JPH03167065A - Traveler running inside pipe - Google Patents

Abstract

PURPOSE:To simplify the connection structure of a fluid passage by setting up each elastic actuator of respective traveling units in a position out of the axis of an elastic actuator of another traveling unit, and also setting up the fluid passage on the same axis as each of the elastic actuators of these traveling units. CONSTITUTION:A traveler 1 running through a pipe being attached to the tip part of an endoscope 3 has a longitudinal pair of traveling units 8, 9 connected in series to each other along the axial direction, and this front traveling unit 8 is made up by installing respective three pieces of nearly ring elastic actuators 12, 21 parallelly in a space between pairs of frames 10, 11 and 11, 20 opposingly set up at distance in the axial direction. In this case, the elastic actuator 21 at the rear side is set up in a position out of a proper angle theta (about 60 deg.) from the same axis as the axial position of the front side elastic actuator 12, and this actuator 12 on the front side and three air tubes 13 supplying pressurized fluid to this actuator are set up on the same axis. With this constitution, simplification of a connecting structure in these air tubes 13 is well carried out.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an in-pipe traveling device used in a self-propelled pipe inspection device that inspects the inside of an industrial pipe or a biological pipe while moving on its own. Regarding.

[Prior Art] As this kind of pipe running device, for example, Japanese Patent Application Laid-Open No. 63-915
55, Japanese Patent Application Laid-Open No. 1-110241, etc., have been developed. The moving unit of this pipe traveling device expands and deforms in the radial direction by supplying pressurized fluid.
A substantially tubular elastic contractile body that generates a contraction force in the axial direction or a substantially tubular elastic actuator that contracts and deforms in the radial direction by supply of pressurized fluid and generates an extension force in the axial direction is provided. Attachment members are provided at both ends of this elastic actuator, respectively. Further, in these attachments, an elastic member is disposed between the members to generate a biasing force in a direction opposite to the axial deformation direction of the elastic actuator. Furthermore, a balloon-shaped locking member is attached to each mounting member, which is inflated and deformed by supply of pressurized fluid and can be locked to the inner circumferential surface of the conduit into which the moving unit is inserted. When using this intra-pipe traveling device, the moving unit of this intra-pipe traveling device is inserted into the pipe to be inspected, and in this state, the elastic actuator is adjusted to alternately supply and discharge pressurized fluid to each locking member. It is configured to perform forward or backward movement by supplying and discharging pressurized fluid to and from.

That is, when the moving unit of the intra-pipe traveling device of JP-A-63-91555 moves forward, pressurized fluid is first supplied to the front locking member to inflate and deform the locking member.
This is pressed against and locked against the inner peripheral surface of the pipe into which the moving unit is inserted. Next, while maintaining this state, pressurized fluid is supplied to the elastic actuator to cause the elastic actuator to expand in the radial direction (diameter expansion deformation) and at the same time contract in the axial direction to deform the elastic actuator. As it moves, the attachment on the rear side causes the member to move forward.

Next, pressurized fluid is supplied to the rear locking member while the front locking member is held in an expanded and deformed state, and the elastic actuator is held in an expanded and deformed state. is inflated and deformed, and is pressed and locked against the inner peripheral surface of the conduit into which the moving unit is inserted. In this state, by discharging the pressurized fluid from the front side locking member and the elastic actuator, the elastic actuator is elastically returned to its original shape by the urging force of the elastic member, and the front side attachment is performed by removing the member. Move forward. By repeating this series of operations, the moving unit of the pipe traveling device moves forward.

Furthermore, during the forward movement of JP-A-1-1.10241, pressurized fluid is first supplied to the locking member on the rear side to expand and deform the locking member, and the locking member is expanded and deformed in the conduit into which the moving unit is inserted. After it is pressed against the inner circumferential surface and locked, pressurized fluid is supplied to the elastic actuator to contract and deform the elastic actuator in the radial direction (diameter reduction deformation), and at the same time to expand it in the axial direction, this elastic As the diameter of the actuator decreases, the attachment on the front side moves the member forward, and then pressurized fluid is supplied to the locking member on the front side to expand and deform the locking member, causing it to move. By pressing the unit against the inner circumferential surface of the pipe to be inserted and locking it, and in this state, pressurized fluid is discharged from the rear locking part and the elastic actuator, the elastic actuator is activated by the urging force of the elastic member. elastically returns to its original shape,
Mounting on the front side allows the member to move forward. By repeating this series of operations, the moving unit of the pipe traveling device moves forward.

