JPH0386679A - Inside-pipe traveling device using elastic contraction body - Google Patents

Abstract

PURPOSE:To permit the traveling along a curved part having a small radius of curvature by arranging an elastic contraction body which contracts in the axis line direction through the expansion deformation by the supply of the pressurized fluid, between a plurality of supporting members, and operating the supporting members by a control cable. CONSTITUTION:Each contraction force is generated alternately on the elastic contraction bodies 12 and 13 by supplying and discharging the pressurized fluid alternately into the elastic contraction bodies 12 and 13 arranged between at least three supporting members 14 - 16. The pressurized fluid is supplied and discharged from the engaging means 21 - 23, which are expanded and engaged with the inner peripheral surface of a pipe member, or the engagement is released by contracting the engaging means, and the device is advanced or retreated along the inner peripheral surface of the pipe. When the projection parts cross nearly at right angles or the traveling along the crossing part in a large angle is performed, a control cable 24 whose one edge is fixed to the supporting member 14 positioned in the front part in the advance direction is operated, and the elastic contraction body 12 and the elastic member 18 are advanced along the crossing part by the large curve along the piping part.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention is characterized by alternately supplying and discharging pressurized fluid to an elastic contractile body that expands and deforms in diameter by supplying pressurized fluid and generates a contractile force in the axial direction. This invention relates to an in-pipe traveling device that can travel straight or curved.

(Prior Art) The applicant previously proposed an intra-pipe traveling device using an elastic contractile body in Japanese Patent Application Laid-Open No. 63-91555.

This traveling device shown in FIG. 7 has locking means 6 disposed on a support member 4 that respectively supports both ends of the elastic contractile body 2 in accordance with the supply and discharge of pressurized fluid to and from the elastic contractile body 2. The actuator can be alternately inflated and engaged with the inner circumferential surface of the pipe to perform forward and backward motion, and since the actuator uses an elastic contractile body of air bang tights, it can be driven by an electric motor or a hydraulic motor. Compared to other conventional pipe traveling devices using pipes, the device has many features such as being smaller and lighter in weight and shape, and having excellent explosion-proof properties. Note that reference numeral 8 denotes an elastic member disposed between the support members, which is restored and expanded by discharge of pressurized fluid from the elastic contractile body to push out or pull the support members.

(Problems to be solved by the invention) However, this pipe running device using an elastic contractile body,
It is mainly intended to run in a straight pipe interior section or a curved section with a relatively large radius of curvature, and it is designed to run in a section where the pipe materials are almost perpendicular to each other, such as a cross branch section or a T-shaped branch section. If the vehicle is in a bent part or a part with a small radius of curvature, the vehicle cannot run.

Furthermore, even if the pipe materials intersect at a relatively shallow angle, it is difficult to sufficiently engage either one of the locking means 6 with the inner circumferential surface of the pipe, making it difficult to ensure reliable running. There is also a problem.

The present invention has been made in view of these problems, and provides a system for running inside and outside a pipe that can run along a curved part with a relatively small radius of curvature without sacrificing its characteristics of being small, lightweight, and excellent in explosion-proof properties. Its purpose is to provide equipment.

(Disclosure of the Invention) To achieve this object, the device of the present invention includes at least three support members arranged apart from each other, and at least two locations between the support members,
An elastic contracting body that expands and deforms in diameter by supply of pressurized fluid to generate a contractile force in the axial direction, an elastic member that applies a force to counter the contractile force of the elastic contractible body, and a support member related to the elastic contractible body are respectively disposed. A locking means capable of engaging with the inner circumferential surface or outer circumferential surface of the pipe to be inflated by supply of pressurized fluid and traveling, and a cable having one end fixed to a support member located forward in the direction of travel. The vehicle is equipped with a control cable, and is capable of traveling straight or curved by supplying and discharging pressurized fluid to the elastic contracting body in accordance with the alternate supply and discharge of pressurized fluid to each locking means and by operating the control cable.

(Function) By alternately supplying and discharging pressurized fluid to each elastic contractile body disposed between at least three supporting members, a contractile force is alternately generated in each elastic contractile body, and the elastic contraction force is generated alternately. By supplying and discharging pressurized fluid to and from the locking means in accordance with the application of pressurized fluid to the body, the locking means is inflated to engage the inner circumferential surface of the pipe material, or contracted to release the engagement, thereby allowing the device to be connected to the piping. It can be moved forward or backward along the inner peripheral surface.

