車輪７−２には、外面３が第１の車輪７−２に近づく方向に延在するため、相対的に大きな荷重が掛かる。そうすると、同じトルクを発生する電動モータ１１であっても、第１の車輪７−２の回転数が第１の車輪９−２の回転数より低くなるか、又は第１の車輪７−２が停まる。従って、外側稜線３Ｏ側の第１の車輪９−２が第１の車輪９−３の位置へ移動し、筐体は、参照符号５−４で示す位置に到達する。 When the casing of the piping inspection traveling carriage 1 rises from the position indicated by reference numeral 5-3, the casing described above is on the side of the outer ridgeline 3O, similarly to the position indicated by reference numeral 5-1. Since the outer surface 3 extends in a direction approaching the first wheel 7-2, the first wheel 7-2 located on the inner ridge line 3I side as compared with the first wheel 9-2 located at A relatively large load is applied. Then, even if it is the electric motor 11 which generate | occur | produces the same torque, the rotation speed of the 1st wheel 7-2 will become lower than the rotation speed of the 1st wheel 9-2, or the 1st wheel 7-2 will be. Stop. Accordingly, the first wheel 9-2 on the outer ridge line 3O side moves to the position of the first wheel 9-3, and the housing reaches the position indicated by reference numeral 5-4.

このように、配管検査用走行台車１は、湾曲部Ｔ２では上記の工程を繰り返し、最終的に水平部Ｔ１に示されている配管検査用走行台車１の状態となる。上記動作を実現するために、図２の配管検査用走行台車１の正面視において、第１の車輪７−１の回転軸２７（図１（ａ）参照。）の回転軸心Ｃ１と、第１の車輪９−１の回転軸２９（図１（ａ）参照。）の回転軸心Ｃ２とが、同一平面上に配置されることが好ましい。なお、第２の車輪１５、１７、１９、２１の回転軸心の配置については、必ずしも同一平面上に配置する必要はない。上記回転軸心の配置については、後述する第２の実施形態も同様である。 As described above, the piping inspection traveling carriage 1 repeats the above steps at the curved portion T2, and finally becomes the state of the piping inspection traveling carriage 1 shown in the horizontal portion T1. In order to realize the above operation, in the front view of the pipe inspection traveling carriage 1 in FIG. 2, the rotation axis C1 of the rotation shaft 27 (see FIG. 1A) of the first wheel 7-1, It is preferable that the rotating shaft center C2 of the rotating shaft 29 (see FIG. 1A) of one wheel 9-1 be disposed on the same plane. In addition, about the arrangement | positioning of the rotating shaft center of the 2nd wheel 15, 17, 19, 21, it does not necessarily need to arrange | position on the same plane. The arrangement of the rotation axis is the same in the second embodiment described later.

〔第２の実施形態〕
次に、第２の実施形態に係るＨ鋼検査用走行台車１０１について図３を参照しつつ説明する。図３（ａ）は、第２の実施形態に係るＨ鋼検査用走行台車１０１の平面図であり、図３（ｂ）は、図３（ａ）に示すＨ鋼検査用走行台車１０１が、Ｈ形鋼Ｓを走行する状態を示す正面概略図である。 [Second Embodiment]
Next, an H steel inspection traveling carriage 101 according to a second embodiment will be described with reference to FIG. FIG. 3A is a plan view of an H steel inspection traveling carriage 101 according to the second embodiment, and FIG. 3B is an H steel inspection traveling carriage 101 shown in FIG. 2 is a schematic front view showing a state in which an H-section steel S is traveling. FIG.

