JP6301078B2 - 配管内移動装置 - Google Patents
配管内移動装置 Download PDFInfo
- Publication number
- JP6301078B2 JP6301078B2 JP2013155720A JP2013155720A JP6301078B2 JP 6301078 B2 JP6301078 B2 JP 6301078B2 JP 2013155720 A JP2013155720 A JP 2013155720A JP 2013155720 A JP2013155720 A JP 2013155720A JP 6301078 B2 JP6301078 B2 JP 6301078B2
- Authority
- JP
- Japan
- Prior art keywords
- frame
- wheel
- pipe
- unit
- moving device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/10—Tunnel systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0038—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0092—Disposition of motor in, or adjacent to, traction wheel the motor axle being coaxial to the wheel axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/60—Industrial applications, e.g. pipe inspection vehicles
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Tires In General (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Manipulator (AREA)
Description
まず、本発明の配管内移動装置の第1の実施例について、図1乃至図24を参照して説明する。
図7乃至図9は、配管内移動装置1が、配管60内の水平方向に展開されたT字路62を、車軸を垂直に保った姿勢で直進移動する動作を説明するもので、分岐路63が水平方向に延在されている場合である。この場合、張力付与部材4のコイルばね44のバネ力により、3組の車輪ユニット2A〜2Cの各車輪7のうち、1両目と3両目の車輪7,7が配管60内の下面(奥側面){又は上面(手前面)}に圧接され、2両目の車輪7が反対側の配管60内の上面(手前面){又は下面(奥側面)}に圧接される。この状態でコントローラ53を操作し、制御装置51の制御を介して3組の車輪ユニット2A〜2Cのモータ5を同一速度で駆動させる。これにより、配管内移動装置1が、車輪7の縦断面を垂直方向に保持した状態で、図8A,図8B,図8C及び図9A,図9B,図9Cの状態を経て、直線路64を真っ直ぐに移動することができる。
Claims (3)
- 回転方向へ縦並びに配置された少なくとも3組の車輪ユニットと、
前記少なくとも3組の車輪ユニット間を回動可能に連結する少なくとも2組のジョイント部と、を備え、
前記少なくとも3組の車輪ユニットのうち、少なくとも1組の車輪ユニットは、車輪と、前記車輪を回転駆動する駆動部と、前記駆動部に固定された第1フレームと、前記駆動部または前記第1フレームに回動可能に取り付けられる少なくとも1個の第2フレームとを、有し、
前記少なくとも1組の車輪ユニットの前記第1フレームと前記第2フレームの間には、当該第1フレームと当該第2フレームをV字状に折り曲げるための張力を付与する屈曲生成器を設け、
前記少なくとも2組のジョイント部は、前記第2フレームの回動方向と略直交する方向に回動可能に構成され、
前記少なくとも1組の車輪ユニットの前記第1フレームは隣り合う車輪ユニットの第2フレームと回動可能に連結し、当該車輪ユニットの前記第2フレームは隣り合う車輪ユニットの第1フレームと回動可能に連結することにより、前記少なくとも2組のジョイント部を構成した
ことを特徴とする配管内移動装置。 - 前記車輪ユニットは、原動機と、前記原動機の出力部の半径方向外側に所定の隙間をあけて回動可能に連結されると共に前記原動機の出力部と一体とされた車輪と、前記原動機の部材に固定された前記第1フレームと、前記原動機の部材に対して回動可能に支持された前記第2フレームと、前記第1フレームと前記第2フレームをV字状に折り曲げるための張力を付与する屈曲生成器と、を有する
ことを特徴とする請求項1記載の配管内移動装置。 - 前記屈曲生成器は、前記第1フレームと前記第2フレームを互いに近づける方向に力を付与するばね若しくはケーブルを有するばね、又は、ばねの張力を可変にする張力調節機構で構成されている
ことを特徴とする請求項2記載の配管内移動装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013155720A JP6301078B2 (ja) | 2013-07-26 | 2013-07-26 | 配管内移動装置 |
US14/891,670 US9791090B2 (en) | 2013-07-26 | 2014-07-04 | In-pipe moving apparatus |
PCT/JP2014/067947 WO2015012087A1 (ja) | 2013-07-26 | 2014-07-04 | 配管内移動装置 |
EP14829237.8A EP3025922B1 (en) | 2013-07-26 | 2014-07-04 | Apparatus moving through interior of pipe |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013155720A JP6301078B2 (ja) | 2013-07-26 | 2013-07-26 | 配管内移動装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015024748A JP2015024748A (ja) | 2015-02-05 |