In addition, when traveling along a part where the piping parts are almost perpendicular or intersect with each other at a large angle, when the traveling device reaches such an intersection, one end of the pipe is attached to a support member located forward in the direction of travel. can be advanced along the intersection by manipulating the control cable to which the control cable is fixed and causing the elastic contracting body and the elastic member associated with the support member located in the front to largely curve along the piping section.

Note that it is possible to retreat the device by discharging the pressurized fluid from each locking means to release the engagement with the pipe material and inner circumferential surface, and by pulling back the supply/discharge pipe and control cable that supply and discharge pressurized fluid to and from the device. can. Further, the supply and discharge of pressurized fluid to and from the elastic contracting body and the locking means can be changed in various ways, and are not limited to the above description.

(Embodiments) Preferred embodiments of the present invention will be described in detail below with reference to the drawings. In order to simplify the explanation, the apparatus shown in this embodiment will be described as having three supporting members and an elastic contractile body disposed between each of the supporting members.

FIG. 1(a) shows an in-pipe traveling device 10 according to the present invention placed in a pipe, and 12.13 denotes an elastic contracting body.
14.15 and 16 are supporting members that respectively support both ends of these elastic contraction bodies, 18.19 is a compression spring, which is an example of an elastic member, disposed between these supporting members, and 21.22 Reference numeral 23 indicates a locking means fixed to each supporting member, and 24 indicates a control cable. One end of the control cable 24 passing through the supporting members 15 and 16 in the axial direction is shown in the figure. It is fixed to the end face of the support member 14 located forward in the direction of movement indicated by arrow A.

The air-bang type elastic contracting bodies 12 and 13 used in the apparatus shown in this embodiment are tubular bodies made of rubber or rubber-like elastic material, preferably high-tensile fibers, such as aromatic boria centrifugal fibers (Kevlar). The structure is covered with a braided reinforced structure, and the openings at both ends are sealed together with a closing member, and at least one of the closing members has a
It has a structure in which a connecting hole is provided that communicates with the internal space of the tubular body.

The braided reinforced structure has a braided structure that reaches a so-called rest angle (54° 44') when the tubular body expands at its maximum diameter due to the application of pressurized fluid to the internal space of the tubular body. , the initial braid angle θ is preferably selected within the range of 10° to 25°.

Note that by integrally fixing the tubular body and the braided reinforcing structure to the closing member from the outside using a caulking cap, it is configured to reliably prevent these members from falling off from the closing member.

This elastic contracting body (1
2, 13) connects a conduit containing a three-way valve connected to an operating pressure source (not shown), such as an air compressor, to the internal space 26 of the elastic contracting body via a suitable connector (not shown).
When pressurized air is applied to each, the diameter expands and a contraction force is generated in the axial direction.

On the other hand, if the compressed air is discharged from the internal space of the elastic contraction body, the elastic force of the tubular body causes it to restore and expand.

Support members 14, 15 and 16 shown in FIGS. 3(a), 3(b) and 3(c) are attached to both ends of each elastic contractile body.
is fixed.

In this embodiment, the substantially cylindrical support member 14 located at the front in the direction of travel is connected to the end of the elastic contractile body 12 located at the front in the direction of travel, as shown in FIG. 3(a). In order to facilitate fixation, there is a female threaded portion 30 that is screwed into the male threaded portion 28 formed on one of the closing members of the elastic shrinkable body 12, and a housing portion 32 that accommodates the caulking cap portion of the elastic shrinkable body. Equipped with.

On the other hand, as shown in FIG. 3(b), a support member 16 that supports one end of another elastic contractile body 13 located at the rear in the traveling direction
The housing part 36 is also cylindrical in shape, and houses the caulking cap portion at one end of the elastic contraction weight 3 and penetrates in the axial direction.
Equipped with. Then, by screwing and holding a connecting tool as shown by the imaginary line in FIG. If it is configured to be integrally attached to the elastic contracting body, the assembly can be made easy.