図３（ａ）、（ｂ）に示されるように、Ｈ鋼検査用走行台車１０１は、Ｈ形鋼Ｓの外面を走行する。Ｈ形鋼Ｓは、走行対象が延びる方向（図３（ａ）の紙面に直交する方向）に垂直な断面がＨ字形状の部材であり、図３（ａ）において、水平方向に延びる水平部材１８２と、水平部材１８２の両端部に接続し、鉛直方向に延びる垂直部１８３、１８５を有する。Ｈ鋼検査用走行台車１０１は、筐体１０５と、筐体１０５に装着され、Ｈ形鋼Ｓの外面上を転動できる第１の転動部材である複数の第１の車輪１０７、１０９と、第１の車輪１０７、１０９を駆動する駆動手段である電動モータ１１１、１１３と、を備える。さらに、複数の第１の車輪１０７、１０９は、Ｈ形鋼Ｓの中心Ｏに対し、中心Ｏを通る線Ｙ方向に互いに対向配置される。 As shown in FIGS. 3A and 3B, the H-steel inspection traveling carriage 101 travels on the outer surface of the H-section steel S. The H-section steel S is a member having a H-shaped cross section perpendicular to the direction in which the traveling object extends (the direction orthogonal to the paper surface of FIG. 3A). In FIG. 3A, the horizontal member extends in the horizontal direction. 182 and vertical portions 183 and 185 connected to both ends of the horizontal member 182 and extending in the vertical direction. The H steel inspection traveling carriage 101 includes a housing 105 and a plurality of first wheels 107 and 109 that are attached to the housing 105 and are first rolling members that can roll on the outer surface of the H-section steel S. And electric motors 111 and 113 which are drive means for driving the first wheels 107 and 109. Further, the plurality of first wheels 107 and 109 are arranged to face each other in the direction of line Y passing through the center O with respect to the center O of the H-section steel S.

また、本実施形態では、Ｈ鋼検査用走行台車１０１は、第１の転動部材である複数の第１の車輪１０７、１０９と協働する第２の転動部材である第２の車輪１１５、１１７を備える。第２の車輪１１５、１１７は、Ｈ形鋼Ｓの中心Ｏを通る線Ｙ方向に互いに対向配置される。第１の車輪１０７、１０９と第２の車輪１１５、１１７は、Ｈ形鋼Ｓを挟み転動可能に筐体１０５に支持されている。従って、Ｈ鋼検査装置１０１は、第１の車輪１０７、１０９により図３（ａ）の上下方向への移動が規制され、第２の車輪１１５、１１７により、図３（ａ）の左右方向への移動が規制される。本実施形態のように、第２の車輪１１５、１１７を設けることにより、Ｈ鋼検査用走行台車１０１の、走行対象であるＨ形鋼Ｓに対する相対的な走行位置をより正確に設定できる。 Further, in the present embodiment, the H steel inspection traveling carriage 101 is a second wheel 115 that is a second rolling member that cooperates with the plurality of first wheels 107 and 109 that are first rolling members. 117. The second wheels 115 and 117 are arranged to face each other in the direction of the line Y passing through the center O of the H-section steel S. The first wheels 107 and 109 and the second wheels 115 and 117 are supported by the housing 105 so as to be able to roll with the H-shaped steel S interposed therebetween. Accordingly, the H steel inspection apparatus 101 is restricted from moving in the vertical direction in FIG. 3A by the first wheels 107 and 109, and in the horizontal direction in FIG. 3A by the second wheels 115 and 117. Movement is restricted. By providing the second wheels 115 and 117 as in the present embodiment, it is possible to set the relative travel position of the H-steel inspection traveling carriage 101 relative to the H-section steel S that is the travel target more accurately.

電動モータ１１１、１１３の回転軸の回転軸心は、図３（ａ）の平面視において、鉛直方向に直交し、互いに平行で同一平面上に延在する。また、第１の車輪１０７、１０９及び第２の車輪１１５、１１７の回転軸心が、配管Ｔの長手方向（すなわち、図１（ａ）の中心Ｏを通り紙面を表裏方向）に直交する。第１の車輪１０７、１０９及び第２の車輪１１５、１１７の回転軸心が、同一平面上に延在する。 The rotation axes of the rotation shafts of the electric motors 111 and 113 are orthogonal to the vertical direction in the plan view of FIG. 3A and are parallel to each other and extend on the same plane. Further, the rotational axes of the first wheels 107 and 109 and the second wheels 115 and 117 are orthogonal to the longitudinal direction of the pipe T (that is, through the center O in FIG. The rotational axes of the first wheels 107 and 109 and the second wheels 115 and 117 extend on the same plane.

