JP6172996B2 - Carriage carriage - Google Patents

Description

  The present invention relates to an in-pipe traveling carriage that travels inside a pipe for the purpose of inspecting and repairing pipe inner surface defects such as a gas pipe, a water pipe, and a ground plant pipe buried in the ground.

  Since it is possible to avoid the work time and work cost when exposing the buried pipe, an in-pipe traveling carriage capable of performing pipe inspection without excavating the ground has been proposed. In such an in-pipe traveling carriage, traveling performance with a straight extending pipe or a gently curved pipe is generally good. However, in the case where a connecting portion such as a dresser type pipe joint is interposed in the pipe, the pipe has a small diameter portion and a large diameter portion in that region, and as a result, a step is generated. The traveling performance of the in-pipe traveling carriage in such a region is deteriorated.

  For example, in a piping region in which a dresser-type pipe joint is mounted, that is, a piping region having a small diameter portion and a large diameter portion, an in-pipe traveling carriage that can be easily escaped even if a drive roller falls into the depression (large diameter portion). Is proposed by Patent Document 1. On the carriage body 7 of this in-pipe carriage, a pair of upper, lower, left and right four support legs are attached to each other in a crossing manner by shifting their positions by 90 degrees in the circumferential direction. A roller or steering member is provided. Furthermore, an operation member located on the traveling direction side of the drive roller and arranged to slide up and down between the upper support leg of the pair of support legs that expands in the vertical direction of the carriage body and the inner wall of the pipe, And a pressing member for operating the operating member. By adopting such a so-called jack mechanism, even if the drive roller falls into a stepped recess during traveling of the cart body and collides with the step of this recess, the pressing member provided on the cart body The drive roller can come out of the recess by moving the operation member to lower the operation member, bringing the operation member into contact with the inner wall of the pipe and lifting the cart body.

JP-A-11-268638 (paragraph number [0009-0025], FIGS. 5 and 6)

In the in-pipe traveling carriage according to Patent Document 1, even if the driving roller falls into a recess having a step, the jack mechanism that lifts the carriage main body is mounted, so that the driving roller can be removed from the step. However, providing such a jack mechanism places a heavy burden on both structure and control, leading to an increase in cost. Furthermore, the weight increase due to the addition of the jack mechanism is disadvantageous with respect to traveling inside the complicated pipe extending vertically and horizontally.
Accordingly, there is a demand for an in-pipe traveling carriage that can smoothly travel even in a piping region having a small-diameter portion and a large-diameter portion without providing a dedicated device such as a jack mechanism that is separately controlled.

An in-pipe travel bogie according to the present invention that travels inside a pipe includes a bogie main body extending in the travel direction of the in-pipe travel bogie, and a plurality of arm modules arranged in the bogie main body so as to be distributed in a circumferential direction of the pipe. An arm unit to which the arm module is attached, and an arm bracket to which the arm module is attached so that the arm module is peristally displaced about a peristaltic axis extending in a transverse direction with respect to the traveling direction. A spherical driving wheel having a radius larger than the step on the inner surface of the pipe, and a peristaltic synchronization mechanism that synchronizes peristaltic displacements of all the arm modules by meshing gears that rotate in conjunction with peristaltic displacements of the arm modules; The arm module is biased so that the spherical driving wheel approaches the inner peripheral surface of the pipe. And a energization means, the arm module is supported via the rocking shaft with the swinging axis on the arm bracket, the gear is a Berugiya base provided at both ends of the swinging axis.

