JP7102285B2 - Coupler - Google Patents

Description

The present embodiment relates to a coupling device used for, for example, a coupling self-propelled vehicle used for inspecting gas pipes, water pipes, conduits, and the like.

Conventionally, there is a so-called in-pipe inspection device that inspects gas pipes, water pipes, conduits, and the like. This in-pipe inspection device has a camera mounted on the front of the self-propelled vehicle. The image data captured by the camera is transmitted via a cable whose tip is attached to the self-propelled vehicle. The cable is wound around the drum of the drum device. When the self-propelled vehicle enters the pipe, the self-propelled vehicle pulls the cable and the cable is released from the drum. When the self-propelled vehicle is pulled out of the pipe, the cable is wound around a drum and the self-propelled vehicle is towed by the cable.

Japanese Unexamined Patent Publication No. 3-153458 Japanese Unexamined Patent Publication No. 2001-349844

Self-propelled vehicles invade the tube to be inspected, but recently the distance from the entrance of the tube to the shooting location has become much longer than before. For this reason, as the self-propelled vehicle penetrates deeper into the tube to be inspected, the length and weight of the cable become longer. If the cable is long and heavy, the traction force of the self-propelled vehicle will be insufficient.

Therefore, a method is adopted in which a plurality of self-propelled vehicles are connected to increase the traction force. However, there are various environments inside the tube to be inspected. Assuming that the pipe moves in and out of the pipe, the pipe inspection device passes through a bent portion of the pipe, a puddle in the pipe, a section accompanied by a change in temperature and pressure, and the like. For this reason, a self-propelled vehicle that inspects the inside of a pipe is required to be able to withstand atmospheric pressure, water pressure, etc., and to smoothly pass through a bent portion of the pipe.

However, when a plurality of self-propelled vehicles are connected, problems may occur in the connected portion of the self-propelled vehicles in terms of being able to withstand atmospheric pressure, water pressure, etc., and smoothly passing through the bent portion of the pipe. For example, a connected self-propelled vehicle may not easily pass through a bent portion of a pipe.
Therefore, an object of the present embodiment is to provide a coupling device that facilitates the traveling of a plurality of self-propelled vehicles to be coupled.

According to one embodiment, the coupling device 60 that connects the first self-propelled vehicle and the second self-propelled vehicle that performs the in-pipe inspection is connected. The first holder 601 includes connecting means for connecting to the first self-propelled vehicle, and also includes a plurality of screw through holes. The second holder 650 includes an intrusion through hole through which a relay connector for connecting the second self-propelled vehicle and the connecting means enters, and also includes a screw threaded portion. The guide cylinders g1 to g6 are formed so that the diameter of the tip portion is smaller than the diameter on the base end side and functions as a spacer. The elastic packing 620 includes intermediate through holes b1 to b6, and also includes a relay through hole 625 through which the relay connector passes. Then, the screws e1 to e4 apply pressurization to the elastic packing to tighten the first holder and the second holder. Here, it is possible to provide a coupling device in which a space is provided between the first holder and the elastic packing at the passing portion of the tip portion of the guide cylinder.

FIG. 1A is a plan view showing an outline of an in-pipe inspection device to which one embodiment is applied. FIG. 1B is a side view showing an outline of an in-pipe inspection device to which one embodiment is applied. FIG. 1C is a perspective view showing an outline of an in-pipe inspection device to which one embodiment is applied. FIG. 2 is a diagram showing a state in which the in-pipe inspection device has invaded the inside of the pipe to be inspected. FIG. 3 is a diagram showing a state in which the in-pipe inspection device invades a bent portion inside the pipe to be inspected. It is a figure which took out and shows the coupling device of the 2nd coupling part 40, and shows the disassembled state and the assembled state. FIG. 5A is a diagram showing a state of the coupling device 60 when the pipe inspection device 200 is traveling straight in the straight pipe, as shown in FIG. FIG. 5B is a diagram showing a state of the coupling device 60 when the pipe inspection device 200 is traveling in a curved pipe as shown in FIG. FIG. 6 is a diagram illustrating the function of the elastic packing of the coupling device 60. FIG. 7 is a diagram illustrating another function of the elastic packing of the coupling device 60. FIG. 8A is a diagram illustrating the basic principle of the coupling device 60. FIG. 8B is a diagram showing a configuration example of the elastic packing of FIG. 8A. FIG. 8C is a diagram showing another configuration example of the elastic packing.