筐体１０５は、平面視で矩形状を呈し、４つのＬ字状片１０５ａ、１０５ｂ、１０５ｃ、１０５ｄ及び４つの連結調整部１２３、１２４、１２５、１２６により構成されている。また、各Ｌ字状片１０５ａ〜１０５ｄは、連結調整部１２３〜１２６を介して互いに連結されている。さらに、筐体１０５は、Ｈ形鋼Ｓを囲繞するように延在する。なお、連結調整部１２３〜１２６の構成は、第１の実施形態の連結調整部２３、２２５と同一構成であるので、詳細は割愛する。さらに、Ｈ鋼検査用走行台車１０１がＨ形鋼Ｓに装着された状態では、図３（ａ）の平面視において、第１及び第２の車輪１０７、１０９、１１５、１１７が、筐体１０５の内面とＨ形鋼Ｓの外面との間に配置されるような位置関係となる。 The housing 105 has a rectangular shape in a plan view, and includes four L-shaped pieces 105a, 105b, 105c, and 105d and four connection adjusting units 123, 124, 125, and 126. Further, the L-shaped pieces 105a to 105d are connected to each other via connection adjusting parts 123 to 126. Further, the housing 105 extends so as to surround the H-shaped steel S. In addition, since the structure of the connection adjustment parts 123-126 is the same structure as the connection adjustment parts 23 and 225 of 1st Embodiment, it abbreviate | omits for details. Further, in a state in which the H-steel inspection traveling carriage 101 is mounted on the H-section steel S, the first and second wheels 107, 109, 115, 117 in the plan view of FIG. The positional relationship is such that it is disposed between the inner surface of the steel and the outer surface of the H-shaped steel S.

本実施形態の第１の車輪１０７、１０９は、筐体１０５に装着されている平面視でＵ字形状の台座１８７、１８９に支持されていることを除き、第１の実施形態の第１の車輪７、９と同一寸法、同一構成であるので、詳細は割愛する。さらに、第２の車輪１１５、１１７も第１の実施形態の第２の車輪１５、１７、１９、２１と同一寸法、同一構成である。第１及び第２の車輪の数は、適宜変更可能である。 The first wheels 107 and 109 of this embodiment are the first wheels of the first embodiment, except that the first wheels 107 and 109 are supported by U-shaped bases 187 and 189 mounted on the housing 105 in a plan view. Since it is the same dimension and the same structure as the wheels 7 and 9, details are omitted. Further, the second wheels 115 and 117 have the same dimensions and the same configuration as the second wheels 15, 17, 19 and 21 of the first embodiment. The number of the first and second wheels can be changed as appropriate.

上記構成のＨ鋼検査用走行台車１０１は、制御部１８１は、不図示の入力手段から入力される操作者の指令に基づき、所定タイミングで作動させる。図３（ｂ）に示すように、図３（ａ）における右方向に湾曲するＨ形鋼Ｓの外面上を走行することが可能である。もちろん、Ｈ形鋼Ｓが、図３（ａ）の上下方向、左方向に湾曲している部位を有する場合であっても、Ｈ鋼検査用走行台車１０１がＨ形鋼Ｓの外面を走行できる。制御部１８１は、第１の実施形態の制御部８１と同様に、Ｈ鋼検査用走行台車１０１の各構成要素に電気的に接続され、駆動モータ１１１、１１３の駆動タイミングを一致させることによるＨ鋼検査用走行台車１０１の走行や不図示の撮像カメラの制御といった種々の処理を実行する。 In the H steel inspection traveling carriage 101 having the above configuration, the control unit 181 is operated at a predetermined timing based on an operator's command input from an input unit (not shown). As shown in FIG. 3 (b), it is possible to travel on the outer surface of the H-section steel S curved in the right direction in FIG. 3 (a). Of course, even if the H-section steel S has a portion curved in the vertical direction and the left direction in FIG. 3A, the H-steel inspection traveling carriage 101 can travel on the outer surface of the H-section steel S. . Similarly to the control unit 81 of the first embodiment, the control unit 181 is electrically connected to each component of the H steel inspection traveling carriage 101, and the drive timings of the drive motors 111 and 113 are matched. Various processes such as traveling of the steel inspection traveling carriage 101 and control of an imaging camera (not shown) are executed.

第１の実施形態では、配管Ｔの外形が円形であるが、本発明の走行台車が走行できる走行対象はこの形状に限定されない。例えば、外形が多角形状、楕円形状等の種々の形状の配管に本発明の走行台車が利用できることは言うまでもない。また、配管のような中空の走行対象のみならず、中実の部材等も利用できる。さらに、本発明の走行台車は、Ｈ形鋼以外のＩ形鋼等の種々の形鋼や、鋼線をよったロープケーブル及び鋼線を平行に束ねた平行線ケーブル、平行線ケーブルを束ねたパラレルワイヤストランド等の橋梁に用いるワイヤーケーブルにも利用できる。 In the first embodiment, the outer shape of the pipe T is circular, but the traveling object that the traveling carriage of the present invention can travel is not limited to this shape. For example, it goes without saying that the traveling carriage of the present invention can be used for piping having various shapes such as a polygonal shape and an elliptical shape. Further, not only hollow traveling objects such as piping, but also solid members can be used. Furthermore, the traveling carriage of the present invention bundles various shape steels such as I-shaped steel other than H-shaped steel, rope cables using steel wires, parallel wire cables in which steel wires are bundled in parallel, and parallel wire cables. It can also be used for wire cables used for bridges such as parallel wire strands.