According to this configuration, the cart body moves along the pipe direction in the pipe by rotating the spherical drive wheel pressed against the inner peripheral surface of the pipe by the biasing means. When moving from the small-diameter part of the pipe to the large-diameter part, the spherical drive wheel falls into the large-diameter part. Since the movements of all the arm modules are synchronized by mutual engagement, the degree of opening of all the arm modules is constant. That is, since all the arm modules have the same swinging posture, running stability is maintained. For example, in a synchronization mechanism using a link mechanism or the like, the links are twisted due to force distribution or the like, and at least temporarily, all arm modules may not be in the same swinging posture, resulting in poor running stability. Since the spherical driving wheel has a larger radius than the step on the inner surface of the pipe, the step can be overcome by the rotational driving force of the spherical driving wheel even when shifting from the large diameter portion to the small diameter portion of the pipe.
Furthermore, since the driving wheel is formed in a spherical shape, the guide wheel is formed in a spherical shape as a whole, so the wheel side portion projects outward as a curved surface, so that the inner peripheral surface of the pipe is uneven. If this occurs, there is also an advantage that the curved surface of the wheel side functions as a guide surface.
In order to easily construct a peristaltic synchronization mechanism using a gear, a gear is directly attached to a peristaltic shaft of an arm module and engaged with a gear attached to the peristaltic shaft of an adjacent arm module. At that time, since the adjacent peristaltic shafts intersect each other, the bevel gear is used as the gear, so that the meshing is smooth.

In the case of using a plurality of traveling carts connected to each other, the traveling carts can be stably supported by the arm units of the traveling carts connected to the front and rear, even if each traveling cart has only one arm unit. However, when the connecting structure is quite flexible, or when traveling with a single traveling carriage, it is necessary to provide the carriage body with a plurality of arm units spaced in the traveling direction. For this reason, in one preferred embodiment of the present invention, the arm unit includes a front arm unit positioned on the front side in the traveling direction, and a rear arm unit positioned on the rear side of the front arm unit in the traveling direction. The arm module belonging to the front arm unit and the arm module belonging to the rear arm unit are urged by the urging means in a direction approaching each other. In addition, in this configuration, the corresponding arm modules of the arm units arranged at the front and rear are urged so as to be close to each other by the urging means, so that the urging means can be configured easily. For example, as a simple configuration, it is proposed to connect the arm modules with a coil spring.

In one preferred embodiment of the present invention, the spherical drive wheel comprises a hollow left hemispherical wheel and a hollow right hemispherical wheel, and the spherical drive wheel is driven in an internal space of the spherical drive wheel. The drive unit to be stored is stored. In this configuration, since the drive unit is housed in the inner space of the spherical drive wheel, not only is the space effectively used, but the length of the power transmission system to the drive wheel is shortened. Becomes easy.
Furthermore, by dividing the drive unit into a first drive unit that drives the left hemispherical wheel and a second drive unit that drives the right hemispherical wheel, even if the rated output of each drive unit is small, Overall, a large output can be given to the spherical drive wheel.