Hereinafter, embodiments will be described with reference to the drawings. In addition, in order to clarify the explanation, the drawings may schematically represent the width, thickness, shape, etc. of each part as compared with the actual embodiment, but this is just an example and the interpretation of the present invention. Is not limited to.
1A is a plan view showing an outline of an in-pipe inspection device to which one embodiment is applied, FIG. 1B is a side view showing an outline of an in-pipe inspection device to which one embodiment is applied, and FIG. 1C is a side view showing an outline of one embodiment. It is a perspective view which shows the outline of the applied in-pipe inspection apparatus.

From the beginning, the in-pipe inspection device 200 includes a camera unit 10, a waterproof first connecting portion 20, a first self-propelled vehicle 30, a waterproof second connecting portion 40, a waterproof third connecting portion 70, and a second self-propelled vehicle 80. A waterproof fourth connecting portion 90 is provided.
The first connecting portion 20 connects the connecting tool of the rear terminal of the camera unit 10 and the connecting tool of the front terminal of the first self-propelled vehicle 30. The second coupling portion 40 includes a relay connector 50 and a coupling device 60. The coupling device 60 includes a first self-propelled vehicle side connector and a second self-propelled vehicle side connector. The first self-propelled vehicle side connector of the coupling device 60 is connected to the connector of the rear terminal of the first self-propelled vehicle 30 via the relay connector 50. Further, the second self-propelled vehicle side connector of the coupling device 60 is connected to the connector of the front terminal of the second self-propelled vehicle 80 via the third connecting portion 70.

The fourth connecting portion 90 connects the connecting tool of the rear terminal of the second self-propelled vehicle 80 and the cable 100. Inside the first self-propelled vehicle 30, there is a first in-vehicle cable (not shown) for connecting the electrical terminals of the front terminal connector and the rear terminal connector of the first self-propelled vehicle 30. Also, inside the second self-propelled vehicle 80, a second in-vehicle cable for connecting between the electrical terminals of the front terminal connector and the rear terminal connector of the second self-propelled vehicle 80 (not shown). ) Exists.

The camera device 10 includes a plurality of illuminators 11 in the front and above, and the image pickup camera appears through the opening / closing door 12 and can change the image pickup direction in the front direction, the obliquely upward direction, and the upward direction. Camera control signal line of control signal for controlling the imaging camera, imaging signal line for extracting the video signal captured by the imaging camera, lighting control signal line of the control signal for controlling the illuminator 11, first self The motor control signal line of the control signal for controlling the drive motor in the running vehicle 30 and the second self-propelled vehicle 80 is an electric connection terminal in each connecting portion, a cable in the first vehicle, a cable in the second vehicle, and a cable 100. Through, it is connected to an external control device (not shown). Further, the image pickup signal from the image pickup signal line is supplied to an external monitor via a control device and processed.

The first self-propelled vehicle 30 has four rubber tires 3A, 3B, 3C, and 3D, respectively, and can move forward by driving the tires by an internal motor. The second self-propelled vehicle 80 also has four rubber tires 8A, 8B, 8C, and 8D, respectively, and can move forward by driving the tires by an internal motor. The tire can also be set to the free rotation state by control.

It is desirable that the first self-propelled vehicle 30 and the second self-propelled vehicle 80 are integrally driven forward and operated with the same traction force in order to efficiently exert their traction force. Therefore, the coupling device 60 has been devised in various ways. In the in-pipe inspection device 200, the coupling device 60 realizes a characteristic configuration and will be described in more detail later.

FIG. 2 shows how the in-pipe inspection device 200 has invaded the inside of the inspected pipe 300. The state of FIG. 2 shows that the tube 300 to be inspected is traveling straight and has no bend. On the other hand, FIG. 3 shows a state in which the tube 300 to be inspected is about to pass through the bent portion 300A. At this time, the coupling device 60 between the first self-propelled vehicle 30 and the second self-propelled vehicle 80 is displaced to follow the bending of the pipe, which contributes to the smooth progress of the pipe inspection device 200 in the pipe. ing.

FIG. 4 shows the coupling device 60 taken out and shown in a disassembled state and an assembled state.
The first holder 601 is made of metal, for example, and is a quadrilateral substrate type, and has a plane in a direction intersecting the axial direction X. A waterproof electrical connector 603 is attached to the first holder 601. The electrical connector 603 is configured with respect to the first holder 601 over one surface and the other surface, and is fixed to the first holder 601. The electrical connection connector 603 has terminals 604 and 605 on one surface side for connecting the connector of the rear terminal of the first self-propelled vehicle 300, and the second self on the other surface side. It has a terminal for connecting a connector for the front terminal of the traveling vehicle 80. The connector for the front terminal of the second self-propelled vehicle 80 is connected via the in-vehicle cable, and the terminal on one end side of the in-vehicle cable is connected to the electrical connection connector 603.