[Problems to be Solved by the Invention] By using a plurality of elastic actuators with the above configuration in a moving unit of this type of pipe traveling device, it is possible to obtain a larger operating force than when using only one elastic actuator. It is being considered that In this case, for example, a configuration in which a plurality of elastic actuators are arranged in parallel in a moving unit, or a configuration in which a plurality of moving units equipped with elastic actuators are connected in series along the axial direction of the elastic actuators can be considered.

However, when a plurality of moving units equipped with elastic actuators are connected in series along the axial direction of the elastic actuators, the elastic actuators of the plurality of connected moving units are arranged approximately on the same axis. A conduit such as an air tube for supplying and discharging pressurized fluid to the elastic actuator of the moving unit placed on the front side needs to be placed in a position to avoid interference with the elastic actuator of the moving unit on the rear side. Therefore, conduits such as air tubes that supply and discharge pressurized fluid to and from the elastic actuator of the front side moving unit are arranged at positions that are not on the same axis as the elastic actuator of the front side moving unit. It is necessary to form a communication path in the radial direction of the elastic actuator at the connection part between the elastic actuator of the front side moving unit and a conduit such as an air tube. There was a problem with the size becoming large.

This invention has been made in view of the above-mentioned circumstances, and even when a plurality of moving units are connected along the axial direction of the elastic actuator, a fluid that supplies and discharges pressurized fluid to and from the elastic actuator of the front side moving unit. It is an object of the present invention to provide an intra-pipe traveling device that can simplify the structure of the connection part with the passage and can reduce the outer diameter of the entire moving unit.

[Means for Solving the Problems] The present invention connects a plurality of moving units along the axial direction of the elastic actuators, and displaces the elastic actuator of each moving unit from the same axis as the elastic actuator of the other moving units. In addition, a fluid passage for supplying and discharging pressurized fluid to and from the elastic actuator of each moving unit is arranged on the same axis as the elastic actuator of each moving unit.

C action] By arranging the elastic actuator of each moving unit, which is connected along the axial direction of the elastic actuators, at a position that is not coaxial with the elastic actuator of the other moving unit, each moving unit The fluid that supplies and discharges pressurized fluid to the elastic actuator of the moving unit located on the front side when the fluid passage that supplies and discharges pressurized fluid to the elastic actuator of each moving unit is arranged on the same axis as the elastic actuator of each moving unit. By avoiding interference between the passage and the elastic actuator of the rear moving unit, and by arranging the fluid passage that supplies and discharges pressurized fluid to the elastic actuator of each moving unit on the same axis as the elastic actuator of each moving unit, Eliminating the need to form a communication path in the radial direction of the elastic actuator at the connection between the elastic actuator of the front side moving unit and its fluid passage, simplifying the connection structure and reducing the outer diameter of the entire movement unit. It was designed to achieve this.

[Example] An embodiment of the present invention will be described below with reference to the drawings.

FIGS. 1 to 3 show a schematic configuration of an in-pipe traveling device 1 of the present invention. Furthermore, FIG. 4 shows a schematic configuration of an in-pipe self-propelled inspection device 2 using this in-pipe traveling device 1. The intraductal self-propelled inspection device 2 is equipped with an endoscope 3, and the distal end of the endoscope 3 is attached to the intraductal traveling device 1.

Further, this intraductal self-propelled inspection device 2 is provided with a drum unit 4 for winding up the endoscope 3.

The drum unit 4 is provided with a support member and a winding drum 5 rotatably supported by the support member.
The proximal end side of a is wound so as to be freely drawn out. moreover,
The in-pipe self-propelled inspection device 2 is provided with an inspection device main body 6. The inspection device main body 6 is provided with a light source device for illuminating the endoscope 3, a video processor, a television monitor, and the like. In this case, the drum unit 4 and the inspection device main body 6
It is connected to the light source device through a connection cord 7. Furthermore, an illumination lens and an objective lens (not shown) are attached to the distal end of the endoscope 3. Furthermore, the front end surface of the light guide fiber disposed inside the insertion section is arranged to face the inner surface of the illumination lens, and a solid-state imaging device (CCD) is arranged to face the inner surface of the objective lens. There is. The illumination light emitted from the light source device is guided to the distal end side of the endoscope 3 through the light guide fiber and irradiated to the outside from the illumination lens, and the observation image focused by the objective lens is solid-state. The image sensor converts the signal into an electrical signal, which inputs the signal to a video processor, where the signal is converted into an image signal and displayed on a television monitor.