An in-pipe travel bogie according to the present invention that travels inside a pipe includes a bogie main body extending in the travel direction of the in-pipe travel bogie, and a plurality of arm modules arranged in the bogie main body so as to be distributed in a circumferential direction of the pipe. An arm unit to which the arm module is attached, and an arm bracket to which the arm module is attached so that the arm module is peristally displaced about a peristaltic axis extending in a direction transverse to the traveling direction. Further, the peristaltic synchronization that synchronizes the peristaltic displacement of all the arm modules by meshing the spherical driving wheel having a radius larger than the step on the inner surface of the pipe and the gear that rotates in conjunction with the peristaltic displacement of the arm module. The arm module is biased so that the mechanism and the spherical driving wheel approach the inner peripheral surface of the pipe. The spherical drive wheel comprises a hollow left hemispherical wheel and a hollow right hemispherical wheel, and a drive unit for driving the spherical drive wheel is housed in an inner space of the spherical drive wheel. The spherical drive wheel comprises a hollow left hemispherical wheel and a hollow right hemispherical wheel, and a drive unit for driving the spherical drive wheel is housed in an inner space of the spherical drive wheel. The drive unit includes a first drive unit that drives the left hemispherical wheel and a second drive unit that drives the right hemispherical wheel, and the first drive unit and the second drive unit. Each includes a motor and an axle that transmits power from the motor and rotates integrally with either the left hemispherical wheel or the right hemispherical wheel.
According to this configuration, the cart body moves along the pipe direction in the pipe by rotating the spherical drive wheel pressed against the inner peripheral surface of the pipe by the biasing means. When moving from the small-diameter part of the pipe to the large-diameter part, the spherical drive wheel falls into the large-diameter part. Since the movements of all the arm modules are synchronized by mutual engagement, the degree of opening of all the arm modules is constant. That is, since all the arm modules have the same swinging posture, running stability is maintained. For example, in a synchronization mechanism using a link mechanism or the like, the links are twisted due to force distribution or the like, and at least temporarily, all arm modules may not be in the same swinging posture, resulting in poor running stability. Since the spherical driving wheel has a larger radius than the step on the inner surface of the pipe, the step can be overcome by the rotational driving force of the spherical driving wheel even when shifting from the large diameter portion to the small diameter portion of the pipe.
Furthermore, since the driving wheel is formed in a spherical shape, the guide wheel is formed in a spherical shape as a whole, so the wheel side portion projects outward as a curved surface, so that the inner peripheral surface of the pipe is uneven. If this occurs, there is also an advantage that the curved surface of the wheel side functions as a guide surface.
In addition, since the drive unit is housed in the inner space of the spherical drive wheel, not only is the space effectively used, but the length of the power transmission system to the drive wheel is shortened, so the structure of the power transmission system is simple. It becomes.
Moreover, even if the rated output of each drive unit is small, a large output as a whole can be given to the spherical drive wheels.
Furthermore, the first drive unit and the second drive unit can be made substantially the same. Thereby, a left hemispherical wheel and a right hemispherical wheel can be constituted symmetrically, and the weight balance of the whole spherical driving wheel becomes good.

In order to easily construct a peristaltic synchronization mechanism using a gear, it is preferable to attach a gear directly to a peristaltic shaft of an arm module and engage with a gear attached to a peristaltic shaft of an adjacent arm module. In that case, since the adjacent peristaltic shafts intersect each other, if a bevel gear is used as the gear, the meshing becomes smooth. Accordingly, in one preferred embodiment of the present invention, the arm module is supported by the arm bracket via a peristaltic shaft having the peristaltic axis, and the gears are provided at both ends of the peristaltic shaft. Bevel gear.
In the case of using a plurality of traveling carts connected to each other, the traveling carts can be stably supported by the arm units of the traveling carts connected to the front and rear, even if each traveling cart has only one arm unit. However, when the connecting structure is quite flexible, or when traveling with a single traveling carriage, it is necessary to provide the carriage body with a plurality of arm units spaced in the traveling direction. For this reason, in one preferred embodiment of the present invention, the arm unit includes a front arm unit positioned on the front side in the traveling direction, and a rear arm unit positioned on the rear side of the front arm unit in the traveling direction. The arm module belonging to the front arm unit and the arm module belonging to the rear arm unit are urged by the urging means in a direction approaching each other. In addition, in this configuration, the corresponding arm modules of the arm units arranged at the front and rear are urged so as to be close to each other by the urging means, so that the urging means can be configured easily. For example, as a simple configuration, it is proposed to connect the arm modules with a coil spring.

  The simplest form suitable for the carriage body to be stably supported by the inner peripheral surface of the pipe when traveling inside the pipe is a three-point support. Therefore, it is preferable that the arm unit has three arm modules, and the arm modules are arranged at intervals of 120 ° in the circumferential direction.

1 is a perspective view of an in-pipe travel cart in a connected state, showing one embodiment of the in-pipe travel cart according to the present invention. FIG. FIG. 2 is a perspective view of an in-pipe traveling carriage according to FIG. 1. It is a front view of an in-pipe travel cart. It is a perspective view of a trolley body. It is a perspective view which shows the assembly | attachment of a trolley | bogie main body, an arm module, and a spherical drive wheel. It is a disassembled perspective view of a spherical drive wheel. It is a schematic diagram which shows the driving | running | working state of the in-pipe driving | running | working trolley | bogie to the dresser area | region which transfers to a small diameter part from a large diameter part. It is a schematic diagram which shows the driving | running | working state of the in-pipe driving | running | working trolley | bogie in the plug valve area | region which has a deformed cross-section reduced. It is a schematic diagram which shows the driving | running state of the in-pipe driving | running | working trolley | bogie in the elbow area | region bent at 90 degrees.