Here, screw through holes a1, a2, a3, a4, a5 and a6 are formed at a plurality of edges around the first holder 601. In the figure, the screw through hole a2 is clearly visible. The other screw through holes a1, a3, a4, a5 and a6 are hidden by a washer that serves as a seat when the screw is tightened. Screws (may be referred to as bolts) e1, e2, e3, and e4 penetrate through the screw through holes a1, a2, a3, a4, and a6, respectively, in the axial direction. In this case, the diameters of the corresponding portions of the screws e1, e2, e3, and e4 are formed to be smaller with a margin with respect to the portions having the diameters of the screw through holes a1, a2, a3, a4, a5, and a6. This is because the first holder 601 can be slightly tilted with respect to the axial direction with respect to the screws e1, e2, e3, and e4 while maintaining the posture parallel to the axial direction. The operation at this point will be described later.

A notch 610 is formed in a part of the vertical direction (direction coincident with the vertical direction of the self-propelled vehicle) of the first holder 601 so as to cut into the center side of the substrate. Although only one place is visible in the figure, it is also formed in other places.
The first holder 601 shown in the figure has, for example, a substantially quadrangular flat plate shape, but is not necessarily limited to this shape, and may have a pentagonal shape, a hexagonal shape, an elliptical shape, or the like. It may also be a container type.

Reference numeral 650 is a second holder. The second holder 650 is also made of metal, for example. The second holder 650 receives the first holder 603 in the axial direction on one side in the axial X direction, and forms an arrangement space 651 having a depth in the axial direction. Further, the second holder 650 has a thick base portion 652 formed on the other side in the axial direction, and corresponds to the screw through holes a1, a2, a3, a4, a5 and a6 of the first holder 601. Low and low screw threads c1, c2, c3, c4, c5, c6 are formed at the positions. In the figure, only the screw threaded portion c2 is visible.

Further, the second holder 650 forms a first (intrusion) through hole 653 in which the relay connector for the front terminal of the second self-propelled vehicle 80 enters at a position corresponding to the electrical connection connector 603. Through the intrusion through hole 653, the relay connector of the front terminal of the second self-propelled vehicle 80 invades and is connected to the electrical connection connector 603 directly or via a waterproof cable.

The second holder 650 is not limited to such a shape, and may be a metal substrate having a connector.
Next, an elastic packing 620 made of an elastomer material is prepared. The elastic packing 620 is made of an elastic synthetic resin, has an outer peripheral shape substantially matching the arrangement space 651, and has a thickness in the axis X direction. The elastic packing 620 forms a relay through hole 625 so that the relay connector of the front terminal of the second self-propelled vehicle 80 can invade and can be connected directly to the electrical connection connector 603 or via a waterproof cable. ing.

Further, the elastic packing 620 has intermediate through holes b1, b2, b3, b4, b5, b6 at positions corresponding to the screw through holes a1, a2, a3, a4, a5 and a6, and the guide cylinders g1 and g1 are provided therein. g2, g3, g4, g5, g6 are arranged so as to penetrate. The guide cylinders g1, g2, g3, g4, g5 and g6 function as spacers. Since the tip of the guide cylinder g1, g2, g3, g4, g5, g6 has a small outer diameter, the screw through holes a1, a2, a3, a4, a5 and a6 of the first holder 601 are inserted. can do. In this case, the relationship between the diameters of the tip and the screw through hole is designed so that the first holder 601 can be tilted with respect to the axial direction.

The guide cylinders g1, g2, g3, g4, g5, g6 insert the intermediate through holes b1, b2, b3, b4, b5, b6 of the elastic packing 620, and the guide cylinders g1, g2, g3, g4, g5, g6 With the screw through holes a1, a2, a3, a4, a5 and a6 inserted at the tip, the screws e1, e2, e3, e4 insert into the guide cylinder g1, g2, g3, g4, g5, g6. Then, it is screwed into the screw threaded portions c1, c2, c3, c4, c5 and c6 formed in the base portion 652 of the second holder 650. At this time, the thickness of the elastic packing 620 is designed so that the elastic packing 620 is compressed in the thickness direction.

