JPH03249721A - In-tube traveling device - Google Patents

Abstract

PURPOSE:To eliminate the need to use specially an elastic member having a large elastic force and to speed up the traveling speed by providing a fixation part where an inspection device in a conduit is fixed at an engagement part arranged at the rear part side of a moving unit in its forward moving direction. CONSTITUTION:When the moving unit moves forward, an engagement part 10 at the front part side is engaged with the internal wall surface of the conduit and in this state, an elastic actuator 6 is contracted axially to move the engagement part 11 at the rear part side forward integrally with the inspection device fixed in the conduit; and the elastic member 9 is compressed and deformed to accumulate energy which operates in the opposite direction from the compressive deforming direction. Then while the engagement part 11 at the rear part side is engaged with the internal wall surface of the conduit, the engagement of the engagement part 10 at the front part side is released to push and move the engagement part 10 at the front part side forward. The supply time of pressurized liquid to the elastic actuator 6 is adjusted to properly adjust the traveling speed. Consequently, the need to use specially the elastic member having a large elastic force is eliminated and the traveling speed can be increased.

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
A device having the configuration shown in Publication No. 55 has been developed. The moving unit of this intra-pipe traveling device is provided with a substantially tubular elastic contracting body that expands and deforms in diameter by supply of pressurized fluid and generates a contracting force in the axial direction. Attachment members are provided at both ends of this elastic contractile body, respectively. Further, in these attachments, an elastic member is disposed between the members to generate a biasing force in a direction opposite to the direction of contraction and deformation in the axial direction of the elastic contractile body. 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 this pipe running device is used, the moving unit of this pipe running device is inserted into the pipe to be inspected, and an elastic contracting body is fitted 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 moves forward, pressurized fluid is first supplied to the front-side locking member to expand and deform the locking member, and the inner peripheral surface of the pipe into which the moving unit is inserted is applied. Push it against it to lock it. Next, while maintaining this state, pressurized fluid is supplied to the elastic contractile body to expand it in the radial direction (diameter expansion deformation) and at the same time contract it in the axial direction. As the expansion diameter deforms, the attachment on the rear side moves the member forward against the biasing force of the elastic member. At this time, since the elastic member is compressed, energy acting in a direction opposite to the direction of compression deformation is stored in this elastic member.

Next, pressurized fluid is supplied to the rear locking member to lock it, while keeping the front locking member in an inflated and deformed state and the elastic contractible body in an expanded and deformed state. The member is expanded and deformed, and is pressed and locked against the inner circumferential surface of the conduit into which the moving unit is inserted. In this state, the pressurized fluid is discharged from the front side locking member and the elastic contracting body to release the locking of the front side locking member, and at the same time, the elastic contraction body returns to its original shape. Bring it back. In this case, when the locking member on the front side is released, the energy stored in the elastic member is released, so the urging force of the elastic member causes the mounting member on the front side to move forward. is pushed out, causing the front locking member to move forward. By repeating this series of operations, the moving unit of the pipe traveling device moves forward.

In addition, this type of intraductal traveling device is attached to an inspection device in a conduit such as an endoscope insertion section, and while the endoscope insertion section is pulled by this intraductal traveling device, 2. Description of the Related Art A self-propelled pipe inspection device for inspecting the inside of a pipe or the like is known. Here, as a means for attaching the intraductal traveling device to the insertion portion of the endoscope, a structure in which the endoscope insertion portion is fixed to a locking member on the front end side of the intraductal traveling device (for example, Japanese Patent Application No.
258813) is conventionally known.

[Problem to be Solved by the Invention 111 In this type of pipe traveling device, during forward movement, the elastic contracting body is contracted in the axial direction while the front locking member is locked, so that the rear locking member is contracted in the axial direction. While moving the locking member forward, the elastic member is compressed and deformed to accumulate energy acting in the direction opposite to the compressive deformation direction, and then, with the rear locking member locked, By releasing the locking member on the front side, the energy accumulated in the elastic member is released, and the urging force of this elastic member pushes the locking member on the front side forward, and the front side locking member is released. The locking member on the side is moved forward. Therefore, when the endoscope insertion part is fixed to the locking member on the front side of the intraductal traveling device, the force that pulls the endoscope insertion part in the forward direction is due to the biasing force (elastic return force) of the elastic member. Therefore, if the overall length of the endoscope insertion portion is large, a large traction force is required to pull the endoscope insertion portion in the forward direction. In this case, in order to obtain a large traction force, it was necessary to use an elastic member with a large spring force. However, when an elastic member with a large spring force is used, it takes time to supply pressurized fluid to compress the elastic member by a predetermined amount in the axial direction when compressing and deforming the elastic member. Therefore, there was a problem that the traveling speed of this pipe traveling device became slow.

