JPH01210852A - In-pipe mobile device - Google Patents

Abstract

PURPOSE:To obtain an in-pipe mobile device which scarcely generates a fault and has high reliability by a simple structure by constituting said device of a body part inserted into the pipe, plural arms for holding the body part in the pipe and an actuator consisting of an elastic body. CONSTITUTION:An oscillating arm 15 is projected and provided radially centering around the axis of a body part 11, and a rubber actuator 20 is supported in its rear. In this state, in case of advancing a mobile unit 1, first of all, compressed air is led into the actuators 20 of a front side mobile mechanism 9 and a rear side mobile mechanism 10. As a result, a rubber tube expands to a barrel shape, contracts in the axial direction, while compressing a coil spring 29, and the cap 26 of the tip is separated from the inside surface of a duct line 2. In this state, when air in the actuator 20 of the mechanism 9 is exhausted through a air supplying tube 28, the rubber tube 21 expands by elastic restoring force of the spring 29, and the cap 26 is kicked out to the diagonal rear on the inside surface of the duct line 2. Therefore, the unit 1 is pushed out forward at a prescribed stroke. In case of moving backward the unit 1, only the actuator 20 of the mechanism 10 is brought to expansion and contraction.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an in-pipe self-propelled device that travels inside a pipe, such as an underground pipe.

[Conventional technology]

For example, as an in-pipe self-propelled device used for internal inspection and repair work of underground pipes, for example,
As seen in ``Publication No. 71,'' a coil spring made of a shape memory alloy and its heating means constitute a telescopic propulsion device, and a plurality of swinging devices are installed at both ends of the propulsion device in sliding contact with the inner surface of the tube. A device equipped with a clamp device consisting of an arm is known.

In this in-tube self-propelled device, when the coil spring is energized and heated, the coil spring contracts into a pre-memorized shape, and the clamp device on the rear side in the direction of movement is attracted. When the current to the coil spring is cut off in this state, the coil spring loses its contractile force and expands to its original shape, and at this time, the front clamp device moves forward by a certain stroke.

Therefore, by repeatedly heating and cooling the coil spring in this way and expanding and contracting the coil spring,
．． The entire device is adapted to travel along the inner surface of the tube.

[Problem to be solved by the invention]

By the way, in the case of this conventional self-propelled pipe device, the extension force and contraction force of the coil spring are transmitted to the pipe side through the arm of the clamp device, so when moving the front clamp device, the rear swing arm must be moved. Similarly, when moving the rear clamp device, it is necessary to firmly press the front swing arm against the inner surface of the tube and hold it immovably relative to the tube.

However, in the past, the swinging arm was tilted in the opposite direction to the direction of movement, so that it bit into the inner surface of the tube as it moved and pressed against the inner surface of the tube. Then, when the coil spring expands and contracts, slipping may occur between the swing arm and the inner surface of the tube. For this reason, the expansion and contraction force of the coil spring cannot be effectively transmitted to the tube side, which impedes smooth running operation and makes it impossible to expect a strong propulsive force for self-propulsion.

Therefore, an object of the present invention is to provide a highly reliable in-pipe self-propelling device that can obtain a strong propulsion force for self-propelling, has a simple structure, has few failures, and is highly reliable.

[Means to solve the problem]

Therefore, the in-pipe self-propelled device according to the present invention includes a main body that is inserted into the pipe, and a projecting member that protrudes from the main body toward the inner surface of the pipe to hold the main body within the pipe by contacting the inner surface of the pipe. and a plurality of arms provided on the main body, which expand and contract in the axial direction in response to fluid supply and discharge, and press the inner surface of the tube obliquely toward the rear in the direction of movement of the main body when the arms extend. It is characterized by being constructed with an actuator made of an elastic body.

[Effect]

According to this configuration, when the actuator is extended, the actuator directly kicks the inner surface of the tube toward the rear in the traveling direction, so the extension force of the actuator is directly transmitted to the tube side, making it possible to obtain a strong propulsive force. can.

At the same time, since the actuator directly kicks the inner surface of the pipe, the entire device is pushed out with a constant stroke, so the timing of supplying and discharging fluid to the actuator remains constant, and the timing of supplying and discharging fluid to the actuator can be controlled. No complicated control system is required. Therefore, the structure is simple and the operation for obtaining propulsive force is simplified, which reduces failures and improves the reliability of self-propelled operation.

〔Example〕

The present invention will be explained below based on an embodiment shown in the drawings.

The self-propelled unit indicated by the symbol l in FIG. 1 includes a flexible cable 3 inserted into a conduit 2 such as an industrial conduit or an underground pipe. A direct-view TV right camera is attached to the insertion tip of the cable 3, and this T
An observation lens 5 and an image sensor 6 are mounted on the front end of the V-right camera.
A plurality of illumination lamps 7 are incorporated, including .

Note that the wiring 8 from the illumination lamp 7 and the image sensor 6 is connected to a light source device and an image processing circuit (not shown) through the cable 3.