The mutually opposing ends of the elastic contracting bodies 12 and 13 are connected to each other via a support member 15, and the roughly cylindrical support member 15 has an elastic A mutually spaced-apart storage section 38 that accommodates each end of the elastic contraction bodies 12 and 13, and a female screw section that is coaxially opened to the storage sections and into which the male thread section of each elastic contraction body end is screwed. 39, and an elastic contractile body 12 located at the front in the traveling direction.
A through hole 40 to which a supply/discharge pipe for supplying and discharging pressurized fluid is connected, and another through hole (
(not shown) and another communication hole 42 that opens on the outer surface of the support member 15. These support members 14 to 16 are preferably formed of a lightweight and rigid material so as not to impair the light weight characteristic of the elastic contractile body, but it is of course possible to use a metal material.

By the way, locking means 21 to 23 which are inflated by supply of pressurized fluid are arranged on the outer peripheral surfaces of the supporting members 14 to 16, respectively.The locking means 21 and 23 are shown in phantom lines in FIG. As described above, a tubular body 44 made of rubber or rubber-like elastic material is attached to the outer peripheral surface of the support member 14 or 16, respectively,
One end of the tubular body is fixed by caulking from the outside using a caulking ring 46. Next, the tubular body is reversed, its free end is attached to the support member 14 or 15 again, and it is caulked from the outside with another caulking ring 47 to connect the communication hole formed in each support member to the tubular body 44 or 15. It has a configuration in which it opens into a space defined by the support member.

On the other hand, the locking means 22 formed on the outer circumferential surface of the support member 15 allows the tubular body 45 made of rubber or rubber-like elastic material to be attached to the support member 15 as shown by the imaginary line in FIG.
attached to the outer circumferential surface of the 48.4
8 is used for caulking, and a communication hole 42 is opened in a space defined by the tubular body 45 and the support member 15. Note that the number and locations of the communication holes for supplying and discharging pressurized fluid into and out of these spaces can be increased or decreased as necessary.

In this embodiment, the locking means 21 to 23 are formed of a tubular body such as rubber or a rubber-like elastic material. It is also possible to use a tubular body provided on its outer surface with a reinforcing layer, and a highly flexible cover that does not restrict movement during inflation. Of course, it is also possible to use a tubular body in which a reinforcing cord layer is embedded parallel to the axial direction of the support member without affecting the expansion and diameter deformation.

Incidentally, there is a gap between the support members 14 and 15 and 15 and 16 that support both ends of the elastic contraction bodies 12 and 13, respectively, when pressurized fluid is supplied to the internal spaces of the elastic contraction bodies 12 and 13. While being elastically deformed by the support members approaching each other due to the contraction force, the elastic contraction bodies 12 and 1
Elastic members 18 and 19 are provided, respectively, which can separate the support members 14 and 15 and 15 and 16 from each other by releasing elastic energy as the contraction force decreases due to discharge of the pressurized fluid from the support members 18 and 19.

In this embodiment using compression springs 18 and 19 as examples of elastic members, rims are formed at mutually opposing ends of each support member in order to facilitate attachment to the support member.

Then, one end of the control cable 24 that extends through the support members 16 and 15 in the axial direction is connected to the end of the control cable 24 shown in FIG.
), it is fixed to the end face of the support member 14 located at the front in the direction of travel. Preferably, a plurality of control cables 24 are provided, and by arranging them at equal intervals in the circumferential direction of the support member 14, the direction control of the support member 14 and, by extension, the traveling device is performed more reliably. be able to. Here, the control cable 24 is composed of a cable and an outer casing that guides the cable, and the cable disposed inside the outer casing allows force to be transmitted smoothly.

In this embodiment, in order to smoothly run the movement inside the pipe, the caulking rings 47 and 48 constituting each of the locking means 2L22 and 23 are provided with the following features, as shown in FIG. 1(a).
A transfer means, for example, a roller 50 that can roll along the inner circumferential surface of the pipe to be run is provided.

Note that the outer diameter of the traveling device shown in this embodiment including the transfer means 50 is the same as that of the locking means 21 to 2 which are inflated by the supply of pressurized fluid.
It shall be set so that it is smaller than the outer diameter or pipe inner diameter of 3, and larger than the outer diameter of the device including the locking means that contracts when pressurized fluid is discharged, and the number and location of the transfer means to be installed shall be set according to the device. It can be determined based on the specifications of
The invention is not limited to this example.

