JPH04183670A - In-piping traveling device - Google Patents

Abstract

PURPOSE:To hold a traveling unit stable at when it stops moving by providing locking parts which are expanded to be deformed by pressure fluid so as to stop on a piping line inner peripheral surface, on both sides of an elastic actuator which is elastically deformed in a diametrical direction by pressure fluid and generates expanding/ contracting force in a shaft line direction. CONSTITUTION:While a traveling unit 1 is going forward, high pressure air is supplied only to a front balloon 17 through an electromagnetic valve 29, and the front part of the traveling unit 1 is locked at the inner peripheral surface of a piping line H by contact-pressure of expanding-deformation. Next, electromagnetic valves 26-28 are switched, high pressure air is supplied to respective elastic actuators 8... to expand the diameter of the elastic actuators 8..., and the elastic actuators 8... are contracted in a shaft line direction against a compression coil spring 12 to pull a rear part side locking unit 14 forward. Then high pressure air is supplied to the rear balloon 18 through an electromagnetic valve 30, and the rear balloon is expanded to be deformed and made to come into pressure-contact with the inner peripheral surface of the piping line H. Then a front balloon 17 is contracted in a diametrical direction, the elastic actuators 8... are expanded, and a series of actions are repeated thereafter to make the traveling unit 1 go forward.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This 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 self-propelled. 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 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 compressed. 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. The mounting on the rear side causes the member to move forward as the member expands and deforms.

Next, pressurized fluid is supplied to the rear locking member while the front locking member is held in an inflated and deformed state and the elastic contractible body 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 contracting body, the elastic contracting body is elastically returned to its original shape by the biasing force of the elastic member, and the front side installation is completed. Move the member forward.

By repeating this series of operations, the moving unit of the pipe traveling device moves forward.

In addition, when the moving unit of the intra-pipe traveling device moves backward, pressurized fluid is first supplied to the locking member on the rear side to expand and deform the locking member, and the inner circumferential surface of the pipe into which the moving unit is inserted. After pressing and locking the elastic contracting body, pressurized fluid is supplied to the elastic contracting body to expand and deform the elastic contracting body, and as the elastic contracting body expands and deforms, the mounting on the front side While moving backward, pressurized fluid is then supplied to the front side locking member to expand and deform the locking member, and the moving unit is pressed against the inner peripheral surface of the conduit into which the moving unit is inserted and locked. Then, in this state, pressurized fluid is discharged from the locking member and elastic contracting member on the rear side, so that the elastic contracting member is elastically returned to its original shape by the biasing force of the elastic member. Operate backwards.

By repeating this series of operations, the moving unit of the pipe traveling device is moved backward.

[Problems to be Solved by the Invention] In the conventional configuration described above, pressurized fluid is sequentially supplied and discharged to and from the locking member and the elastic contractile body of the moving unit of the intra-pipe traveling device at appropriate timings to move the moving unit. It was made to perform forward motion or backward motion. However, when carrying out work such as observing a corroded portion of a pipe wall surface in detail, for example, there is no control for stopping the moving unit. Therefore, when the stopping operation is performed, there is a possibility that the pressurized fluid in the locking member is inadvertently discharged and the locking is released.

In particular, since there is a risk that the device may fall in a conduit that extends in the vertical direction, there is a problem in that the moving unit must be observed without stopping.

This invention was made in view of the above-mentioned circumstances, and it is possible to stably hold the moving unit when the moving unit stops moving, and when the moving unit is run in a conduit extending in the vertical direction. It is an object of the present invention to provide an in-pipe traveling device that can freely and safely stop the movement of a moving unit in the middle of a moving operation.

[Means for Solving the Problems] This invention deforms elastically in the radial direction by supplying pressurized fluid,
A moving device equipped with an elastic actuator that generates an elastic force in the axial direction, and a locking part that is installed on both sides of the elastic actuator and can be expanded and deformed by supply of pressurized fluid and can be locked in pressure contact with the inner surface of the pipe. a pressurized fluid supply means for supplying pressurized fluid to each of the locking portions and the elastic actuator of the moving unit; The elastic actuator switches and controls a supply state of pressurized fluid and a discharge state of pressurized fluid from each of the locking parts and the elastic actuator, and adjusts the supply and discharge of pressurized fluid to each of the locking parts alternately. a movement control means that moves the moving unit forward or backward by supplying and discharging pressurized fluid to the moving unit; and a movement control means that is connected to the movement control means and outputs a stop signal that stops the movement of the moving unit during the moving operation of the moving unit. a stop signal output section, and when a stop signal from the stop signal output section is input, pressurized fluid is supplied to at least one of the locking sections of the moving unit, and at least one of the locking sections is expanded and deformed. and a moving unit fixing means for fixing the moving unit to the inner circumferential surface of the pipe in a press-contact state.