As described above, the guide cylinders g1, g2, g3, g4, g5, g6 function as spacers between the surfaces of the first holder 601 and the base 652 of the second holder 650. However, in the guide cylinders g1, g2, g3, g4, g5, and g6, the outer peripheral diameter of a part (tip portion) in front of the guide cylinder is small, and the outer peripheral system in the rear is formed large. This is to allow the first holder 601 to tilt with respect to the axial direction as described later, and to suppress excessive deformation of the elastic packing 620.

Here, the elastic packing 620 defines the sides 631 and 632 corresponding to the lower part and the upper part of the self-propelled vehicle, and the left side part and the right side part (the left side part and the right side part when looking at the traveling direction) intersecting the upper part and the lower part direction. It has). The hardness in the thickness direction of the left side portion and the right side portion is weaker than the hardness in the thickness direction of the upper part and the lower part. Therefore, semicircular notches 621, 622, 631, and 632 for adjusting the strength in the thickness direction are formed on the left side portion and the right side portion of the elastic packing 620, respectively. The number of notches is not limited to this, nor is the shape limited.

Furthermore, the elastic packing 620 has a ring-shaped groove 626 formed around the relay through hole 625 on one surface and / or the other surface in the front-rear direction, and the ring-shaped groove 626 is also an elastic packing. It communicates with the water storage cavity 627 formed in 620. The groove 626 is not always necessary.

The ring-shaped groove 626 and the water storage cavity 627 are unique to the elastic packing 620. When the thickness of the side portion of the elastic packing 620 is compressed, or when the air pressure inside the coupling device 60 drops and a liquid such as water invades from the outside through the contact portion between the first holder 601 and the elastic packing 620. It constitutes a recovery path and storage for the liquid.

5A and 5B show the cross-sectional state of the first holder 601, the elastic packing 620, and the second holder 650 shown in FIG. 4 when they are integrated. Pressurization is always applied to the elastic packing 620.
As shown in FIG. 2, FIG. 5A shows a state of the coupling device 60 when the in-pipe inspection device 200 is traveling straight in the straight pipe. FIG. 5B shows a state of the coupling device 60 when the pipe inspection device 200 is traveling in a curved pipe as shown in FIG. Since the coupling device 60 is not subjected to stress when traveling straight, the elastic packing 620 maintains its overall thickness without being displaced. However, when the inspection device passes through the bent pipe, the first self-propelled vehicle 30 and the second self-propelled vehicle 80 do not line up in a straight line, and an angle θ is generated. Therefore, the coupling device 60 receives stress from the outside, and the first holder 601 presses the elastic packing 620. As shown in FIG. 5B, for example, the left side portion of the elastic packing 620 in the traveling direction is further compressed, and the thickness is smaller than the thickness of the right side portion.

At this time, since the outer peripheral diameter of a part of the guide cylinder g2 in front of the guide cylinder g2 is small and the outer peripheral diameter of the rear portion is large, it is possible to prevent the first holder 601 from tilting more than necessary. Further, the screw screw portions c2 and c5 formed in the base portion 652 of the second holder 650 are formed in the bottoms of the recesses c21 and c51 formed in the surface of the base portion 652. The recesses c21 and c51 can receive the ends of the guide cylinders g2 and g5. With this structure, the guide cylinders g1, g2, g3, g4, g5, g6 function as spacers between the surface of the first holder 601 and the base 652 of the second holder 650.

Further, the tip of the guide cylinder g1, g2, g3, g4, g5, g6 penetrates the screw through hole (a1, a2, a3, a4, a5, a6) of the first holder 601 and and the tip and the first. A space is provided between the holder 601 and the elastic packing 620. As a result, the first holder 601 can be tilted.

FIG. 6 is a diagram illustrating a unique function of the elastic packing 620 described above. The in-pipe inspection device 200 is required to be able to withstand various environments. The in-pipe inspection device 200 will pass through a bent portion of the pipe, a puddle in the pipe, a temperature change environment, and the like on the assumption that the pipe inspection device 200 advances and retracts in the pipe. For this reason, a self-propelled vehicle that inspects the inside of a pipe is required to be able to withstand atmospheric pressure, water pressure, etc., and to smoothly pass through a bent portion of the pipe.