Then, by setting the axial dimension of each elastic contracting body, which has contracted by about 20% in the axial direction when pressurized fluid is applied, to be larger than the inner diameter d of the pipe material through which the traveling device crosses, the traveling device can move. It can be made certain.

Next, the operation of the device of the present invention will be explained.

FIG. 1(a) shows an in-pipe traveling device 10 of the present invention disposed in a pipe to be traveled, and arrow A indicates the traveling direction thereof. The reference numeral 52 is a supply/discharge pipe for supplying and discharging pressurized fluid to the elastic contracting bodies 12 and 13 and the locking means 21 to 23.
It includes valve means for controlling supply and discharge of pressurized fluid, such as a three-way valve, and is connected to a source of operating pressure.

If it is desired to move the traveling device continuously forward or backward beyond the intersection of pipes, the following three steps may be repeated in sequence.

In step 1, pressurized fluid is alternately supplied and discharged to the locking means 21 and 23, and pressurized fluid is simultaneously supplied and discharged to the elastic contracting bodies 12 and 13, and the locking means 22 is supplied with and discharged from the pressurized fluid. No pressure fluid shall be applied.

Specifically, the locking means 21 is supplied with pressurized fluid to inflate and engage with the inner circumferential surface of the tubing, while the locking means 23 is elastically contracted without discharging or applying pressurized fluid. Body I
When pressurized fluid is applied to 2 and 3, both elastic contracting bodies contract and draw the supporting part mold 6 toward the locking means 21. In this case, the elastic members 18 and 19 are connected to both locking means 21 and 23, that is to say to the support member 14 with which they relate.
and 16 will be compressed as the relative distance between them decreases.

Therefore, pressurized fluid is applied to the locking means 23 located at the rear in the direction of travel to inflate it and engage the inner peripheral surface of the pipe, and then the pressurized fluid is discharged from the locking means 23 located at the front. When the engagement with the inner circumferential surface of the tube is released and the pressurized fluid is discharged from both elastic contracting bodies, the support member 14 associated with the locking means 21 advances due to the restoring expansion of the elastic members 18 and 19 and the elastic contracting bodies. Move forward by being pushed forward. In this case, it should be noted that the distance that the support member 14 is pushed out is equal to the sum of the amount of restoration of each of the elastic contraction bodies 18 and 19, and is approximately twice that of a single elastic contraction body. .

Then, pressurized fluid is supplied and discharged to and from the locking means 21 associated with the supporting member 14 that has been pushed forward to engage the inner circumferential surface of the tube material again, and the pressurized fluid is discharged from the locking means 23 so that the locking means 21 is connected to the tube material. The engagement with the peripheral surface is released and step 1 is completed. This situation is schematically shown in FIG. 1(b).

In step 2 following step 1, the locking means 21
．． A pressurized fluid shall be applied to 22 as well as the elastic contractile body 12.

The locking means 21 is in an expanded state when the pressurized fluid is applied at the end of step 1, so when the elastic contracting body 12 is supplied with the pressurized fluid and contracted against the elastic member 18, the pressurized fluid is released. The support member 15 associated with the locking means 22 in the ejected state, and also the support member 1 associated with the locking means 23
Pull 6 forward in the direction of travel.

Therefore, when pressurized fluid is supplied to the locking means 22 to engage the inner peripheral surface of the pipe, the pressurized fluid is discharged from the locking means 21, and then the pressurized fluid is discharged from the elastic contractile body 12. Due to the restoring expansion of the elastic contraction body 12 and the elastic member 18, the support member 14 associated with the locking means 21 is pushed forward, and step 2 is completed. This situation is schematically shown in FIG. 1(C).

In step 3 following step 2, the locking means 22, 23
In addition, pressurized fluid is applied to the elastic contractile body (3).

After step 2 is completed, when pressurized fluid is supplied to the elastic contracting body 13 and the elastic member 13 is contracted against one elastic member, the locking means 22
is engaged with the inner circumferential surface of the tube material, so the support member 16 associated with the locking means 23 is drawn forward in the traveling direction.