[Function] During movement of the moving unit, the movement control means controls the supply state of pressurized fluid from the pressurized fluid supply means to each locking part and elastic actuator of the moving unit, and the pressurization from each locking part and elastic actuator. The movable unit is moved forward or backward by switching and controlling the fluid discharge state and supplying and discharging pressurized fluid to the elastic actuator in accordance with the alternate supply and discharge of pressurized fluid to each locking portion. Furthermore, during the movement of the moving unit, if a stop signal to stop the movement of the moving unit is output from the stop signal output section, pressurized fluid is supplied to at least one of the engaging parts of the moving unit by the moving unit fixing means. By expanding and deforming at least one of the locking portions and fixing the moving unit in pressure contact with the inner peripheral surface of the pipe, the moving unit is held stably when the moving unit stops moving, and the moving unit is extended in the vertical direction. Even when the mobile unit is traveling in a conduit where the mobile unit is moved, the movement of the mobile unit can be freely and safely stopped in the middle of the movement operation.

[Embodiment 1] A first embodiment of the present invention will be described below with reference to FIGS. 1 to 17.

FIG. 1 shows a schematic configuration of a moving unit 1 of an in-pipe traveling device according to the present invention. Further, FIG. 2A shows a schematic configuration of an in-pipe self-propelled inspection device 2 using this moving unit 1, and FIG. 2B shows an external appearance of the in-pipe self-propelled inspection device 2. This in-tube self-propelled inspection device 2 includes an endoscope 3.
is provided.

The 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 includes a support member 4a and a winding drum 4b rotatably supported by the support member 4a.
Or is provided. Then, the insertion section 3 of the long endoscope 3
The proximal end of a is wound around the winding drum so that it can be freely fed out.

Furthermore, the main body 5 of the self-propelled pipe inspection device 2 includes a light source device 5 a s video brosé saucer 5 as shown in FIG. 2B.
b, a television monitor 50, etc. are provided. Also,
An illumination lens and an objective lens (not shown) are attached to 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 opposite to the inner surface of the illumination lens. A solid-state image pickup device (CCD) is arranged opposite to the inner surface of the objective lens.

Illumination light emitted from the light source device 5a is guided to the distal end side of the endoscope 3 through the light guide fiber, and is irradiated to the outside from the illumination lens.

Further, the observed image focused by the objective lens is converted into an electrical signal by a solid-state image sensor, inputted to the video processor 5b, and then converted to an image signal and displayed on the television monitor 5C.

Further, as shown in FIG. 3, the moving unit 1 is provided with a pair of frames 6.7 that are spaced apart and facing each other in the axial direction of the moving unit 1.
In between, there is a substantially cylindrical 3 extending substantially parallel to the axial direction of the moving unit 1.
Contractible elastic actuators 8... are arranged in parallel. Both ends of these elastic actuators 8 are connected to each other while being arranged at equal intervals on the same circumference of the inner end surface of the frame 6.7.

As shown in FIG. 4, each elastic actuator 8 is provided with a tubular body 9 made of an elastic material such as rubber. This tubular body 9 is covered by a braided reinforcing structure 10, preferably formed generally in the form of a tube, of high-tensile fibers. Furthermore, the openings at both ends of the integral structure consisting of the tubular body 9 and the braided reinforcement structure 10 are sealed by closing members 11. Each elastic actuator 8 is elastically deformed in a state in which it expands in the radial direction by supplying pressurized fluid into the tubular body 9, and generates a contraction force in the axial direction.

Furthermore, one compression coil spring (biasing member) 1 is provided between the frames 6 and 7 of the moving unit 1 to generate a biasing force in a direction opposite to the direction of contraction and deformation in the axial direction of each elastic actuator 8.
2 are arranged. Both ends of this compression coil spring 12 are fixed to the inner surface of the frame 6.7,
Three elastic actuators 8 are arranged within the coil of this compression coil spring 12.

Furthermore, locking units 13 and 14 are provided at both front and rear ends of the moving unit 1, respectively.

In this case, the front frame 6 is provided with a substantially cylindrical connecting portion 15 protruding toward the front of the moving unit 1, and the rear frame 7 is provided with a substantially cylindrical connecting portion 15 protruding toward the rear of the moving unit 1. A substantially cylindrical connecting portion 16 is provided. Approximately cylindrical balloons (locking portions) 17.degree. 18 made of an elastic material such as rubber are attached to the outer peripheral surfaces of these connecting portions 15.degree.