Furthermore, even when a lightweight endoscope insertion section with a relatively short overall length is towed by this intraductal traveling device, a moving unit that uses an elastic member with a large spring force is difficult to compress and deform the elastic member. Since it takes time, there is a problem in that it is difficult to increase the traveling speed of the pipe traveling device.

This invention was made in view of the above-mentioned circumstances, and aims to provide an in-pipe traveling device that does not require the use of an elastic member with a large spring force and can increase the traveling speed. It is something.

[Means for Solving the Problems] This invention deforms elastically in the radial direction by supplying pressurized fluid,
An elastic actuator that generates an elastic force in the axial direction, mountings arranged at both ends of the elastic actuator are members, and these mountings are arranged between the members, and the elastic actuator has an elastic deformation direction in the axial direction. an elastic member that generates a biasing force in the opposite direction; a locking portion that is attached to the member and that is expandable and deformed by supply of pressurized fluid and can be locked to the inner circumferential surface of the conduit; and the elastic actuator. ,
a moving unit constituted by an elastic member, each pair of the attachment members, and a locking portion; a pressurized fluid supply means for supplying pressurized fluid to each of the locking portions and the elastic actuator of the moving unit; Switching and controlling the supply state of pressurized fluid from the pressurized fluid supply means to each of the locking parts and the elastic actuator and the discharge state of pressurized fluid from each of the locking parts and the elastic actuator, a movement control means for moving the moving unit forward or backward by supplying and discharging pressurized fluid to the elastic actuator in accordance with the alternate supply and discharge of pressurized fluid to the locking portion; and a fixing part that is provided on the locking part disposed on the rear side of the pipe and fixes the inspection device in the conduit.

[Function] When the moving unit moves forward, the elastic actuator is contracted in the axial direction with the front locking portion locked to the inner wall surface of the pipe, thereby causing the rear locking portion to engage with the rear locking portion. It is moved forward integrally with the inspection device in the pipe fixed to the stop part, and the elastic member is compressed and deformed to accumulate energy acting in the direction opposite to the direction of compression and deformation in the elastic member. Next, the energy stored in the elastic member is released by releasing the locking part on the front side while the locking part on the rear side is locked on the inner wall surface of the pipe, The urging force of this elastic member pushes the front locking portion forward, causing the front locking portion to move forward. therefore,
The traction force that moves the inspection device in the pipeline forward during the moving operation of the moving unit can be generated by the contraction force in the axial direction of the elastic actuator, and the supply time of pressurized fluid to this elastic actuator can be adjusted. Accordingly, the traveling speed can be adjusted as appropriate depending on the magnitude of the traction load. Furthermore, since the elastic member only needs to generate a relatively small urging force that pushes the locking part on the front side forward, there is no need to use an elastic member with a large spring force. It is possible to aim for

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 4.

FIG. 1 shows a schematic configuration of a moving unit 1 of an in-pipe traveling device according to the present invention. Further, FIG. 2 shows a schematic configuration of a self-propelled pipe inspection device 2 using this moving unit 1. This in-tube self-propelled inspection device 2 includes an endoscope 3.
A moving unit 1 is attached to the distal end of the insertion section 3a of the endoscope 3.

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 rotatably supported by the support member, and the proximal end side of the insertion portion 3a of the elongated endoscope 3 can be freely fed out onto this winding drum. is wrapped in. Further, the main body 5 of the in-tube self-propelled inspection device N2 is provided with an illumination light source device, a video processor, a television monitor, etc. (not shown).

Furthermore, an illumination lens and an objective lens (not shown) are provided at the distal end of the endoscope 3. The front end surface of a light guide fiber disposed inside the insertion section 3a of the endoscope 3 is disposed on the inner surface of the illumination lens, and a solid-state imaging device (CCD) is disposed on the inner surface of the objective lens. ) are placed opposite each other. 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 is irradiated to the outside through the illumination lens, and the observation image focused by the objective lens is solid-state. The signal is converted into an electrical signal by an image sensor, inputted manually by a video processor, and then converted into an image signal to be displayed on a television monitor.