JP6301078B2 true JP6301078B2 (ja) | 2018-03-28 |
Family
ID=52393137
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013155720A Expired - Fee Related JP6301078B2 (ja) | 2013-07-26 | 2013-07-26 | 配管内移動装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9791090B2 (ja) |
EP (1) | EP3025922B1 (ja) |
JP (1) | JP6301078B2 (ja) |
WO (1) | WO2015012087A1 (ja) |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6301078B2 (ja) * | 2013-07-26 | 2018-03-28 | 株式会社ハイボット | 配管内移動装置 |
US10060569B2 (en) | 2014-06-25 | 2018-08-28 | Orlande Wayne Sivacoe | Pipe pig |
CA2855113A1 (en) * | 2014-06-25 | 2015-12-25 | Orlande Sivacoe | Pipe pig |
KR101533973B1 (ko) * | 2014-11-13 | 2015-07-07 | 성균관대학교산학협력단 | 능동 조인트 모듈 및 이를 구비하는 배관 탐사용 로봇 |
JP6562345B2 (ja) * | 2015-06-23 | 2019-08-21 | 学校法人立命館 | 管内走行装置 |
JP6716824B2 (ja) * | 2016-09-21 | 2020-07-01 | 株式会社ハイボット | 配管内移動装置 |
JP6941317B2 (ja) * | 2017-02-15 | 2021-09-29 | 学校法人立命館 | 空気ダクト清掃用ロボット |
JP6884382B2 (ja) * | 2017-06-27 | 2021-06-09 | 学校法人立命館 | 管内走行装置 |
EP3684557B1 (en) * | 2017-09-19 | 2022-09-21 | Arix Technologies, Inc. | Pipe traversing apparatus and methods |
CN108361470B (zh) * | 2018-03-03 | 2019-10-22 | 杨仲辉 | 一种免换管的空调管路修补方法 |
US10895515B2 (en) | 2018-03-15 | 2021-01-19 | CGRS, Inc. | Methods and apparatus for detection of leaks in underground storage tanks |
JP7240750B2 (ja) * | 2018-05-07 | 2023-03-16 | 株式会社湘南合成樹脂製作所 | 管内ロボット |
JP7133809B2 (ja) | 2018-12-03 | 2022-09-09 | 荏原環境プラント株式会社 | 配管内点検ロボット |
JP7541327B2 (ja) | 2019-05-31 | 2024-08-28 | 学校法人立命館 | 管内走行装置 |
CN110296329A (zh) * | 2019-06-27 | 2019-10-01 | 北京史河科技有限公司 | 一种行走装置 |
JP7448949B2 (ja) | 2020-07-31 | 2024-03-13 | 学校法人立命館 | 管内走行装置 |
CN112128509A (zh) * | 2020-09-23 | 2020-12-25 | 贾鸿莉 | 机器人巡检水下管道的行走装置 |
Family Cites Families (27)
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US4862808A (en) * | 1988-08-29 | 1989-09-05 | Gas Research Institute | Robotic pipe crawling device |
JPH048658A (ja) * | 1990-04-25 | 1992-01-13 | Toshiba Corp | 配管内移動装置 |
US5172639A (en) * | 1991-03-26 | 1992-12-22 | Gas Research Institute | Cornering pipe traveler |
US5371363A (en) * | 1993-07-26 | 1994-12-06 | Lilimpakis; Emmanuel | Device for measuring radiation within a pipe |
JP3540397B2 (ja) * | 1994-11-11 | 2004-07-07 | オリンパス株式会社 | 管内走行装置 |
JPH08230666A (ja) | 1995-02-23 | 1996-09-10 | Jgc Corp | 配管内走行装置 |
DE19511310C1 (de) * | 1995-03-28 | 1996-05-15 | Siemens Ag | Rohrinnenmanipulator |
GB9510317D0 (en) * | 1995-05-22 | 1995-07-19 | British Gas Plc | Self-centering suspension for in-pipe use |
GB2301187B (en) * | 1995-05-22 | 1999-04-21 | British Gas Plc | Method of and apparatus for locating an anomaly in a duct |