Then, by supplying pressurized fluid to the inside of these balloons 17, 18, the locking unit 13. expands and deforms each balloon 17, 18 and locks it in pressure contact with the inner circumferential wall surface of the pipeline H to be inspected. 14 are formed respectively.

Further, a hard member 1 is provided on the outer end side of each connecting portion 15,16.
9.20 are installed respectively. The outer diameter of these hard members 19.20 is larger than the outer diameter of balloon 17.18 when deflated, and the outer diameter of balloon 17.1 when expanded and deformed.
The size is set to be smaller than the outer diameter dimension of No.8. Note that the frame 6.7 of the moving unit 1 and the rigid member 1
An insertion hole for the endoscope 3 is formed in each central portion. The distal end of the endoscope 3 is inserted into the respective insertion holes of the frame 6.7 and the hard member 19.20, and is inserted into the connecting portion 15 of the front frame 6, for example.
and the endoscope 3 are mechanically fixed by appropriate fixing means.

Further, the tips of air tubes 21a, 21b, 21c, 22.degree. 23 for supplying pressurized fluid are connected to the three elastic actuators 8... and the front and rear balloons 17, 18, respectively. The tip of the air tube 22 for the front balloon 17 passes through a communication port provided in the connecting portion 16 of the frame 7 on the rear side and extends to the frame 6 on the front side, and is further provided on the frame 6. It is connected to one end of the communication path. The other end of this communication path is connected to the inside of the front balloon 17.

In addition, the air tube 2 for the elastic actuator 8...
1a, 21b, 21c tip and rear balloon 18
The distal end portions of the air tubes 23 also pass through communication ports provided in the connecting portions 16 of the frame 7 on the rear side, and are connected to the elastic actuators 8 . . . and the rear balloon 18, respectively.

Furthermore, an air tube 23 for the rear balloon 18 and an air tube 21a for the elastic actuator 8,
At 21b and 21c, there is a family celebration i1 behind mobile unit 1!
A winding part 24 having a predetermined length is formed around the insertion part 3a of No. 3, which is integrally wound in a substantially coil shape at a constant interval. In this case, the air tube 22 for the front balloon 17 is maintained in a substantially linear shape also at the rear portion of the moving unit 1. The air tube 22 is inserted into the winding section 24 together with the insertion section 3a of the endoscope 3.

In addition, three elastic actuators 8... and each air tube 21a, 21 for the front and rear balloons 17, 18.
b, the proximal end sides of 21C, 22, and 23 are bundled at the terminal position of the winding part 24 as shown in FIG. 5, and this tube bundle is covered with a protective tube 25 as shown in FIG. . And each of these air tubes 21 a,
21 b, 21 c.

22. The base end of 23 is the first elastic actuator 8 in the pressurized air supply path switching control section 25 shown in FIG.
．． Second. a third solenoid valve 26, 27, 28, a fourth solenoid valve 29 for the front balloon 17, a fifth solenoid valve for the rear balloon 18;
The solenoid valves 30 are connected to each other.

Moreover, FIG. 8 shows an example of the first to fifth electromagnetic valves 26 to 30. These first to fifth solenoid valves 26 to 3
0 is each of the first to third ports a.

b and c are provided respectively. As shown in FIG.
As shown in FIG. A 2-position, 3-boat electromagnetic switching valve in which port a and a second port b are connected and can be switched between the first port a and the third port c or a second position where they are blocked. is formed by.

Furthermore, air tubes 21a and 21b are connected to the first ports a of the first to fifth solenoid valves 26 to 30.

21 (, 22, and 23 are connected to each other. Also, the second ports b of the first to fifth electromagnetic valves 26 to 30 are connected to branch pipes 31a, 31b, and 31b for pressurized fluid supply. 31
c, 31d, and 31e are connected to each other at one end. In this case, the other ends of the branch pipes 31a, 31b, 31c are connected to one common connection pipe 32, and the other ends of the branch pipes 31d, 31e are connected to the other common connection pipe 32.
3 are connected to each other. These connecting pipes 32.
33 are respectively provided with pressure reducing valves 34 and 35 that maintain the pressurized fluid in the pipes at a constant pressure. Furthermore, the tips of these connecting pipes 32 and 33 are connected to a pressurized fluid supply device (
pressurized fluid supply means) 36, respectively. Further, the third ports C of the first to fifth solenoid valves 26 to 30 are opened to the atmosphere.

On the other hand, FIG. 1O shows a control circuit of the mobile unit 1, and 37 is a control device. This control device 37 includes a start switch 38, a stop switch (stop signal output section) 39,
A forward/reverse changeover switch 40 is connected to each.

