JPH02120167A - Pipe travel carriage - Google Patents

Abstract

PURPOSE:To make even a bent pipe part such as a miter bend or the like connected with an obliquely-cut short pipe smoothly passable by setting up plural numbers of driving wheels consisting of plural numbers of barrel rollers free of rotation in the circumference of a carriage body via plural numbers of frames free of turning motion. CONSTITUTION:A carriage body 11 is formed into a section hexagonal tubular body, and a frame 14 with a driving wheel 20 at a tip is pivotally attached to a pin 13 of a base 12 fixed to each side of the body. Then, a motor 15 for wheel driving and a transmission means 17 or the like are held between a symmetrical pair of members 14a, 14b forming this frame 14. The driving wheel 20 is made up of pivotally attaching a lot of barrel rollers 22 with the specified curvature to the circumference of a frame 21 free of rotation by varying each phase. In addition, a cylinder 25 is interposed between the carriage body 11 and the frame 14, and thereby the driving wheel 20 is pressed to a pipe wall, securing the specified tractive force.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an ITV camera, etc. for investigating the inner surface of gas pipes, oil pipes, water and sewage pipes, etc., and a measuring device for investigating the wall thickness of pipes. This invention relates to a self-propelled intra-pipe traveling trolley for towing welding machines and the like for repair welding to predetermined positions within the pipe.

[Prior art] Conventionally, as a trolley running in a pipeline,
951, JP 58-214845, JP 59-14
7260, Utility Model Publication No. 188373 and Japanese Patent Application Publication No. 1987-
119446 etc.

Further, as methods for towing when a bent pipe is present in the conduit, there are JP-A-60-140311, JP-A-60-249800, and JP-U-59-125469.

Furthermore, if both ends of the conduit are to be opened, there is a pig method in which air is blown from either end to move the conduit, or a wire is attached to both ends of the trolley, and the wire is wound with a winch at both ends and then returned to move the wire. method is adopted.

[Problem to be solved] However, the above-mentioned conventional trolley that travels inside the pipeline can be used satisfactorily when the pipeline is straight, but when the pipeline is curved vertically, horizontally, etc. It cannot be applied to roads.

The first two of the above three methods of pulling when a curved pipe exists in the conduit are applicable to curved pipes with a certain radius, but they are not suitable for connecting short pipes cut diagonally. It cannot be applied to miter bent pipes manufactured by

In other words, in the case of a curved pipe with a certain radius, JP-A-60-1
Wheel 3a shown in FIG. 2 of 40311.

Since the inclination of the wheel 3b is small, the wheel changes direction while causing slight slippage between the wheel and the pipe wall. However, for example, 9
In the case of a miter bend pipe made by connecting three 0" bent pipes with three 30@ cut pipes, the inclination of the pipe axis will be approximately 30". When changing the direction of this 30@ inclination at once, as shown in Fig. 2 of JP-A-60-140311, 3 a
It is thought that this would be impossible with ordinary wheels such as the drive wheels and tension wheels of the s3b. In other words, if the wheels are strongly pressed against the pipe wall surface and the frictional force is used to obtain driving force, the maximum angle is considered to be about 15 degrees, depending on the length of the drive cart. In this case, although it is operationally possible to change the direction by weakening the pressing force of the wheels and reducing the frictional force, in this case, problems arise such as the driving force decreases and the vehicle becomes unable to travel.

The latter technique also has the same disadvantages as the former, and since it uses magnetic rollers, it cannot be applied to anything other than iron pipes.

Furthermore, in the above-mentioned VIG method and wire method, both ends of the conduit must be left open, resulting in high civil engineering costs. In addition, in the case of the wire method, due to sliding friction between the inside of the curved pipe (the side where the wire lobe comes into contact) and the wire lobe,
There are problems such as wear of the bent pipe or breakage of the wire lobe.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide an in-pipe traveling truck that can be used not only for straight pipes but also for curved pipes such as miter-bend pipes without any problems.

[Means for Solving the Problems] The in-pipe traveling trolley of the present invention has a plurality of frames facing forward and backward, respectively, from the central part of the trolley body, the base end of which is rotatably provided on the main body. a rotationally driven drive wheel provided at the tip of the frame, with a plurality of barrel-shaped rollers rotatably provided along the outer periphery of the wheel in a direction perpendicular to the running direction; It consists of a cylinder that moves forward and backward toward the wall.

[Function] Driving wheels are provided at the tips of a plurality of frames that are rotatably provided in the front and rear directions on the main body of the truck, and by rotating these frames toward the pipe wall with a cylinder, the driving wheels is pressed against the tube wall, so the required traction force can be obtained.

In addition, multiple barrel-shaped rollers are provided along the outer periphery of the drive wheel, and these rollers can freely rotate in the circumferential direction of the pipe, so even when passing through a miter bend pipe section, the barrel-shaped rollers can be rotated freely. Since the roller rotates freely between the tube wall and the tube wall, the tube can pass through without loss of traction force.