Furthermore, as shown in FIG. 1, the moving unit 1 includes an elastic actuator 6 that is elastically deformed in the radial direction by supply of pressurized fluid and generates an elastic force in the axial direction, and an elastic actuator 6 is provided at each end of the elastic actuator 6. The pair of front and rear attachments that were made are attached to members 7 and 8, and these attachments are arranged between members 7 and 8,
A substantially coil-shaped spring member (elastic member) 9 that generates a biasing force in a direction opposite to the direction of expansion/contraction deformation in the axial direction of the elastic actuator 6, and both attachments are attached to the members 7 and 8, respectively, and the spring member 9 is attached to the member 7. A pair of front and rear balloons (locking portions) 10° and 11 are provided which can be inflated and deformed and locked onto the inner circumferential surface of the conduit. In this case, the mounting elements 7.8 are formed by substantially cylindrical tubes arranged axially apart from each other. Furthermore, each attachment is provided with a fixing part 12, 13 of the elastic actuator 6 at the inner end of the cylinder of the members 7, 8, respectively.

Further, the elastic actuator 6 has an inner cylinder 14 and an outer cylinder 15 formed of an elastic material such as rubber and are arranged substantially concentrically. Both ends of the inner tube 14 and the outer tube 15 are hermetically connected to respective fixing portions 12 and 13 of the member 7.8. An airtight chamber] 6 is formed between the inner cylinder 14 and the outer cylinder 15, and when pressurized fluid is supplied into the airtight chamber 16, the elastic actuator 6 is elastically deformed in the radial direction. , which generates a stretching force in the axial direction.

Further, the spring members 9 are disposed on the outer circumferential surface side of the elastic actuator 6 at appropriate intervals.

Both ends of this spring member 9 are fixed to the outer peripheral surfaces of respective fixing portions 12 and 13 of the pair of front and rear mounting members 7 and 8.

In addition, the front balloon 10 is attached to the outer peripheral surface of the member 7.
For the rear attachment, a rear balloon 11 is fixed to the outer peripheral surface of the member 8, respectively. In this case, each of the front and rear balloons 1o and 11 is attached to members 7 and 8.
Airtight chambers 17.18 are formed between the outer peripheral surfaces of the balloons 10.18 and 17.18, and by supplying pressurized fluid into these airtight chambers 17.18, both balloons 10.11 are expanded and deformed to become the object of inspection. It is possible to lock onto the inner circumferential surface of a suitable pipe H.

Furthermore, an insertion section 3 of an endoscope 3 is provided inside the moving unit 1.
A connecting cylinder 19 is provided to connect the moving unit 1 to the moving unit 1. A male threaded portion 2o is formed on the outer peripheral surface of the rear end portion of this connecting cylinder 19. In addition, for rear mounting, the inner peripheral surface of the member 8 has a female threaded part (
A fixing portion) 21 and a stopper 22 for preventing the moving unit 1 from being removed are formed respectively. In this case, the rear attachment of the stopper 22 is formed by a substantially ring-shaped protrusion projecting inward from the inner peripheral surface of the member 8. The inner diameter of this stopper 22 is set to be smaller than the outer diameter of the outer peripheral surface of the rear end of the connecting cylinder 19. By bringing the rear end of the connecting tube 19 into contact with this stopper 22, the moving unit 1 is prevented from being pulled out.

Further, the front end of the connecting cylinder 19 projects forwardly of the moving unit 1 through the inner cylinder 14 of the elastic actuator 6 of the moving unit 1 and the cylindrical body of the member 7 attached thereto. In case 2, an appropriate gap is formed between the outer circumferential surface of the front end of the connecting tube 19 and the inner circumferential surface of the cylinder of the member 7 for front attachment. It can be slid along. A female threaded portion 23 for fixing the endoscope is formed on the inner circumferential surface of the front end of the connecting tube 19.

Further, the distal end of the insertion section 3a of the endoscope 3 is removably inserted into the connecting tube 19 from the rear side. In this case, a connecting tube 19 is provided on the outer peripheral surface of the distal end of the insertion section 3a of the endoscope 3.
A male threaded portion 24 is formed to be screwed into the female threaded portion 23 of. The male threaded portion 24 of the endoscope 3 is connected to this connecting tube 19.
It is fixed in a screwed state to the female threaded portion 23 of and integrated. Therefore, the insertion section 3 of the endoscope 3
The rear portion a is fixed to a female threaded portion 21 on the inner peripheral surface side of the member 8 via this connecting tube 19.

On the other hand, the tips of air tubes 25, 26, and 27 for supplying pressurized fluid are connected to the airtight chamber 16 of the elastic actuator 6 and the airtight chambers 17, 18 of the front and rear balloons 10, 11, respectively.