Incidentally, at the insertion tip of the cable 3, a front self-propelled mechanism 9 and a rear self-propelled mechanism 0 are provided spaced apart in the axial direction. Since both these self-propelled mechanisms 9 and 10 have the same structure, in this embodiment, the front self-propelled mechanism 9 will be explained as a representative,
The rear self-propelled mechanism 10 is given the same number and the explanation thereof will be omitted.

That is, the front self-propelled mechanism 9 has a main body portion 11 having a substantially cylindrical shape.
A cable 3 is provided on the axis of the main body 11.
An insertion hole 12 through which the is inserted is provided. A TV right camera is fitted into the opening at the tip of the insertion hole 12, and the TV right camera is held in the main body 11 via a set screw 13.

Support protrusions 14 extending in the axial direction are provided at four locations on the outer circumferential surface of the main body portion 11, and these support protrusions 14
As shown in the figure, they are positioned at equal intervals in the circumferential direction of the main body portion 11. One end of a swing arm 15 is rotatably supported on the front end side of the side surface 14a of the support protrusion 14 via a pivot shaft 16. As shown in FIG. 2, these swinging arms 15 project radially around the axis of the main body 11, and each rotates in the radial direction of the conduit 2, using the pivot 16 as a pivot point. It is rotatable in the direction toward and away from the inner surface. Each swing arm 15 is rotatably biased toward the outside of the main body 11 by a torsion coil spring 17, and is provided in an attitude that tilts toward the rear in the direction of travel as it advances toward its distal end. A wheel 18 pivotally supported at the tip of each of these swing arms 15 is rolled into contact with the inner surface of the conduit 2 . Therefore, the main body portion 11 and the cable 3 are held on the axis of the conduit 2 due to the rolling contact between the wheel 18 and the conduit 2 .

Further, rubber actuators 20 are supported on the side surfaces 14a of the support protrusions 14, respectively, located behind the swing arms 15. This rubber actuator 20 is for pressing the inner surface of the conduit 2 to obtain propulsive force for self-propulsion, and its details are shown in FIG. 3.

That is, the reference numeral 21 in FIG. 3 is a hollow rubber tube that can be expanded and contracted in the axial direction, and when the rubber tube 21 is extended, it has a cylindrical shape with the same diameter over its entire length. The opening at one end of the rubber tube 21 is fitted onto the outer periphery of the end member 22, and the outer periphery of this fitted portion is held down by a ring 23, which is tightened by the ring 23 and the end member 22. The opening at one end of the rubber tube 21 is hermetically closed. Also, rubber tube 2
The opening at the other end of the cylindrical body 24 is fitted onto the outer periphery of the cylindrical body 24, and the outer periphery of this fitted portion is otherwise held down by a ring 25. The cylindrical body 24 is led out from the opening at the other end of the rubber tube 21.
The lead-out portion is hermetically covered with a rubber cap 26. Therefore, the cap 2B is the rubber tube 2
The opening at the other end of the rubber tube 2 is also hermetically closed, and an airtight chamber 27 is formed inside the rubber tube 2, which is separated from the outside. An air supply tube 28 is introduced into the airtight chamber 27 via the end member 22. The air supply tube 28 passes through the cable 3 and communicates with a pressurizing means 34 such as an air pump.
Compressed air (fluid) is supplied to and discharged from the airtight chamber 27 through the airtight chamber 27 .

Additionally, a barrel-shaped coil spring 2 is provided on the outside of the rubber tube 21.
9 is provided. This coil spring 29 is connected to the end member 22
and another clamp are interposed in a compressed state between the ring 25 and urge the rubber tube 21 in the direction of extension and cutting.

At the same time, the outer peripheral surface of the rubber tube 21 is supplied to a plurality of airtight chambers 27, and when the pressure in these airtight chambers 27 increases,
As shown by the imaginary line in FIG. 3, due to the force conversion effect accompanying the deformation of the sleeve 30, the rubber tube 21 expands in the radial direction into a barrel shape and contracts in the axial direction by a distance. .

A bracket 31 is provided protruding from the end member 22 at one end of the rubber tube 21, and this bracket 31 is attached to a pivot shaft 32.
It is rotatably supported on the side surface 14a of the support protrusion 14 via the support protrusion 14. A connecting rod 33 is installed between this bracket 31 and the swing arm 15, and the rubber actuator 2 is connected to the connecting rod 33 through this connecting rod 33.
The urging force of the torsion coil spring 17 is also transmitted to the coil spring 17. For this reason, the rubber actuator 20 is urged to rotate integrally with the swing arm 15, and is supported in a posture inclined toward the rear in the direction of travel as it moves toward the cap 2B at the tip. ing.

In addition, in the rear self-propelled mechanism 10, as shown in FIG. Self-propelled mechanism 10 and main body 11 of the front self-propelled mechanism 9
They are connected by a tightly wound coil spring 35 so as to be movable in any direction.

Next, a case will be described in which the self-propelled unit 1 having such a configuration is moved forward within the conduit 2.

Air is introduced to increase the pressure in the airtight chamber 27. Then, the rubber tube 21 expands into a barrel shape as shown by the imaginary line in FIG. 3, compresses the coil spring 29, and contracts a distance in the axial direction. 26 is spaced from the inner surface of the conduit 2.