  One embodiment of the in-pipe traveling carriage according to the present invention will be described. The in-pipe traveling carriage is generally used as a carriage train assembly in which a plurality of carriages are connected as shown in FIG. 1. Here, the structure of a single in-pipe traveling carriage will be described. FIG. 2 is a perspective view of a single in-pipe traveling carriage, and FIG. 3 is a front view.

  As can be understood from FIG. 2, the in-pipe traveling carriage 6 includes a carriage main body 7 extending in the traveling direction of the in-pipe traveling carriage, a front arm unit 8 </ b> A disposed on the carriage main body 7 with an interval in the traveling direction, and a rear side. An arm unit 8B is provided. Since the front arm unit 8A and the rear arm unit 8B are configured substantially in the same manner, they are simply referred to as the arm unit 8 when it is not necessary to distinguish between them. As is apparent from FIG. 3, the arm unit 8 includes three arm modules 80 arranged on the carriage main body 7 so as to be distributed at 120 ° intervals in the circumferential direction of the pipe to be traveled. The arm module 80 is attached to the arm bracket 710 so as to be oscillated and displaced about the peristaltic axis Pa extending in the transverse direction (cross-sectional direction of the pipe) with respect to the traveling direction of the in-pipe traveling carriage 6 (the pipe axial direction of the pipe). Yes.

  A spherical drive wheel 5A having a radius larger than the step on the inner surface of the pipe to be traveled is attached to the tip of the arm module 80 (see FIG. 7). As the arm module 80 swings, the spherical drive wheel 5A is displaced from the inner peripheral surface of the pipe. A gear-type peristaltic synchronization mechanism 9 is provided so that the peristaltic displacements of the three arm modules 80 coincide. The peristaltic synchronization mechanism 9 synchronizes peristaltic displacements of the three arm modules 80 by meshing the bevel gears 90 that rotate in conjunction with the peristaltic displacement of the arm modules 80.

  An urging means 91 is provided to interlock the arm module 80 of the front arm unit 8A and the arm module 80 of the rear arm unit 8B. In this embodiment, the urging means 91 is formed as a coil spring 91 that connects the arm module 80 of the front arm unit 8A and the arm module 80 of the rear arm unit 8B. The coil spring 91 causes the spherical drive wheel 5A attached to the arm module 80 of the front arm unit 8A and the spherical drive wheel 5A attached to the arm module 80 of the rear arm unit 8B to approach the inner peripheral surface of the pipe. The arm modules 80 are brought close to each other. Thereby, the spherical drive wheel 5A contacts the inner peripheral surface of the pipe, and the in-pipe traveling carriage 6 runs in the pipe by the driving rotation.

  As shown in FIG. 4, the base 70 that is the core member of the carriage main body 7 of the in-pipe traveling carriage 6 has three bent plate members 71 that are bent 120 ° from a rectangular plate member. The three bent plate members 71 are integrated by joining portions that are equally divided by a bending line in the longitudinal direction to create a base 70 having a cross-section of three cross-sections. The joining center of the base 70 is a longitudinal axis Xa extending in the traveling direction of the carriage body 7. Furthermore, a cylindrical coupling portion 72 is connected to both ends of the base 70 so that the central axis thereof coincides with the front-rear axis Xa. It can be connected to another in-pipe traveling carriage using this cylindrical connecting portion 72. As shown in FIG. 2, in this embodiment, a control board and a control button CB are attached to the tip of the front cylindrical connecting portion 72.

  Furthermore, in this embodiment, the radially extending plate-like portion of the base 70 functions as the arm bracket 710. For this reason, each plate-like portion is provided with a through-hole 73 at an interval in the front-rear direction. The hole center of the through-hole 73 is the pivot axis Pa between the arm module 80 of the front arm unit 8A and the arm module 80 of the rear arm unit 8B. Further, two protruding pieces 74 each having a pin hole 75 are formed at the edge of the plate-like portion. By fitting a connecting pin (not shown) into the pin hole 75, the bending plate material 71 is prevented from being displaced.