The base end sides of each of these air tubes 25, 26, and 27 are equipped with a solenoid valve 28 and a pressure reducing valve 29, respectively, as shown in FIG.
It is connected to a compressor (pressurized fluid supply means) 30 via. In addition, the solenoid valves 28 of each air tube 25, 26, 27 are connected to a sequencer (movement control means) 3, respectively. 16 (inside and before and after) airtight chambers of Kuruno 10 and 11 17.18
Supply status of pressurized fluid into each airtight chamber 16, 17, 18
The internal force and the discharge state of the pressurized fluid are switched and controlled, and the pressure inside the airtight chamber 16 of the elastic actuator 6 is adjusted to alternate supply and discharge of pressurized fluid into the airtight chamber 17.18 of the front and rear balloons 10.11. By supplying and discharging pressurized fluid to and from, movement control for moving the moving unit 1 forward or backward is performed.

Next, the operation of the above configuration will be explained.

First, before the power is turned on to the self-propelled pipe inspection device 2 (when not in use), the pressurized fluid in the airtight chamber 16 of the elastic actuator 6 of the moving unit 1 is discharged to the outside, and the Since the pressurized fluid in the airtight chambers 17 and 18 of each of the nozzles 10 and 11 is also maintained in a state where it is discharged to the outside, in this state, the elastic actuator 6 is moved in the axial direction by the spring force of the spring member 9. The balloons 10 and 11 are stretched and radially contracted in a normal state, and the front and rear balloons 10 and 11 are also held in a radially deflated state. Then, in this state, the distal end of the insertion section 3a of the endoscope 3 is attached to the moving unit 1, and the moving unit 1 is inserted into an appropriate conduit H such as a pipe to be inspected.

In addition, when the moving unit 1 moves forward, the front balloon 1
Only the solenoid valve 28 for 0 is switched, and high pressure air is supplied only to the front balloon 10.

In this state, only the front balloon 10 is inflated and deformed, and the front part of the moving unit 1 is locked to the inner circumferential surface of the conduit H by the pressing force of the front balloon 10.

Next, in this state, the solenoid valve 2 for the elastic actuator 6 is
8 is switched, and high pressure air is supplied to the elastic actuator 6. Therefore, the supply of high-pressure air causes the elastic actuator 6 to elastically deform in the expansion direction and contract in the axial direction against the biasing force of the spring member 9. As the elastic actuator 6 deforms, the rear-mounted member 8 of the moving unit 1 is moved forward integrally with the insertion section 3a of the endoscope 3 fixed to the member 8. The total length of unit 1 is reduced.

At this time, the spring member 9 is compressed as the elastic actuator 6 contracts and deforms in the axial direction.
As the spring member 9 is compressively deformed, energy acting in the direction opposite to the direction of the compressive deformation is accumulated in the spring member 9.

Further, in this state, the electromagnetic valve 28 for the rear balloon 11 is operated to supply high pressure air to the rear balloon 11, and the rear balloon 11 is inflated and deformed. and,
This rear part I (Luno 11 is pressed against the inner peripheral surface of the pipe H,
The rear side of the moving unit 1 is locked to the inner circumferential surface of the conduit H by the pressing force of the rear lug 11.

Further, after the rear balloon 11 is inflated and deformed, the solenoid valve 28 for the front horn 10 is switched and the front balloon 1
The high-pressure air inside 0 is discharged to the outside. Therefore, as the high-pressure air is discharged, the front balloon 10 contracts in the radial direction, and the engagement between the front balloon 10 and the inner circumferential surface of the conduit H is released. Furthermore, when the solenoid valve 28 for the elastic actuator 6 is subsequently switched in this state and the high-pressure air inside the elastic actuator 6 is discharged to the outside, the elastic actuator 6 is caused to radiate by the biasing force of the spring member 9. It contracts and deforms in the direction and expands in the axial direction. in this case,
Since the front balloon 10 of the moving unit 1 is disengaged from the inner circumferential surface of the conduit H, the energy stored in the spring member 9 is released, and the biasing force of the spring member 9 moves forward. The partial attachment pushes the member 7 forward, and the front attachment causes the member 7 to move forward. Then, as the elastic actuator 6 expands and deforms in the axial direction and the spring member 9 elastically returns, the moving unit 1 moves forward in the forward direction using the locked rear balloon 18 as a support point. The moving operation is performed, and the total length of the moving unit 1 returns to its original length (the length when the moving unit 1 is not in use). By repeating this series of operations, the moving unit 1 of the intraductal traveling device is moved forward, and the distal end portion of the endoscope 3 is pulled in the forward direction.

