JPH02162153A - Intra-pipe driven dolly - Google Patents

Abstract

PURPOSE:To obtain an intra-pipe driven dolly capable of being smoothly run with no trouble at all even if obstacles such as separated sections and irregularities exist in a pipeline by employing a chain caterpillar system for the running/ supporting means of a dolly main body. CONSTITUTION:A pair of two chain caterpillars 1 are perpendicularly arranged face to face longitudinally in a fork shape on the same plane perpendicular to the pipe axis, and they are rotatably fitted at tip sections of a pair of arms 3 respectively using the driven shaft 13 of the differential equipment 12 protruded from both sides of a differential gear box 2 as a fulcrum. The rotation of two front and rear motors 8 is transmitted to a chain wheel 14 fixed to the driven shaft 13 of the differential equipment 12 and further transmitted to the chain caterpillars 1 via a chain belt 15. The dolly main body is travelably supported by four chain caterpillars 1 and can smoothly pass separated sections, recessed sections and stepped sections in a pipe, and it can smoothly advance over projections such as plug projections and weld beads.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application This invention relates to a driving cart for towing and moving, for example, a pipe inner surface imager to a predetermined position within a pipe, and is particularly applicable to curved pipe sections such as underground pipes. The present invention relates to an in-pipe drive vehicle suitable for towing in a conduit where there are joint parts, sleeve joint parts, staggered step parts, etc.

Conventional technology Pig type and Metsenger wire type have been used as means for towing and moving pipe inner surface imagers, welding machines, inner surface polishing equipment, etc. for observing the condition inside pipes such as underground pipes. However, since these are so-called traction methods, they require complicated work such as passing wires through the pipes, and traction devices such as winches are also essential, making them extremely expensive. In addition, there was also the problem that the inner surface of the tube was damaged by the traction wire rope or the like.

On the other hand, in place of such a traction system, a self-propelled traction-driven truck that can move freely even in curved pipe sections has been developed (Utility Model Application No. 59-58417).

However, in all of these conventional self-propelled carts, the means for supporting the main body of the cart is a roller system, so the support rollers fall into the separation part or recess of the pipe wall such as a dresser joint that exists in the middle of the pipe, causing the cart to move. If it runs out or hits a protrusion such as a plug protrusion, it will slip and cannot be overcome, making it impossible to drive.

Problems to be Solved by the Invention In view of the above-mentioned actual situation, the present invention adopts a chain caterpillar system as a traveling support means for the bogie body, thereby solving the problem of obstacles such as isolated parts and uneven parts in the piping. To provide an in-pipe drive truck that can run smoothly without any trouble even when the vehicle is in a pipe.

Means for Solving the Problems The present invention employs a plurality of chain caterpillars that are movable in the pipe radial direction and are biased outwardly as means for supporting the in-pipe running of the bogie body, and the plurality of chain caterpillars are connected to one or more of the chain caterpillars. This system uses two motors to drive in synchronization, and its gist is to use a pair of chain caterpillars that are arranged in a bifurcated manner within the same plane perpendicular to the pipe axis and are movable in the pipe radial direction. Two sets of chain caterpillars are provided in the front one, the two sets of chain caterpillars are arranged facing each other at right angles or at an arbitrary angle, and a drive motor for rotating these two sets of chain caterpillars in forward and reverse directions; The rotation of
It is equipped with a gear mechanism, a differential, and a power transmission mechanism for transmitting power to the sets of chain caterpillars, and guide rollers arranged radially at both ends in the tube axis direction, and the two sets of chain caterpillars are driven by one or two motors. The mechanism is such that the two parts are synchronously driven at the same time, and each part is biased outwardly.

In operation, the trolley is positioned at the center of the tube by having two sets of front and rear chain caterpillars contact the inner surface of the tube with appropriate pressure, and is moved within the tube by the drive of the chain caterpillars.

Two sets of front and rear chain caterpillars are arranged to surround the drive motor, and each chain caterpillar is urged outward by an elastic member such as a spring provided between the drive motor and the drive motor. The biasing force causes each chain caterpillar to come into contact with the inner surface of the tube.

When the truck passes through the curved pipe, the guide rollers serve to change the traveling direction of the drive truck in a direction along the inner surface of the curved tube. The difference in rotation between the inner chain caterpillar and the outer chain caterpillar is absorbed by the differential and passes smoothly.

Since the chain caterpillar has an appropriate length in the tube axis direction, it can smoothly pass through tube separations, recesses, and stepped portions in the tube, and can also pass over convex portions such as plug protrusions and weld beads.

Chain caterpillars have a larger contact area with the inner surface of the pipe than rollers, and the two sets of chain caterpillars (front and rear) are arranged perpendicularly or at an arbitrary angle, so they can run stably in the pipe and have a large traction force. can get.

Embodiment The drawings show an embodiment of the in-pipe drive vehicle according to the present invention, and FIG. 1 is a side view of the in-pipe drive vehicle, FIG. The figure is an enlarged longitudinal sectional view showing the structure from the drive motor to the differential, Figure 4 is an enlarged longitudinal sectional view showing the structure of the differential, and Figure 5 is a side view showing the in-pipe drive truck when there is one drive motor. It is a diagram.

Here, an example will be explained in which two sets of chain caterpillars are arranged orthogonally.

In the figure, (1) is a pair of chain caterpillars arranged in a bifurcated manner in the same plane perpendicular to the tube axis, and these chain caterpillars are arranged orthogonally facing each other in the front and back. These two sets of front and rear chain caterpillars are each attached to sandwich the gear box (2) so as to be rotatable about the driven shaft of the differential, which will be described later, which protrudes from both sides of the differential gear box (2). It is pivotally attached to the tips of a pair of arms (3).

This chain caterpillar has a structure in which a plurality of chain wheels (5) are attached to a pair of left and right side plates (4), and a chain (6) is hung on the chain wheels. One end of the side plate (4) of this chain wheel is pivotally attached to the tips of a pair of arms (3), and a telescopic rod (7) fitted with a pressing spring is provided between the side plate (4) and the frame of the drive motor (described later). It is supported by

Note that it goes without saying that the four chain caterpillars are disposed in a perpendicular shape and so that their contact portions with the tubes are substantially on the same line.

(8) is a drive motor for rotating the two sets of front and rear chain caterpillars (1) in the forward and reverse directions, and the frame body (9)
Fixed. Bracket (10) provided on this motor mounting frame (9) and side plate (4) of each chain caster
The pressing spring fitting telescopic rod (7) is fixed between the bracket (11) attached to the press spring.

The rotation of the two front and rear motors is transmitted to gears V+, V2, V3, and V4, as shown in Figures 3 and 4.
Worm wheel from gear v4 and coaxial worm v5 ■
6, and is transmitted to the chain wheel (14) fixed to the driven shaft (13) of the differential @ (12) built in this worm wheel v6, and roughly the chain belt (
15) to the chain caterpillar.

In addition, since each pair of chain caterpillars (1) must rotate in the same direction, each chain caterpillar must rotate in the direction changing gear (16) of the chain belt.
).

In addition, since the front two sets of chain caterpillars (1) are disposed orthogonally, the worm wheel ■6 of one chain caterpillar is set at a angle of 90[deg.] with respect to the worm wheel ■6 of the other chain caterpillar. They are placed at an angle.

As shown in Fig. 4, the differential II (12>) is composed of four bevel gears 1 to 4, and a driven shaft (13) is directly connected to a pair of opposing bevel gears 1 and 3. The mechanism is such that the bevel gear rotates when the balance of left and right forces becomes uneven.

(17) is a guide roller attached in the pipe diameter direction, and is attached radially to the front and rear differential gear boxes (2).

In addition, in the case of a drive truck with one drive motor as shown in Fig. 5, a motor with output shafts protruding from both sides is used, and a differential gear box (2) is connected to both sides of this motor, which allows the motor to rotate. The transmission mechanism, differential mechanism, power transmission mechanism, etc. are all the same as described above.

Therefore, this drive truck has one less drive motor, so it is shorter and more compact than the one with two drive motors.

The chain caterpillar may be divided into multiple parts in the longitudinal direction, and a wear-resistant material such as urethane may be applied to the surface to prevent wear due to contact with the inner surface of the tube.In addition, non-metallic chain caterpillars may also be used. It is possible.

Effects of the Invention As described above, the in-pipe drive bogie according to the present invention has a bogie main body that is movably supported by four chain caterpillars, so it can smoothly pass through the tube separation parts, recesses, stepped parts, etc. in the pipe. It is also possible to move smoothly over protrusions such as plug protrusions and weld beads.

In addition, chain caterpillars have a larger contact area with the inner surface of the pipe than rollers, and because they are arranged front and rear orthogonally or facing each other at an arbitrary angle, they can run vertically and have a large traction force. This makes it possible to drive even large-sized devices.

As described above, the pipe drive cart according to the present invention can smoothly and stably operate the pipe inner surface @ imaging device, the inspection device equipped with various sensors, the pipe inner surface polishing device, etc. even in long pipes including buried pipes and curved pipes. Since it can be towed, it is far more useful than conventional roller-supported towing carts.

[Brief explanation of the drawing]

Fig. 1 is a side view showing an example of an in-pipe traction drive bogie according to the present invention, Fig. 2 is a front view of the same bogie as seen from the right side in Fig. 1, and Fig. 3 shows the structure from the drive motor to the differential. FIG. 4 is an enlarged longitudinal sectional view showing the structure of the differential;
FIG. 5 is a side view showing another embodiment of the invention. 1...Chain caterpillar 2...Differential gearbox 7...Press spring external fitting expansion/contraction rod 8...Drive motor 12...Differential 17...Guide Rollad Sumitomo Metal Industries Co., Ltd. Osaka Gas Tokyo Gas Co., Ltd. Toho Gas Co., Ltd. Figure 4

Claims (1)

[Claims] A pair of chain caterpillars arranged in a bifurcated manner in the same plane perpendicular to the pipe axis and movable in the pipe diameter direction are used.
The chain caterpillars are arranged opposite to each other in the longitudinal direction of the tube, either perpendicularly or at an arbitrary angle. The two sets of chain caterpillars are equipped with a gear mechanism, a differential, and a power transmission mechanism for transmitting power to the two sets of chain caterpillars, and guide rollers arranged radially at both ends in the tube axis direction. Alternatively, an in-pipe drive trolley characterized in that it has a mechanism in which two motors are driven in synchronization, and each motor is biased outward.