The upper figure of FIG. 6 shows a change in internal air pressure when, for example, an in-pipe inspection device invades a puddle or a water channel in winter and is suddenly cooled. The temperature around the motor of the self-propelled vehicle is relatively high and there is little sudden temperature change, but the temperature change outside is easily transmitted to other spaces inside the self-propelled vehicle and the part of the coupling device 60. For this reason, the air pressure in the internal space of the inspection device may suddenly drop. When the inspection device enters, for example, a cold water channel, the air pressure in the internal space suddenly drops. Then, as shown in the lower part of FIG. 6, water may infiltrate (suck water) as shown in the system path of arrow Y, for example.

In this case, since the elastic packing 620 of this device has a ring-shaped groove 626 and a water storage cavity 627, the water that has entered there is stored and the water is prevented from being diffused to other parts. Can be done.
FIG. 7 is a diagram for explaining that the elastic packing 620 partially differs in hardness (strength) in the thickness direction. The elastic packing 620 has left and right regions Z1 and Z2 and a central region Z3 between them. Here, the hardness of the regions Z1 and Z2 in the thickness direction is weaker than that of the central region Z3. This is due to the formation of the notch 621-624. However, this embodiment is an example and is not limited to this method. However, the thickness W of the elastic packing 620 at the normal time is the same as a whole.

Since the elastic packing 620 has a region Z3 having rigidity, the first self-propelled vehicle 30 and the second self-propelled vehicle 80 can be integrally operated (towed, moved, etc.). If the region Z3 is soft, the first self-propelled vehicle 30 and the second self-propelled vehicle 80 cannot be integrated, and the driving force of the motor of one self-propelled vehicle is driven by the motor of the other self-propelled vehicle. There is an imbalance with the force, and the traction force cannot be drawn out efficiently. In the case of this device, since there is a region Z3 having rigidity, the first self-propelled vehicle 30 and the second self-propelled vehicle 80 can be integrated to effectively exert the traction force.

While having the region Z3 having such rigidity, the coupling device 60 must be displaced as described with reference to FIGS. 3 and 5B when passing through the bent pipe. In order to satisfy this requirement, the elastic packing 620 has a characteristic that the left and right regions Z1 and Z2 have a weaker hardness than the central region Z3. As a result, it is possible to displace to the left and right, and the conditions required for a self-propelled vehicle are cleared.

In the above description, since it is assumed that the tube to be inspected changes to the left and right, the elastic packing 620 is assumed to have weaker hardness in the left and right regions Z1 and Z2 than in the upper and lower central regions Z3. However, if the tube to be inspected is one that bends up and down, the elastic packing 620 is used in which the hardness of the left and right regions Z1 and Z2 is stronger than that of the upper and lower central regions Z3.

FIG. 8A shows a basic configuration example of the coupling device 60. The first holder 601 includes a connector that penetrates the substrate on the front surface and the rear surface of the first holder 601. The second holder 650 also includes a connector that penetrates the holder on the front surface and the rear surface of the holder 650. An elastic packing 620 is sandwiched between the first holder 601 and the second holder 650. The elastic packing 620 is provided with a relay through hole 625 at a position corresponding to the corresponding connector of the first holder 601 and the second holder 650. Further, around the elastic packing 620, a ring-shaped groove 626 is formed around the relay through hole 625, and a cavity 627 is formed so as to communicate with the groove 626.

The parts having the same functions as those in the previous embodiment are designated by the same reference numerals as those in the previous embodiment, and the description thereof will be omitted.
As shown in FIG. 8B, the elastic packing 620 further has a plurality of regions Z1, Z2, and Z3 having different hardnesses in the thickness direction in a distributed manner. Regions Z1 and Z2 are configured to be weaker than the hardness of region Z3. The regions Z1 and Z2 are provided at positions facing each other at the edges of the elastic packing 620.

Regions with different hardness may be realized when the elastic packing 620 is manufactured, but regions with different hardness may be realized in the state of use.
In FIG. 8C, a plurality of regions Z1, Z2, Z3 having different hardnesses in the thickness direction are distributed on the elastic packing 620 when they are sandwiched by the first holder 601 and the second holder 620 and pressed. Indicates the state. When the elastic packing 620 is manufactured, the thickness of the region Z3 is larger than the thickness of the regions Z1 and Z2. Then, when the first holder 601 and the second holder 650 hold and pressurize in the direction indicated by the arrow, a plurality of regions Z1, Z2, and Z3 having different hardness in the thickness direction can be distributed. Of course, it goes without saying that the elastic packing having the shape shown in the above embodiment may be used. That is, the elastic packing 620 has the regions Z1 and Z2 facing each other in the second direction (left and right) intersecting the first direction rather than the hardness of the regions Z3 and Z3 facing each other in the first direction (vertical direction) intersecting the axial direction. It has a weak hardness.