Therefore, in the above configuration, the insertion portion 3a of the inner ff1fi3 is fixed to the female threaded portion 21 on the inner peripheral surface side of the rear mounting member 8 via the connecting tube 19, so that the moving unit 1
An elastic actuator 6 is used to move the distal end of the insertion section 3a of the endoscope 3 in the conduit H forward during the moving operation.
A contraction force ζ in the axial direction of can thus be generated. Therefore, by adjusting the supply time of pressurized fluid to this elastic actuator 6, the magnitude of the traction load t
The traveling speed can be adjusted accordingly. Furthermore, when the spring member 9 is attached to the front, it is only necessary to generate a relatively small urging force that pushes the member 7 forward 1; There is no need to use it for a long time, and it is possible to achieve a high running speed.

In addition, for rear mounting, a female threaded part 21 that screws into the male threaded part 20 of the connection @19 is formed on the inner circumferential surface of the member 8, and a strike/socket/':22 for preventing the moving unit 1 from being removed. When the insertion portion 3a of the endoscope 3 is removably fixed to the internal threaded portion 21 on the inner peripheral surface side of the member 8 via the connecting tube 19, the rear end of the connecting tube 19 is attached to the stopper 22.
By bringing the movable unit 1 into contact with the endoscope 3, it is possible to prevent the moving unit 1 from being pulled out and falling in front of the endoscope 3.

Furthermore, if the threaded engagement between the male threaded part 24 at the tip of the insertion section 3a of the endoscope 3 and the female threaded part 23 of the connecting tube 19 becomes loose, the normal field of view of the endoscope 3 will be restored as shown in FIG. The distal end 19a of the connecting tube 19 enters a part of the range S, and the substantial visual field T of the endoscope 3 decreases as shown in FIG. By decreasing the range T, it is possible to know that the threaded engagement between the male threaded portion 24 at the tip of the insertion portion 3a of the endoscope 3 and the female threaded portion 23 of the connecting tube 19 has loosened.

It should be noted that the present invention is not limited to the above-mentioned embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

[Effects of the Invention] According to the present invention, since the fixing part for fixing the inspection device in the pipe line is provided to the locking part arranged on the rear side with respect to the forward direction of the moving unit, an elastic member with a large spring force can be used. It is not necessary to use a special amount of fuel, and the running speed can be increased.

[Brief explanation of drawings]

Figures 1 to 4 show an embodiment of the present invention.
Figure 1 is a partial cross-sectional side view of the structure of the fixed part between the moving unit and the endoscope insertion part, Figure 2 is a schematic diagram of the entire intraluminal self-propelled inspection device, and Figure 3 is the connection. FIG. 4 is a longitudinal cross-sectional view showing the structure of the connecting part between the tube and the endoscope insertion part, and FIG. 4 is a schematic configuration diagram showing the field of view of the endoscope. 1... Moving unit, 6... Elastic actuator,
7... Front mounting is a member, 8... Rear mounting is a member, 9
...Spring member (elastic member), 10...Front l (L-
Balloon (locking part), 11... Rear balloon (locking part), 2
DESCRIPTION OF SYMBOLS 1... Female thread part (fixed part), 30... Compressor saucer (pressurized fluid supply means), 31... Sequencer (movement control means).

Claims (1)

[Scope of Claims] An elastic actuator that is elastically deformed in the radial direction by supply of pressurized fluid and generates an expansion and contraction force in the axial direction, mounting members disposed at both ends of the elastic actuator, and these mounting members. an elastic member that is disposed between the elastic members and generates a biasing force in a direction opposite to the direction of expansion and contraction deformation in the axial direction of the elastic actuator; a locking part that can be locked to an inner circumferential surface; a moving unit configured by the elastic actuator, the elastic member, and each pair of the mounting member and the locking part; each of the locking parts and the elastic member of the moving unit; a pressurized fluid supply means for supplying pressurized fluid to each of the actuators; a supply state of the pressurized fluid from the pressurized fluid supply means to each of the locking parts and the elastic actuator; The movable unit is moved forward by supplying and discharging pressurized fluid to the elastic actuator in accordance with the alternate supply and discharge of pressurized fluid to each of the locking parts. or a movement control means for moving backward, and a fixing part provided on the locking part disposed on the rear side with respect to the forward direction of the moving unit and fixing the inspection device in the conduit. In-pipe running device.