[Example] An example of the present invention will be described below with reference to FIGS. 1 to 3.

The trolley body 11 is a tubular body with a hexagonal cross section, and a base 12 having a bottle 13 is fixed to the center of each side thereof. A frame 14.14 having a drive wheel 20 at its tip is pivotally mounted to this pin 13 in the front-rear direction. Therefore, in this example, the main body 11 is provided with six frames 14 facing forward and six frames 14 facing backward.

Connecting hardware 26 is provided at the front and rear of the main body 11, to which a work cart (not shown) or the like is connected via a universal joint 27. Also, when passing through a curved pipe section,
A stopper disk 28 is provided with a conical portion 28a that abuts the outer periphery of the end of the connected truck, etc., in order to prevent it from being extremely bent at the universal joint and causing trouble in running.
is provided.

Each 7L'-414 is constructed by connecting left and right members 14a and 14b, and a wheel drive motor 15 and a speed reducer 16 are sandwiched between the two members. The power from the motor 15 is transmitted to a reducer 16 via a belt 17, and the output from the reducer is transmitted to drive wheels 20 via a chain 18.

The drive wheel 20 is a wheel member in which three barrel-shaped rollers 22 having a curvature forming the outer periphery of the wheel are rotatably pivoted around the axis of the frame 21, and are equally distributed. They are constructed by overlapping each other with a 60° phase shift. In this way, the outer peripheral surface of the wheel 20 is covered with six barrel-shaped rollers 22.
The barrel-shaped roller 22 can freely rotate in the circumferential direction of the tube, and can move smoothly in the tube axis direction.

A cylinder 25 is connected at both ends to the main body 11 and each frame 14 via pins, and the drive wheel 20 is pressed against the inner wall of the pipe.

In this way, even when passing through a miter bend pipe section,
Since the barrel roller 22 freely rotates between the pipe wall and the pipe wall,
It can be passed through without loss of traction force.

In this case, if each frame rotates asymmetrically with respect to the tube axis, there is a risk that the main body 11 will be deviated from the center of the tube and come into contact with the inside of the curved tube when passing through the curved tube section. Therefore,
An upper and lower frame tuning device 30 is provided for controlling the paired frames arranged symmetrically with respect to the main body 11 to move symmetrically with respect to the main body. This device will be described with reference to FIG. 4.5 in the case where a pair of upper frames 14 and lower frames 24 are vertically symmetrically arranged with respect to the main body 11.

This tuning device 30 is composed of a first wire mechanism 31 and a second wire mechanism 32. The configuration of the second wire mechanism 32 is the same as that of the first wire mechanism 31, only the mounting direction is reversed. Therefore, the configuration of the first wire mechanism 31 will be explained.

A flexible wire 35 is inserted into a flexible guide tube 38 with both ends thereof extending. The upper end of the wire 35 is fixed to an upper bracket 33 fixed to the main body 11 via a fixture 36.

The upper end of the guide tube 38 is fixed to the upper frame 14 via a metal fitting 37. The lower end of the guide tube 38 is fixed to a lower bracket 34 fixed to the main body 11 via a fixture 39. And wire 35
The lower end portion of is fixed to the lower frame 24 via a fixture 40.

A second wire mechanism (t32) having the same configuration as the first wire mechanism 31 is installed in the opposite direction as shown in FIG.

In this way, the pair of L lower frames 14.24 rotated by each cylinder 25 move downwardly symmetrically with respect to the main body 11, so that the main body 11 is always kept at the center position of the tube. . Therefore, even when passing through the curved tube section, the main body section does not come into contact with the inner wall of the curved tube section.

The above embodiment has been described with reference to the case where six frames 14 are provided facing forward and backward from the main body 11, but if the traction force is not so necessary, the frames 14 may be
The number of each may be set to four.

[Effects of the Invention] The in-pipe traveling trolley of the present invention as described above can run not only on a straight pipe section and a bent pipe section having a certain radius, but also on a miter bend pipe section without any problems.

[Brief explanation of the drawing]

1 to 3 show an embodiment of the present invention, in which FIG. 1 is a side view, FIG. 2 is a front view, FIG. 3 is a plan view of a pair of front and rear frames, and FIGS. FIG. 5 is a side view and a front view showing the state in which the tuning device is attached to a pair of upper and lower frames. DESCRIPTION OF SYMBOLS 11...Main body, 14...Frame, 20...Drive wheel, 22...Barrel-shaped roller, 25...Cylinder Applicant's representative Patent attorney Takehiko Suzue Figure

Claims (1)

[Claims] A plurality of frames facing forward and backward respectively from the central part of the trolley body, the base end of which is rotatably provided on the main body, and a drive wheel that is rotatably driven and provided at the tip of the frame. An in-pipe traveling trolley comprising a plurality of barrel-shaped rollers rotatably provided along the outer periphery of the wheels in a direction perpendicular to the traveling direction, and a cylinder that drives the driving wheels forward and backward toward the inner wall of the pipe.