Therefore, pressurized fluid is supplied to the locking means 23 to engage the inner circumferential surface of the pipe, while the pressurized fluid is discharged from the locking means 22 to release the engagement and apply pressure from the elastic contracting body 13. When the fluid is discharged, the elastic contraction body 13 and the elastic member 19 are restored and expanded, so that the support member 15 associated with the locking means 22 and, in turn, the support member 14 associated with the locking means 21 are pushed forward, and step 3 is completed. finish. This situation is schematically shown in FIG. 1(a).

By the way, when this traveling device is to travel along a greatly curved piping section or an almost orthogonal intersection, the control cable 24 can be operated appropriately, and this operation is shown in FIG. .

FIG. 5(a) shows how the traveling device moves forward in step 3 based on the operation of the locking means 22 and 23 and the elastic contracting body 13 associated with the locking means.
Corresponding to the push-out operation of the locking means 22 and the supporting members 15 and 14 associated with the locking means 21 due to the elastic member 19 being extended laterally, the control cable 24a located on the inside in the bending direction is restrained from coming out, while the bending It is sufficient to let out the control cable 24b located outward in the direction in accordance with the pushing operation. Due to this, the traveling device 1
The forward direction of 0 can be changed by approximately 90 degrees.

Then, by repeating steps 1 to 3 described above, it is possible to move forward along the traveling direction. Of course,
It is also possible to select any of these steps 1 to 3 and perform each step individually.

In the above-mentioned embodiment, the case where the device is run by sequence control has been described, but as shown in FIG. One end of a flexible support piece is fixed, and a roller 50 serving as a transfer means is rotatably attached to the other end, and a switch 54 for sensing deformation of the support piece is provided, so that the inner peripheral surface of the pipe and the roller are rotatably attached. Based on the signals from these switches, it is determined whether each elastic contraction body and locking means can function, and the supply and discharge of pressurized fluid is and/or control cables.

Note that the present invention is not limited to these embodiments, and a camera that provides visual information is attached to a support member located forward in the direction of travel, and the direction of travel of the device is determined based on video information from the camera. It is also possible to make adjustments and inspect the inside of the piping. Of course, the number of supporting members and locking means can be increased as required, and in that case, reliability against failure will also be improved.

(Effects of the Invention) Thus, according to the present invention, the curvature of the pipe portion is small and the angle formed by the intersection of the pipes is 9.
To obtain an in-pipe traveling device that can sufficiently travel even when crossing at a small angle of 0° or less.

[Brief explanation of drawings]

FIG. 1(a) is a diagram showing the pipe running device of the present invention, FIG. 1) and (C) are diagrams respectively showing the operation of the device shown in FIG. 1(a), and FIG. FIGS. 3(a) to 3(C) are cross-sectional views of the support member of the device shown in FIG. 4. Figures (a) and (b) are explanatory diagrams showing how the locking means is arranged on the support member, and Figures 5 (a) and (b) are illustrations of how the device shown in Figure 1 is attached along the intersection. FIG. 6 is a diagram showing another embodiment of the device of the present invention, and FIG. 7 is a diagram showing a conventional pipe traveling device. 10-Pipe traveling device 12.13-Elastic contraction body 14~
16.-Support member 18.19...-Elastic member 21~
23 - Locking means 24 - Control cable 50 - Rolling means 3rd♂ (a) (b) 6 Fig. 3 (C) Fig. 5 (a) Fig. 5 4b)

Claims (1)

[Claims] 1. At least three support members arranged at a distance from each other, each disposed at at least two locations between the support members, and expanded and deformed in diameter by supply of pressurized fluid to generate a contraction force in the axial direction. An elastic member that applies a force to counter the contractile force of the elastic contractile body, and a support member related to the elastic contractile body are respectively disposed, and are inflated by the supply of pressurized fluid to the inside of the pipe to be run. a locking means that engages the peripheral surface;
and a control cable having one end fixed to a support member located forward in the direction of travel, and pressurized fluid to each elastic contractile body in accordance with alternate supply and discharge of pressurized fluid to each locking means. An in-pipe traveling device characterized by being capable of running straight and curved by supplying and discharging water and operating a control cable.