  The arm module 80 is configured by combining half modules 80a as shown in FIG. Although the left and right half modules 80a are shown in FIG. 5, they have a symmetrical shape. The half module 80 a includes a peristaltic shaft 81, a boss portion 82 that receives the peristaltic shaft 81, and an arm main body 83. The peristaltic shaft 81 is common to the left and right half modules 80a. The arm body 83 is a shape having a U-shaped cross section. A boss 82 is attached to one end of an arm body 83 provided with a shaft hole that is not visible in the drawing. A bevel gear 90 is attached to the outer end surface of the boss portion 82. The centers of the shaft hole, the boss portion 82, and the bevel gear 90 coincide with the peristaltic axis Pa. At the other end of the arm body 83, a plate-like mounting seat 84 for mounting the spherical drive wheel 5A is provided.

  As can be understood from FIGS. 3 and 5, the arm module 80 is created by connecting the left and right half modules 80 a back to back so as to sandwich the arm bracket 710. At that time, the corresponding bevel gears 90 of the three arm modules 80 mesh with each other. Thereby, the arm modules 80 of the front arm unit 8A and the arm modules 80 of the rear arm unit 8B are reliably interlocked and swinging.

  As shown in FIG. 6, the spherical drive wheel 5 </ b> A fixed to the mounting seat 84 of the arm module 80 includes a wheel body 50 and a drive unit 56. The spherical drive wheel 5A in an assembled state is shown on the upper side of FIG. 6, and the spherical drive wheel 5A in a state where the wheel body 50 and the drive unit 56 are disassembled is shown on the lower side of FIG. Has been. The wheel body 50 is divided into a hollow left hemispherical wheel 51 and a hollow right hemispherical wheel 52. At the center of the left hemispherical wheel 51 and the right hemispherical wheel 52, bosses for fixing the axles 54a and 54b are formed. A rubber ring 53 that enhances friction between the inner peripheral surface of the pipe is fitted on the peripheral regions of the left hemispherical wheel 51 and the right hemispherical wheel 52. A drive unit 56 that drives the wheel body 50 is housed in a space bounded by the left hemispherical wheel 51 and the right hemispherical wheel 52. As is clear from FIG. 6, the outer diameter of the rubber ring 53 is larger than the outer diameters of the left hemispherical wheel 51 and the right hemispherical wheel 52. With this configuration, it is possible to satisfactorily cope with curved surface travel.

  The drive unit 56 includes a first drive unit 56a and a second drive unit 56b attached to a common unit case 55. The first drive unit 56a and the second drive unit 56b each have a motor and a gear-type reduction mechanism 58. The first drive unit 56a drives the axle 54a of the left hemispherical wheel 51, and the second drive unit 56b. Drives the axle 54b of the right hemispherical wheel 52. The unit case 55 supports the left hemispherical wheel 51 and the right hemispherical wheel 52 via the axles 54a and 54b. The unit case 55 is detachably attached to the mounting seat 84 of the corresponding arm module 80 with a screw. At that time, the radius of the spherical driving wheel 5A, that is, the left hemispherical wheel 51 including the rubber ring 53 and the right hemispherical wheel 52 needs to be larger than the height of the step on the inner surface of the pipe in order to overcome the step on the inner surface of the pipe. Therefore, it is selected according to the level difference depending on the piping to be traveled.

  In FIG. 2, the outline of the upper surface is only indicated by a one-dot chain line, but the battery box 79 is attached to the base 70. Electric power is supplied to the motor 57 from a battery mounted in the battery box 79 via a power supply line (not shown), and a switch for turning on / off the power supply is provided in the middle of the power supply line. This switch is controlled by operating a control button CB provided at the tip of the cylindrical connecting portion 30.