また、頂角の数が奇数の多角形状の外形を有する走行対象の場合には、走行対象の中心に対し対向配置される第１の転動部材の一方は、頂角を形成する２つの面に接触する走行面を有する部材であり、他方は、頂角から中心を通る線に交差する面に接触する走行面を有する転動部材であることが好ましい。 In the case of a traveling object having a polygonal outer shape with an odd number of apex angles, one of the first rolling members arranged to face the center of the traveling object is two surfaces forming the apex angle. Preferably, the other member is a rolling member having a traveling surface that contacts a surface intersecting a line passing through the center from the apex angle.

第１の実施形態の第１の転動部材は、それぞれ２つのタイヤを用いる構成としているが、走行面が配管の外形に相補的な面を有する構成であれば、単一のタイヤを用いることも可能である。例えば、外面３の曲率半径と一致するような曲率半径を有する転動面を備える単一のタイヤを利用することも可能である。また、第２の実施形態の第１の転動部材は、複数のタイヤを有するが、単一のタイヤを有する構成とすることも可能である。 Each of the first rolling members of the first embodiment is configured to use two tires, but if the traveling surface has a surface complementary to the outer shape of the pipe, a single tire is used. Is also possible. For example, it is possible to use a single tire having a rolling surface having a radius of curvature that matches the radius of curvature of the outer surface 3. Moreover, although the 1st rolling member of 2nd Embodiment has a some tire, it can also be set as the structure which has a single tire.

上述の第１の実施形態では、第１及び第２の転動部材は、空気等の気体が内部に収容されるタイヤを用い、転動部材が対象物に対し面接触することで、転動部材が配管の外面を滑らずに走行できる。しかし、配管検査用走行台車の利用態様によっては、滑りが問題にならない場合もある。そのような場合には、面接触では無く線接触する柔軟性の低い材料から形成される転動部材を使用することが可能である。 In the first embodiment described above, the first and second rolling members use tires in which a gas such as air is housed, and the rolling members come into surface contact with the object to roll. The member can travel without slipping on the outer surface of the pipe. However, depending on the mode of use of the piping inspection traveling carriage, slipping may not be a problem. In such a case, it is possible to use a rolling member formed of a low-flexibility material that makes line contact instead of surface contact.

また、第１及び第２の転動部材の配管の外面に対する追従性を向上させるために、タイヤ等の転動部材をコイルスプリング等の弾性部材を介在させ筐体５に装着させる構成とすることも可能である。 Moreover, in order to improve the followability with respect to the outer surface of the piping of the first and second rolling members, the rolling member such as a tire is mounted on the housing 5 with an elastic member such as a coil spring interposed. Is also possible.

第１の実施形態の配管検査用走行台車は、連結調整部を複数備える構成であるが、単一の連結調整部を設ける走行台車とすることも可能である。また、筐体は、配管Ｔの回りを完全に囲繞する構成としたが、本発明は、この構成に限定されず、第１の転動部材が中心Ｏに対し対向配置できる筐体であれば、Ｃ字形状等の種々の形状に変更できる。さらに、筐体は、平面視において６角形状に限定されず、多角形状、円形状、楕円形状等、種々の形状に変更できることは言うまでもない。 The piping inspection traveling carriage according to the first embodiment is configured to include a plurality of connection adjustment units, but may be a traveling carriage provided with a single connection adjustment unit. Moreover, although the housing | casing was set as the structure which surrounds the circumference | surroundings of the pipe T completely, this invention is not limited to this structure, As long as the 1st rolling member can be arrange | positioned facing the center O, it will be. It can be changed to various shapes such as a C-shape. Further, it goes without saying that the housing is not limited to a hexagonal shape in plan view and can be changed to various shapes such as a polygonal shape, a circular shape, and an elliptical shape.