The pipe traveling device 1 also includes a pair of front and rear moving units 8 connected in series along the axial direction, as shown in FIG.
9 is provided. In this case, the front moving unit 8 is provided with a pair of frames (attached as members) 10.degree. 11 that are spaced apart from each other in the axial direction. Three approximately tubular elastic actuators 1 are installed approximately parallel to the axial direction between these frames 10 and 11.
2... are arranged in parallel. These elastic actuators 12... are arranged at equal intervals along the circumferential direction of the reference circle 0, as shown in FIG. Additionally, each elastic actuator 12 is a tubular body formed of rubber or rubber-like elastic material covered by a braided reinforcing structure preferably formed of high tensile strength fibers. Furthermore, the tips of three air tubes (fluid passages) 13 for supplying pressurized fluid to the respective elastic actuators 12 are fixed to the intermediate frame 11 on the rear side. The base ends of these air tubes 13 are connected to a fluid supply device 14. These elastic actuators 12 are configured to expand (or contract) deform in the radial direction and contract (or expand) in the axial direction by supplying pressurized fluid from the fluid supply device 14.

1 In addition, between the frames 10 and 11, there is a compression spring (or tension spring) that generates a force on the outside of each elastic actuator 12 in a direction opposite to the deformation direction of each elastic actuator 12 in the axial direction. ) 15 etc. is provided. Both ends of this compression spring 15 are attached to the frame 10.
11, respectively.

Further, each frame 10.11 is equipped with a substantially cylindrical balloon (locking member) 16.17 that can be inflated and deformed by supply of pressurized fluid and locked onto the inner circumferential surface of the conduit. Both ends of these balloons 16° and 17 are attached to each frame 1.
Approximately cylindrical balloon support 16a protruding from 0.11 mm
, 17a, respectively, in an airtight manner.

In addition, air tubes 1 are attached to these balloons 16 and 17.
8.19 tips are connected to each other.

Further, the proximal ends of these air tubes 18, 19 are connected to the fluid supply device 14, and the fluid supply device 1
4 supplies pressurized fluid to the balloons 16 and 17.

2 In addition, the rear moving unit 9 includes an intermediate frame 11 that is used in common with the front moving unit 8, and a rear frame that is spaced apart from and facing the intermediate frame 11 in the axial direction (installation is done at a separate location). 20 are provided. These frames 11° 2011J also have three substantially tubular elastic actuators 21 .
are arranged side by side. These elastic actuators 21・
... are also arranged at equal intervals along the circumferential direction of the reference circle 01. In this case, each elastic actuator 21 of the rear side moving unit 9 is moved at an appropriate angle θ from the same axis as the axis position of each elastic actuator 12 of the front side moving unit 8, as shown in FIG. (approximately 60") away.

Each elastic actuator 12 of the front side moving unit 8 and its air tube 13 are arranged on the same axis.

Furthermore, the rear frame 20 has three air tubes (fluid passages) 22 that supply pressurized fluid 3 to each elastic actuator 21 of the rear moving unit 9.
The tips of each are fixed. The base ends of these air tubes 22 are connected to the fluid supply device 14. In this case, each elastic actuator 21 of the rear side moving unit 9 and its air tube 22 are arranged on the same axis.

Similarly to each elastic actuator 12 of the front side moving unit 8, these elastic actuators 21... are expanded (or contracted) deformed in the radial direction by the supply of pressurized fluid from the fluid supply device 14, and the axial line It is designed to contract (or expand) in the direction.

Further, between the frames 11 and 20, there is a compression spring (or tension spring) 23, etc. that generates a biasing force on the outside of each elastic actuator 21 in a direction opposite to the axial deformation direction of each elastic actuator 21. An elastic member is provided. Both ends of this compression spring 23 are attached to the frame 11.20.
are fixed respectively.

Furthermore, the rear frame 20 is provided with a substantially cylindrical balloon (locking part 4A') 2 that is inflated and deformed by supply of pressurized fluid and can be locked to the inner circumferential surface of the pipe into which the intrapipe running device 1 is inserted.
4 is installed. Both ends of the balloon 24 are connected to substantially cylindrical balloon supports 24a protruding from the frame 20.
is airtightly fixed to the outer circumferential surface of the Further, the tip of an air tube 25 is connected to the balloon 24.

The base end of the air tube 25 is connected to the fluid supply device 14, and the balloon 24 is connected to the fluid supply device 14.
Pressurized fluid is supplied to the

On the other hand, a compressor 26 is installed inside the fluid supply device 14 . This compressor 26 includes air tubes 13 of each elastic actuator 12 of the front side moving unit 8, air tubes 22 of the elastic actuators 21 of the rear side moving unit 9, and balloons 16.1724. air tubes 18, 19.25 are connected via a solenoid valve 27 and a pressure reducing valve 28, respectively. In this case, each solenoid valve 27 is connected to two sequencers. The sequencer 29 controls the opening/closing operation of the magnetic valves 27 in each city 5, and the pressurized air discharged from the compressor 26 is transferred to the air tubes 13 of the elastic actuators 12 of the front side moving unit 8, the rear It is regularly supplied to the air tubes 22... of the elastic actuators 21... of the side moving unit 9 and the air tubes 1g, 19.degree. 25 of the balloons 16, 17, 24, respectively.