In this state, when the air in the rubber actuator 20 of the front self-propelled mechanism 9 is exhausted through the air supply tube 28, the rubber tube 21 expands all at once due to the elastic restoring force of the coil spring 29, and the cap 2B at its tip becomes the conduit. 2 and kicks out the inner surface of the conduit 2 diagonally backward as shown by the arrow in FIG. Therefore, the self-propelled unit 1 is pushed forward by a certain stroke in accordance with the amount of extension of the rubber actuator 20.

After that, compressed air is again supplied to the rubber actuator 20 of the front self-propelled mechanism 9, and the rubber tube 21 is contracted.
Once the cap 26 at the tip is removed from the inner surface of the conduit 2, the air in the airtight chamber 27 is exhausted and the rubber tube 21 is extended. Then, similarly to the above, the cap 2B at the tip of the rubber tube 21 presses the inner surface of the conduit 2 diagonally backward, and the self-propelled unit 1 further moves forward by a constant stroke.

By repeating the supply and discharge of compressed air to the rubber actuator 20 in this way, the self-propelled Uni-Soto l moves forward along the inner surface of the conduit 2 using the stretching force of the rubber actuator 20 as a propulsion force. .

In addition, when moving the self-propelled unit 1 backward, the rubber actuator 20 of the front side traveling mechanism 9 is always contracted, and only the rubber actuator 20 of the rear side traveling mechanism 10 is expanded and contracted, contrary to the case when moving forward. , the self-propelled unit 1 retreats along the inner surface of the conduit 2 using the extension force of the rear rubber actuator 20 as a propulsion force.

According to such an embodiment of the present invention, the self-propelled unit l
When the main body 11 moves forward or backward, the four rubber actuators 20 provided on the outer periphery of the main body 11 expand and contract in the axial direction.
Since the inner surface of the rubber actuator 20 is directly kicked out diagonally rearward in the traveling direction, the stretching force of these rubber actuators 20 is directly transmitted to the conduit 2 side, and a strong propulsive force for self-propulsion can be obtained.

Moreover, since the timing of supplying and discharging compressed air to the four rubber actuators 20 remains constant during both forward and backward movement, there is no need for any complicated control system to control the timing of supply and discharge of compressed air. becomes.

Therefore, the structure can be simplified, and the operation for obtaining propulsive force can also be simplified, which has the advantage of reducing failures and improving the reliability of self-propelled operation.

In the above embodiment, the rubber actuator is expanded and contracted by supplying and discharging compressed air, but instead of this compressed air, a liquid such as oil may be used.

Further, it is not necessary to provide a rubber actuator corresponding to each swing arm, and for example, one rubber actuator may be provided for each of the front traveling mechanism and the rear traveling mechanism.

〔Effect of the invention〕

According to the present invention described in detail above, since the actuator kicks out the inner surface of the tube toward the rear in the direction of travel, the stretching force of the actuator is directly transmitted to the tube, thereby obtaining a strong propulsive force for self-propulsion. Can be done.

Moreover, since the actuator kicks the inner surface of the tube, the entire device is pushed out with a constant stroke, so the timing of supplying and discharging fluid to the actuator can be constant, and the timing of supplying and discharging the fluid is controlled. No complicated control system is required. For this reason, the structure is simple and the operation for obtaining propulsive force is simplified, which has the advantage of fewer failures and significantly improved reliability of self-propelled operation.

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, in which Fig. 1 is a partially sectional side view of the entire device, Fig. 2 is a view taken in the direction of the arrow in Fig. 1, and Fig. 3 shows a rubber actuator. FIG. 2 is a partially sectional side view. 2... Pipe (pipe line), 11... Main body, 15... Arm (swing arm), 20... Actuator (rubber actuator). Applicant's representative Patent attorney Atsushi Tsuboi Procedural amendment section 63.8.2 1925 Director General of the Japan Patent Office Yoshi 1) Tsuyoshi Moon 1, Indication of case Patent application No. 1983-35168 2, Title of invention Intra-jurisdictional self-propelled device 3 , Relationship with the amended party case Patent applicant (037) Olympus Optical Industry Co., Ltd. 4, Agent UBE Building 3-7-2 Kasumigaseki, Chiyoda-ku, Tokyo 1
00 Telephone 03 (502) 3181 (main representative)
(6881) Patent attorney Jun Tsuboi 5,
Voluntary amendment 7, content of amendment 3 (1) “The day that moves forward” in the first line of page 12 of the specification
That will happen. ” and then add the following sentence: Furthermore, if the outer surface of the cap 26 is provided with an uneven shape that prevents slippage, loss of propulsion force due to slipping can be eliminated, and the self-propelled unit 1 can more easily advance in the axial direction of the conduit 2.

Claims (1)

[Scope of Claims] A main body inserted into a tube; a plurality of arms protruding from the main body toward the inner surface of the tube and holding the main body within the tube by contacting the inner surface of the tube; An actuator is provided on the main body and is made of an elastic body that expands and contracts in the axial direction in response to the supply and discharge of fluid, and presses the inner surface of the tube obliquely toward the rear in the direction of movement of the main body when it expands. An in-pipe self-propelled device characterized by: