JPH03239665A - Driving structure for intra-tube running device - Google Patents

Abstract

PURPOSE:To secure stability in running by arranging two drive running devices in pair on the left and right. CONSTITUTION:The body 2 of a running machine travels in a tube 1 with the aid of a left and a right drive running devices 12, and when the machine body 2 is going to intrude into a bent portion from a straight portion a contact piece 24 for the intra-tube surfaces begins swinging to the left and right along the path of the tube while the machine body 2 remains still within the straight portion. The swinging amount of this contact piece 24 is sensed by a sensor 27. If the difference in the driving speed between the left and right, drive run ning devices 12 is increased gradually on the basis of the result from sensing along with the traveling of the machine body 2, the machine body 2 makes smooth travel along the curvature of the tube 1.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a traveling drive structure and construction for an in-pipe traveling device used when traveling inside an oil pipe of a ship, etc., and inspecting the presence or absence of corrosion inside the pipe. .

[Conventional technology]

In the traveling drive structure of this kind of in-pipe traveling device, the present applicant et al.
It consisted of a single drive wheel, as proposed in No. 3-270390.

[Problem to be solved by the invention]

In this case, it is true that an idling type traveling device is arranged at a position 180 degrees opposite to this single drive wheel, and this idling type traveling device is biased against the inner wall of the pipe by a spring to provide a treading force. However, since it had a single wheel, it lacked running stability.

Therefore, it is desirable to have a drive traveling device with left and right running wheels, but in this case, a differential function such as a differential mechanism is required to prevent the vehicle from locking when traveling through a curved pipe. In this case, a differential mechanism must be installed in the traveling system, but when this differential mechanism is installed, the drive source for this differential mechanism must be installed on the same axis as the rotating shaft that drives the left and right traveling devices. It had to be installed at a different position away from the axis of rotation, resulting in poor space efficiency.

An object of the present invention is to provide a space-efficient drive structure by adopting a rational drive structure for a drive traveling device, and to enable stable traveling and smooth traveling on curved pipes using a pair of left and right traveling devices. The point is to provide something.

[Means to solve the problem]

The characteristic configuration according to the present invention is that a pair of driving traveling devices of the traveling devices that support the pipe traveling body are arranged on the left and right, and drive motors that drive each of the left and right driving traveling devices are directly connected, and the inner surface of the pipe is A contactor is attached to the traveling machine body so as to be swingable from side to side in a state extending forward of the traveling machine body, and a detector is provided for detecting the bending curvature of the pipe as the contactor swings, The present invention is provided with a control means for independently varying the drive speeds of the left and right drive traveling devices based on the detection results, and its effects are as follows.

[Function] In other words, the traveling aircraft travels inside the pipe with a pair of left and right drive traveling devices, and when the traveling aircraft enters the curved pipe from the straight pipe section, the traveling aircraft moves inside the pipe while it is still in the straight pipe section. The contact against the surface begins to rock from side to side along the path of the tube. The amount of rocking of this contactor is detected by a detector, and based on the detection results, the drive speed of the left and right drive traveling devices is gradually changed as the machine travels, so that the traveling body adjusts to the bending curvature of the pipe. Drive smoothly along the road.

〔Effect of the invention〕

Therefore, ■travel stability can be ensured by enclosing the left and right drive traveling devices, and ■by adopting a direct-coupled motor drive structure without using a differential mechanism, the motor installation position as a drive source can be moved between the drive traveling devices. It can be positioned on the rotation axis, which increases space efficiency.

Moreover, by independently controlling the rotation of the drive motor, a differential function can be provided, and even when running on a straight pipe, the lateral deviation of the traveling body from the pipe axis center position can be detected based on the detection results of the detector. O for left and right running position
The position can be corrected using the NOF F @ control, and a steering function can be provided even in a straight pipe section.

In addition, since the contactor is attached to the traveling aircraft so that it can freely swing left and right with the contactor extended to the front of the aircraft, it is possible to detect bends in the pipe at an early stage and gradually control the rotation of the drive motor. This improves running stability at bent portions of the pipe, and it is less likely to apply excessive force to the contact compared to, for example, when the contact is made to make reciprocating motion and the amount of reciprocating movement is detected. There is no damage due to
This was also advantageous from an inspection standpoint.

〔Example〕

Next, embodiments of the present invention will be described based on the drawings.

As shown in Figures 1 to 3, adjacent ones of four traveling bodies (2) running in oil pipes (1) installed on ships, etc. are connected to each other. A tube (1
), a camera (3) for monitoring the inside of the pipe (1), a light (4) for illuminating the inside of the pipe (1), a detector (5) for detecting the corrosion state of the pipe (1), etc. are installed, and these (3), ( 4) , (
5), connect the remote display monitor (7) outside the tube (1) and the means for supplying power, signals, etc. (8) with a cable (9), move the body (2), and connect the tube ( 1) A self-propelled pipe inspection device is installed so that the entire length of the pipe can be monitored with a monitor (7).

In the horizontal running attitude, the connection part (10) between the bodies (2)
) are formed to be able to swing freely around the vertical axis, and the first, front and rear ends of the four bodies (2)
In the fourth bodies (2A) and (2D), a pair of left and right driving crawler traveling devices F (12
), (12), a free-rotating traveling device F (15) is provided on the upper part, and a second body (2) located in the middle is provided.
B) and the third body (2C) are provided with freely rotatable traveling devices (15) at the upper and lower portions thereof, respectively.

The driving/idling traveling devices (12) and (15) are the pipes (
It is supported by the traveling body (2) so that it can freely move in and out of the pipe in the radial direction of It is equipped with a biasing spring so that it can be pushed towards the target.

Also, although not shown, a drive/idle running device (12)
, (15) are rotatable around the radial axis of the surveillance camera (3), and rotated by 90° in opposite directions by the operation of a steering motor (not shown), and are driven to travel in this state. to move from the vertical position to the left/right position. In other words, the traveling body (2) rotates by 90'' around the tube axis.

The idling traveling device (15) has six idling wheels (1
5A) and four free-rolling wheels (15B) on both sides, and is intended to reduce running resistance due to the free-rolling wheels.

Next, the drive crawler traveling device (12) will be explained.

As shown in Figure 3, the fuselage frame (1
1) The pipe-shaped support shaft (13) provided at the upper end of the traveling aircraft (
It is supported by the holder part (14) on the 2A) and (2D) side so as to be relatively movable up and down and rotatable around the axis of its support shaft (13), and as described above, along the pipe radial direction. It can freely move forward and backward, and can freely rotate left and right around the radial axis as the axis of the support shaft (13). On the lateral outer surface of this fuselage frame (11), there are a drive wheel (16) and a tension wheel (I7).
, two rolling wheels (18) are pivotally supported, and these are the crawlers (
19) is being wound and driven. The tension wheel (17)
is equipped with a screw tension mechanism (20).

A pair of left and right driving electric motors (21) are installed inside the body frame (11), and a coupling (22) is installed inside the body frame (11).
) is directly connected to the rotating shaft (23) of the drive wheel (16), and is configured to be able to drive the left and right crawlers (19) and (19) independently.

On the other hand, as shown in FIG. 1, a holding case (25) is provided at the tip of the head portion (2a) of the traveling body (2), and two vertical rotating shafts (25b) are provided within the holding case (25).

Two contacts (24), (24) are connected to (25b) so that they can be driven left and right independently, and are biased in opposite directions by springs (25c), (25c) to move them inside the pipe. It's pressed against the wall. In addition, a holding case (25)
A potentiometer (27) for detecting the amount of rotation of the contactor (24) is provided within the contactor (24).When the amount of rotation changes, it is determined that the bent pipe section has been reached, and the detection result is transmitted to a control means (28). output to both electric motors (21),
The rotation speed of (21) is controlled to provide a differential function. As described above, the contactor (24), potentiometer (27), etc. are referred to as detection means (A) for detecting the bending curvature of the pipe (1). Also, potentiometer (27)
The amount of rotation of the contactor (24) may be detected by a device other than the one described above, and these are collectively referred to as a detector (27).

Not only in the case of the bent pipe section but also in the straight pipe section, the left and right motors (21)
, (21) can be changed to adjust the lateral deviation from the direction of travel.

Based on the above configuration, to explain the running condition in the pipe, the fifth
As shown in the figure, as the aircraft (2) moves into the tube (1), information on the inner surface of the tube (1) from the camera (3) is
While monitoring the state inside the tube (1) by visualizing it on the monitor (7), for example, the connection part (1) between the horizontal tube (1) and the drop tube (21) with the flow path facing downward. ^) is in the front, move the fuselage (2) to the drop tube (2) with the axis (X) of the connecting part (10
1) The bent pipe part (IB) is passed through the horizontal pipe (L) without being depressed, and then the bent pipe part (IB) changes its direction upward.
If there is one in front, the crawler devices (12), (15) are turned in opposite directions to either the left or right by means of a remote control means (29) that remotely controls the steering motor from outside, and the aircraft ( 2) While running the whole pipe (1)
Turn around the axis (Y), turn the entire axis (X) laterally, and pass through the bent pipe part (IB) while bending the adjacent body (2) upward at the connecting part (10). When passing through this curved pipe portion (IB), the rotational speed of the left and right drive motors (21), (21) is adjusted based on the detection result of the detection means (A). This allows for smooth passage.

[Another example]

(2) The number of bodies (2) to be connected is not limited to four, and may be changed as necessary for reasons of driving force and mounting.In other words, a plurality of bodies may be used.

(2) The drive motor (21) may use a power source such as hydraulic pressure or air.

(2) All of the traveling devices (12) and (15) may be of a crawler type or an idler type.

■ The contactor (24) may be integrally formed in the shape of a ■ character so that each contactor (24) cannot move relative to each other, or the contactor (24) may consist of only a - book. It may be.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of drawings]

The drawings show an embodiment of the traveling drive structure of the pipe traveling device according to the present invention, FIG. 1 is a front view of the pipe traveling device, FIG. 2 is a top view of the driving traveling device, and FIG. 3 is a longitudinal cross-section of the driving traveling device. FIG. 4 is a side view of the pipe running device, and FIG. 5 is a side view showing the running state of the pipe running device. (2)...... Traveling body, (12)... Drive traveling device, (15)... Drive traveling device, (2
1)... Drive motor, (24)... Contact, (27)... Detector, (28)...
...control means.

Claims (1)

[Claims] Traveling devices (12), (1) supporting the in-pipe traveling body (2)
A pair of driving traveling devices (12) in 5) are arranged on the left and right, and drive motors (21) that drive each of the left and right driving traveling devices (12), (12) are directly connected, and the inner surface of the tube is The contactor (24) for the traveling aircraft (2
), the detector (27) is attached to the traveling body (2) so as to be swingable from side to side, and detects the bending curvature of the pipe as the contactor (24) swings. established,
Based on the detection results, the left and right drive traveling devices (12
), (12) control means (2) for independently varying the driving speed of
8) A traveling drive structure of an in-pipe traveling device provided with.