Furthermore, protectors 30 and 31 are provided at the front end of the front side moving unit 8 and the rear end of the rear side moving unit 9 in the pipe traveling device 1, respectively. In this case, the front protector 30 has a female screw portion 32 screwed into the male screw portion 3C formed at the tip 3b of the endoscope 3, and a male screw portion 16b formed at the tip of the balloon support 16a. A matching female threaded portion 33 is formed respectively.

Then, the male threaded portion 3C of the distal end portion 3b of the endoscope 3 is screwed into the female threaded portion 32 of the front protector 30, and the male threaded portion 3C of the distal end portion 3b of the balloon support 16a is screwed into the female threaded portion 33.
By screwing 6b together, the intraductal traveling device 1 and the endoscope 3 are removably connected.

Therefore, in the above configuration, a pair of front and rear moving units 8.9 connected in series along the axial direction is provided,
Each elastic actuator 21 of the rear side moving unit 9...
・Each elastic actuator 12 of the front side moving unit 8
An appropriate angle θ (approximately 6
Since the elastic actuators 12 . . . of the front side moving unit 8 and their air tubes 13 . Therefore, the air tube 13 for supplying and discharging pressurized fluid to and from the elastic actuator 12 of the front side moving unit 8 is arranged at a position that is not on the same axis as the elastic actuator 12 of the front side moving unit 8, as in the conventional case. Since there is no need to form a communication path in the radial direction of the elastic actuator 12 at the connecting portion between the elastic actuator 12 of the front side moving unit 8 and its air tube 13 as in the case, the elastic actuator of the front side moving unit 8 12 and the air tube 13 can be simplified, and the outer diameter of the entire moving unit 8 can be reduced.

Note that this invention is not limited to the above embodiments. For example, although the above embodiment shows a configuration in which a pair of moving units 8 and 9 are connected in series along the axial direction, a configuration in which three or more stages of moving units are connected is also possible. This invention may be applied to things.

Furthermore, it goes without saying that various other modifications can be made without departing from the gist of the invention.

[Effects of the Invention] According to the present invention, a plurality of moving units are connected along the axial direction of the elastic actuator, and the elastic actuator of each moving unit is removed from the same axis as the elastic actuator of other moving units. At the same time, the fluid passages for supplying and discharging pressurized fluid to and from the elastic actuators of each moving unit are arranged on the same axis as the elastic actuators of each moving unit, so that the moving units can be moved in the axial direction of the elastic actuators. Even when multiple units are connected along the same axis, the connecting structure between the elastic actuator of the front side moving unit and the fluid passage that supplies and discharges pressurized fluid can be simplified, and the outer diameter of the entire moving unit can be reduced. It is possible to aim for

[Brief explanation of the drawing]

The drawings show one embodiment of the present invention, and FIG. 1 is a side view showing a schematic configuration of a moving unit, and FIG.
-■ line sectional view, Figure 3 is the ■-■ line sectional view of Figure 1,
The figure is a schematic diagram of the entire in-pipe self-propelled inspection device. 8.9...Movement unit), 10, 11.20... Frame (mounting is a member), 12.21... Elastic actuator, 13.22... Air tube (fluid passage)
,'16,17.24...Balloon (locking member).

Claims (1)

[Claims] A plurality of elastic actuators that are deformed in the radial direction and expanded and contracted in the axial direction by the supply of pressurized fluid are provided substantially in parallel,
Attachment members are respectively disposed at both ends of these elastic actuators, and locking members capable of being expanded and deformed by supply of pressurized fluid and latched to the inner circumferential surface of the conduit are attached to both of the attachment members, respectively; In the in-pipe traveling device, the moving unit includes a moving unit that performs forward or backward movement by supplying and discharging pressurized fluid to each of the elastic actuators in accordance with the alternate supply and discharging of pressurized fluid to each of the locking members. A plurality of units are connected along the axial direction of the elastic actuator, and the elastic actuator of each of the moving units is disposed at a position deviating from the same axis as the elastic actuator of the other moving unit, and each of the moving units An intra-pipe traveling device characterized in that a fluid passage for supplying and discharging pressurized fluid to and from the elastic actuators of each of the moving units is arranged on the same axis as the elastic actuators of each of the moving units.