また、筐体は、平面視において、丸みを帯びる又は角張ったＣ字形状又はＵ字形状に構成することも可能である。この形状の筐体に連結調整部を設ける場合には、筐体を構成し互いに離間する端部間の距離を調整できるように単一又は複数の連結調整部が装着することも可能である。 In addition, the housing can be configured in a rounded or angular C shape or U shape in plan view. When the connection adjusting portion is provided in the housing having this shape, a single or a plurality of connection adjusting portions can be mounted so that the distance between the end portions constituting the housing and being separated from each other can be adjusted.

第１の実施形態では、第１の車輪７、９が、湾曲部Ｔ３の最も曲率半径が小さい部位に配置される構成であるが、本発明は、この構成に限定されず、走行対象の外面の周方向のどの部位に第１の転動部材が配置されても、本発明の目的は達成できることは言うまでもない。第２の実施形態では、第１の車輪１０７、１０９が、湾曲部の最も曲率半径が大きい部位に配置される構成であるが、本発明は、この構成に限定されない。第１及び第２の実施形態は、走行対象の外面を検査するための検査用走行台車であるが、本発明の走行台車は、走行対象の保守点検、清掃等の種々の目的に利用できることは言うまでもない。 In 1st Embodiment, although it is the structure by which the 1st wheels 7 and 9 are arrange | positioned in the site | part with the smallest curvature radius of the curved part T3, this invention is not limited to this structure, The outer surface of driving | running | working object It goes without saying that the object of the present invention can be achieved no matter which part in the circumferential direction the first rolling member is disposed. In the second embodiment, the first wheels 107 and 109 are arranged at a portion where the curvature radius of the bending portion is the largest, but the present invention is not limited to this configuration. The first and second embodiments are inspection traveling carts for inspecting the outer surface of the traveling target, but the traveling cart of the present invention can be used for various purposes such as maintenance inspection and cleaning of the traveling target. Needless to say.

１配管検査用走行台車
３外面
５、１０５筐体
５ａ、５ｂ半片
７、９、１０７、１０９第１の車輪
１１、１３、１１１、１１３電動モータ
１５、１７、１９、２１、１１５、１１７第２の車輪
２３、２５、１２３、１２４、１２５、１２６連結調整部
３１、３３フランジ部
５９ガイド受け部
６５ガイド部材
６９スライド支持部材
７３締結具
８１、１８１制御部
８３スライド固定部
８５スライド移動部
Ｏ中心
Ｔ配管
ＳＨ形鋼
Ｔ１鉛直部
Ｔ２水平部
Ｔ３湾曲部 DESCRIPTION OF SYMBOLS 1 Carriage for piping inspection 3 Outer surface 5, 105 Housing 5a, 5b Half piece 7, 9, 107, 109 First wheel 11, 13, 111, 113 Electric motor 15, 17, 19, 21, 115, 117 Second Wheels 23, 25, 123, 124, 125, 126 Connection adjustment part 31, 33 Flange part 59 Guide receiving part 65 Guide member 69 Slide support member 73 Fastener 81,181 Control part 83 Slide fixing part 85 Slide moving part O Center T piping SH shape steel T1 vertical part T2 horizontal part T3 curved part

Claims

A traveling carriage capable of traveling on the outer surface of the curved portion to be traveled,
A housing,
A plurality of first rolling members mounted on the housing and capable of rolling on the outer surface of the traveling object;
Driving means for driving the plurality of first rolling members;
A plurality of second rolling members mounted on the housing so as to be freely rotatable and capable of rolling on the outer surface of the traveling object ,
The plurality of first rolling members are disposed to face each other with respect to the center of the traveling object, and the plurality of second rolling members are disposed to face each other with respect to the center of the traveling object,
The rotation axis of the plurality of first rolling members and the rotation axis of the plurality of second rolling members extend only on a single surface perpendicular to the axis of the traveling object,
Wherein the plurality of first rotational axis of the rolling member is traveling vehicles, wherein only two der Rukoto.

2. The traveling cart according to claim 1, wherein the plurality of first rolling members are wheels in which gas is accommodated so as to be in surface contact with the traveling object .

The housing includes a connection adjustment unit for adjusting a contact area of the plurality of first rolling members with respect to the traveling object, and the plurality of first rolling members are separated from each other by the connection adjustment unit. The traveling carriage according to claim 1, wherein the traveling carriage is provided.

The said housing extends only within the diameter range of said several 1st rolling member and said several 2nd rolling member regarding the direction where the axial center of said driving | running | working object extends. The traveling cart as described in any one of 1-3.