  Next, the traveling state in the piping difficulty of the above-described in-pipe traveling carriage 6 will be described. FIG. 7 shows a running state in the dresser region where the large diameter portion shifts to the small diameter portion. Here, even if the spherical drive wheel 5A of the front arm unit 8A of the in-pipe traveling carriage 6 collides with a step between the large diameter portion and the small diameter portion, the axle position serving as the rotation center of the spherical drive wheel 5A is the small diameter portion. Since it protrudes from the edge toward the center of the tube, the rubber ring 53 of the spherical drive wheel 5A firmly holds the edge of the small diameter part and gets over the edge of the small diameter part. At that time, each arm module 80 of the front arm unit 8A is inclined toward the tube center side by the reaction force over the spherical driving wheel 5A. Thereby, each arm module 80 of the rear arm unit 8 </ b> B swings in the direction of the inner peripheral surface of the large diameter portion by the coil spring 91. As a result, the spherical driving wheel 5A of the rear arm unit 8B is more strongly pressed against the inner peripheral surface of the large-diameter portion, and pushes the in-pipe traveling carriage 6 with a strong driving force without slipping. Next, the spherical drive wheel 5A of the rear arm unit 8B of the in-pipe traveling carriage 6 collides with the step, but the axle position serving as the center of rotation of the spherical drive wheel 5A of the rear arm unit 8B is less than the edge of the small-diameter portion. Since it comes out to the center side, it is possible to get over the edge of the small diameter part without difficulty.

  FIG. 8 shows the running state in the plug valve region having a reduced profile section. The travel of the steps formed at both ends of the plug valve region here is substantially the same as the travel in the above-described dresser region. However, since the plug valve region has an irregular cross section instead of a circular cross section, not all of the three spherical drive wheels 5A are in contact with the inner peripheral surface, but only one contact may occur. However, since the length of the small-diameter portion of the plug valve region is short, the inner peripheral surface of the large-diameter portion in which one of the spherical drive wheel 5A of the front arm unit 8A and the spherical drive wheel 5A of the rear arm unit 8B has a circular cross section. The distance between the front arm unit 8A and the rear arm unit 8B may be set so as to contact with. Accordingly, the in-pipe traveling carriage 6 may pass through the plug valve region by the pushing driving force of the three spherical driving wheels 5A of the rear arm unit 8B or the pulling driving force of the three spherical driving wheels 5A of the front arm unit 8A. it can.

  FIG. 8 shows a running state in an elbow region bent at 90 °. In traveling here, as can be understood from FIG. 8, one or two of the three spherical drive wheels 5A of the front arm unit 8A and one of the three spherical drive wheels 5A of the rear arm unit 8B. Or two contact | abut to an internal peripheral surface simultaneously. Furthermore, since there is no step, the in-pipe traveling carriage 6 can smoothly pass through the elbow region.

[Another embodiment]
(1) In the above-described embodiment, the three arm modules 80 are arranged at intervals of 120 ° in each of the front arm unit 8A and the rear arm unit 8B. However, the two arm modules 80 or four or more arms are arranged. An arrangement of modules 80 may be employed.
(2) In the above-described embodiment, the front arm unit 8A and the rear arm unit 8B are provided as the arm units in the cart body, but a further arm unit may be added between them. Further, when a plurality of truck bodies are used in combination, a configuration in which only one arm unit is provided in each carriage body may be employed.
(3) In the embodiment described above, the coil spring is adopted as the urging means 91, but other urging means such as a gas spring may be adopted instead.

  The present invention is applied to an in-pipe traveling apparatus that travels not only in a straight pipe but also in a pipe having a large diameter portion and a small diameter portion such as an elbow portion and a dresser portion.