Various methods are possible for holding the elastic packing 620 by the first holder 601 and the second holder 650. The screw does not necessarily have to insert the elastic packing. When the outer shape of the elastic packing is smaller than the outer shape of the first holder 601 and the second holder 650, the first holder 601 and the second holder 650 may be directly tightened.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof. Furthermore, in each of the constituent elements of the claims, even when the constituent elements are divided and expressed, when a plurality of the constituent elements are expressed together, or when these components are expressed in combination, it is within the scope of the present invention. Further, a plurality of embodiments may be combined, and examples composed of these combinations are also within the scope of the invention. Further, the names and terms used are not limited, and other expressions are included in the present invention as long as they have substantially the same contents and the same purpose.

10 ... Camera unit, 20 ... 1st connecting part, 30 ... 1st self-propelled vehicle, 40 ... 2nd connecting part, 60 ... Connecting device, 70 ... 3rd connecting part , 80 ... 2nd self-propelled vehicle,
100 ... Cable, 200 ... In-pipe inspection device, 300 ... Tube to be inspected, 601 ... First holder, 620 ... Elastic packing, 621, 622, 631, 632 ... Notch, 627 ... Cavity, 626 ... Groove, 650 ... Second holder, a1, a2, a3, a4, a5, a6 ... Screw through hole, g1, g2, g3, g4, g5, g6. ... Guide cylinder, a1, a2, a3, a4, a5, a6 ... Screw through hole, c1, c2, c3, c4, c5, c6 ... Screw screwed portion. e1, e2, e3, e4 ... Screws, b1, b2, b3, b4, b5, b6 ... Intermediate through holes.

Claims (7)

It is a coupling device that connects the first self-propelled vehicle and the second self-propelled vehicle that perform in-service inspection.
A plurality of surfaces that are arranged so as to intersect in the axial direction, are provided with connecting means for connecting to the first self-propelled vehicle on the center side of the surface, and are provided on the outer peripheral side of the surface in the axial direction. 1st holder with screw through hole and
It has a surface that is arranged substantially parallel to the first holder, and has an intrusion through hole on the center side of the surface through which a relay connector for connecting the second self-propelled vehicle and the connecting means enters. A second holder having a screw threaded portion provided in the axial direction at each position corresponding to the screw through hole, and a second holder.
A guide cylinder that is provided upright in the screw through hole in the axial direction, has a tip diameter smaller than the base end diameter, and functions as a spacer.
It is arranged between the first holder and the second holder, has an intermediate through hole corresponding to the screw through hole and the screw threaded portion and through which the guide cylinder penetrates, and is provided with an intermediate through hole through which the relay connector passes. Elastic packing with holes and
With the first holder, the elastic packing, and the second holder arranged in sequence, the screw passes through the screw through hole and the intermediate through hole so as to apply pressure to the elastic packing in the axial direction. It has a screw that is screwed into the screwed portion and tightens the first holder and the second holder.
A coupling device in which the tip portion of the guide cylinder penetrates the screw through hole of the first holder, and a space is provided between the tip portion and the first holder and the elastic packing. The tip portion of the guide cylinder forms a portion having a diameter smaller than the diameter of the screw through hole at the portion of the screw through hole, and the diameter of the base end side of the guide cylinder is determined by the screw penetration. The coupling device according to claim 1, which is larger than the diameter of the hole and functions as a stopper that limits the degree of inclination of the first holder. The coupling device according to claim 1, wherein the elastic packing has a plurality of regions having different hardness in the thickness direction distributed on the outer peripheral side thereof. The elastic packing is located on one side and the other side in a first direction in which a part of the plurality of regions intersects the axial direction, and also intersects the axial direction in a second direction intersecting the first direction. The coupling device according to claim 3, wherein the coupling device is located on one side and the other side, and the hardness of the region in the first direction and the region in the second direction are different. The plurality of regions of the elastic packing correspond to a first plurality of regions corresponding to the lower portions and upper portions of the first and second self-propelled vehicles, and left and right portions intersecting the upper and lower portions. The coupling device according to claim 3, wherein the coupling device has a plurality of regions of 2, and the hardness of the second plurality of regions is weaker than the hardness of the first plurality of regions. The coupling device according to claim 1, wherein the elastic packing includes a cavity for storing water. The coupling device according to claim 1, wherein the elastic packing has a groove formed around the relay through hole and a cavity connected to the groove is formed on at least one surface in the axial direction. ..

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