JPH10318478A (ja) * | 1997-05-14 | 1998-12-04 | Tokyo Gas Co Ltd | 管内走行装置 |
DE19746510C2 (de) * | 1997-10-22 | 2003-03-06 | Pii Pipetronix Gmbh | Vorrichtung zum Durchfahren von Rohrleitungen |
US6035786A (en) * | 1997-10-22 | 2000-03-14 | Bechtel Bwxt Idaho, Llc | Miniature pipe crawler tractor |
US6450104B1 (en) * | 2000-04-28 | 2002-09-17 | North Carolina State University | Modular observation crawler and sensing instrument and method for operating same |
NZ529182A (en) * | 2003-12-20 | 2007-02-23 | Colin Brian Nicholson | Self-propelled vehicle for use in a conduit |
JP2005241474A (ja) | 2004-02-26 | 2005-09-08 | Mitsubishi Heavy Ind Ltd | 配管検査装置 |
JP2008022952A (ja) * | 2006-07-19 | 2008-02-07 | Hi-Lex Corporation | 管路内の進行装置 |
US20080245258A1 (en) * | 2007-04-06 | 2008-10-09 | General Electric Company | Pressure-balanced electric motor wheel drive for a pipeline tractor |
NO328066B1 (no) * | 2008-01-25 | 2009-11-23 | Helix Technologies As | Rortraktor |
US7954575B1 (en) * | 2008-09-10 | 2011-06-07 | Bloxsom Joel O | Leader string pull-through machine |
US8205559B2 (en) * | 2009-09-30 | 2012-06-26 | Gas Technology Institute | Self-righting, two-wheel pipe crawler |
JP4677595B1 (ja) * | 2010-09-30 | 2011-04-27 | 国立大学法人東京工業大学 | 配管検査装置 |
DE102011007827B4 (de) * | 2011-04-20 | 2017-10-19 | Trelleborg Pipe Seals Duisburg Gmbh | Fahrvorrichtung für eine Vorrichtung zur Sanierung von Rohrleitungen und eine solche Vorrichtung |
US8402911B1 (en) * | 2012-07-19 | 2013-03-26 | Quest Inspar, LLC | Multi-segmented apparatus for lining pipe with multiple convoluted bends and varied orientations with a structural membrane |
WO2014076806A1 (ja) * | 2012-11-15 | 2014-05-22 | 株式会社ハイボット | 管内走行装置及び走行体 |
JP6301078B2 (ja) * | 2013-07-26 | 2018-03-28 | 株式会社ハイボット | 配管内移動装置 |
JP7084108B2 (ja) * | 2014-03-06 | 2022-06-14 | ダブリュー モットズィノ ダグラス | パイプラインシステムにおける導管およびパイプの保守点検用システム |
NL2012839C2 (en) * | 2014-05-19 | 2014-12-17 | Rüntgen Technische Dienst B.V. | Tool, method, and system for in-line inspection or treatment of a pipeline. |
-
2013
- 2013-07-26 JP JP2013155720A patent/JP6301078B2/ja not_active Expired - Fee Related
-
2014
- 2014-07-04 WO PCT/JP2014/067947 patent/WO2015012087A1/ja active Application Filing
- 2014-07-04 EP EP14829237.8A patent/EP3025922B1/en not_active Not-in-force
- 2014-07-04 US US14/891,670 patent/US9791090B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
EP3025922A4 (en) | 2017-03-22 |
EP3025922B1 (en) | 2018-04-04 |
JP2015024748A (ja) | 2015-02-05 |
US20160123517A1 (en) | 2016-05-05 |
WO2015012087A1 (ja) | 2015-01-29 |
EP3025922A1 (en) | 2016-06-01 |
US9791090B2 (en) | 2017-10-17 |
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