5B: Spherical drive wheel 50: Wheel body 51: Left hemispherical ring body 52: Right hemispherical ring body 54: Axle 56: Drive unit 56a: First drive unit 56b: Second drive unit 57: Motor 6: In-pipe traveling carriage 7: Carriage body 70: Base 720: Arm bracket 8: Arm unit 8A: Front arm unit 8B: Rear arm unit 80: Arm module 81: Peristaltic shaft 82: Boss part 9: Peristaltic synchronization mechanism 90: Bevel gear 91: Coil Spring (biasing means)
Pa: peristaltic axis Xa: longitudinal axis

Claims (8)

An in-pipe traveling carriage that travels inside a pipe,
A carriage body extending in the traveling direction of the in-pipe traveling carriage;
An arm unit composed of a plurality of arm modules arranged in the cart body so as to be distributed in the circumferential direction of the pipe;
An arm bracket to which the arm module is attached so that the arm module is peristally displaced about a peristaltic axis extending in a direction transverse to the traveling direction;
A spherical driving wheel attached to the tip of the arm module and having a radius larger than the step on the inner surface of the pipe;
A peristaltic synchronization mechanism that synchronizes peristaltic displacements of all the arm modules by mutually meshing gears that rotate in conjunction with peristaltic displacements of the arm modules;
And a biasing means for the spherical drive wheel to bias the arm module so as to approach the inner peripheral surface of the pipe,
The arm module is supported on the arm bracket via a peristaltic shaft having the peristaltic axis, and the gear is a beveled traveling cart that is a bevel gear provided at both ends of the peristaltic shaft . The arm unit includes a front arm unit positioned on the front side in the traveling direction and a rear arm unit positioned on the rear side of the front arm unit in the traveling direction, and the arm module belonging to the front arm unit; The in-pipe travel cart according to claim 1 , wherein the arm module belonging to the rear arm unit is urged by the urging means in a direction approaching each other. The spherical drive wheel is composed of a hollow left hemispherical wheels and hollow right hemispherical wheels, the spherical drive wheel according to claim 1 or the drive unit for driving the spherical drive wheel in the internal space is contained in The in-pipe travel cart as described in 2 . The in-pipe traveling carriage according to claim 3 , wherein the drive unit includes a first drive unit that drives the left hemispherical wheel and a second drive unit that drives the right hemispherical wheel. An in-pipe traveling carriage that travels inside a pipe,
A carriage body extending in the traveling direction of the in-pipe traveling carriage;
An arm unit composed of a plurality of arm modules arranged in the cart body so as to be distributed in the circumferential direction of the pipe;
An arm bracket to which the arm module is attached so that the arm module is peristally displaced about a peristaltic axis extending in a direction transverse to the traveling direction;
A spherical driving wheel attached to the tip of the arm module and having a radius larger than the step on the inner surface of the pipe;
A peristaltic synchronization mechanism that synchronizes peristaltic displacements of all the arm modules by mutually meshing gears that rotate in conjunction with peristaltic displacements of the arm modules;
Urging means for urging the arm module so that the spherical drive wheel approaches the inner peripheral surface of the pipe,
The spherical drive wheel comprises a hollow left hemispherical wheel and a hollow right hemispherical wheel, and a drive unit for driving the spherical drive wheel is housed in the internal space of the spherical drive wheel,
The drive unit includes a first driving unit that drives the left hemisphere shaped wheel, Ri Do and a second driving unit for driving the right hemispherical wheels,
Each of the first drive unit and the second drive unit includes a motor and an axle that transmits power from the motor and rotates integrally with one of the left hemispherical wheel and the right hemispherical wheel. In- pipe traveling cart. The in-pipe travel cart according to claim 5 , wherein the arm module is supported by the arm bracket via a peristaltic shaft having the peristaltic axis, and the gears are bevel gears provided at both ends of the peristaltic shaft. The arm unit includes a front arm unit positioned on the front side in the traveling direction and a rear arm unit positioned on the rear side of the front arm unit in the traveling direction, and the arm module belonging to the front arm unit; The in-pipe traveling carriage according to claim 6, wherein the arm module belonging to the rear arm unit is urged by the urging means in a direction approaching each other. The in-pipe travel cart according to any one of claims 1 to 7 , wherein the arm unit includes three arm modules, and the arm modules are arranged at intervals of 120 ° in the circumferential direction.

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