In this case, the stop switch 39 outputs a stop signal to stop the moving operation of the moving unit 1 during the moving operation.

Further, the forward/backward movement selector switch 40 outputs a switching signal for switching the direction of movement of the moving unit 1 between the forward direction and the backward direction.

Furthermore, this control device 37 includes first to fifth solenoid valves 26.
~30 are connected to each other. Then, these first to
The fifth electromagnetic valves 26 to 30 are each controlled to be switched.

Further, this control device 37 is provided with an input determination section 41, a forward/backward movement control section (movement control means) 42, and a stop control section (moving unit body fixing means) 43, respectively. Here, the input determination unit 41 includes the start switch 38 and the stop switch 3.
9 and the operating state of the forward/reverse changeover switch 40.

Further, the forward/reverse motion control section 42 controls the operations of the first to fifth electromagnetic valves 26 to 30 when the start switch 38 and the forward/reverse changeover switch 40 are operated based on the determination result from the input determination section 41. .

The forward and backward movement control unit 42 controls the supply state of pressurized fluid from the pressurized fluid supply device 36 to each balloon 17, 18 and elastic actuator 8, and each balloon 17.
．． 18 and the discharge state of pressurized fluid from the elastic actuators 8..., each balloon 17, 18
By supplying and discharging pressurized fluid to the elastic actuators 8 in accordance with the alternate supply and discharging of pressurized fluid to the
It is designed to control the movement forward or backward.

Further, the stop control unit 43 controls the first to fifth positions when the stop switch 39 is operated based on the determination result from the human power determination unit 41.
The operation of the electromagnetic valves 26 to 30 is controlled. That is, during the moving operation of the moving unit 1, the stop switch 39
is turned on and a stop signal is output to stop the movement of the mobile unit 1. This stop signal is input to the stop control section 43, and the stop control section 43 controls both balloons 17 and 18 of the mobile unit 1. Pressurized fluid is supplied to each of the balloons 17 and 18 to expand and deform the balloons 17 and 18 in the radial direction, thereby controlling the moving unit 1 to be fixed in pressure contact with the inner circumferential wall surface of the pipeline H to be inspected. There is.

Next, the operation of the above configuration will be explained with reference to the flowcharts of FIGS. 12A to 12D arranged as shown in FIG. 11.

First, before turning on the power to the pipe self-propelled inspection device 2 (when not in use), the first to fifth solenoid valves 26 to 30 are all switched to the first position as shown in FIG. state (
The first port a and the third port C are connected, and the first port a and the second port b are kept disconnected. In this state, the pressurized fluid in each elastic actuator 8 of the moving unit 1 is transferred to the connecting portion between each first port a and third port c of the first to third solenoid valves 26 to 28. Similarly, the pressurized fluid in each of the front and rear balloons 17. Since it is maintained in a state where it is discharged to the outside via the connecting portion between each first port a and third port C of the fifth solenoid valve 29, 30, it is shown in FIG. 13(a). As shown, three elastic actuators 8 are compression coil springs 1.
The front and rear balloons 17 and 18 are held in a normal state in which they are stretched in the axial direction and contracted in the radial direction by the spring force of 2, and the front and rear balloons 17 and 18 are similarly held in their normal states in which they are not elastically deformed.

At this time, the outer diameters of the front and rear balloons 17, 18 are smaller than the inner diameters of appropriate pipes H such as piping to be inspected. Then, in this state, the distal end of the endoscope 3 is attached to the moving unit 1, and the moving unit 1 is inserted into the duct H to be inspected.

Further, when the moving unit 1 moves forward, the start switch 38 is turned on while the forward/reverse changeover switch 40 is switched to the forward direction (step Sl). When this forward start state is determined by the input determination unit 41 of the control device 37 in step S2 (time t in FIG. 14),
The first to fifth solenoid valves 26 to 3 are controlled by the forward and backward movement control unit 42.
0 is sequentially switched based on a predetermined forward motion program set in advance as shown in FIG. ) are supplied and these are expanded and deformed in the radial direction alternately.

That is, at t in FIG. 14 when the start switch 38 is turned on. At the moment the fourth solenoid valve 2 for the front balloon 17
9 is operated to switch to the second position, and the front balloon 1
High pressure air is supplied only to No. 7 (step S3). In this state, as shown in FIG. 13(b), the front balloon 17
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 part balloon 17 which is only inflated and deformed.

In FIG. 14, 1 indicates the high-pressure air supply state, and 0 indicates the high-pressure air discharge state.

During this operation, the states of the stop switch 39 and the forward/reverse changeover switch 40 are constantly monitored (step S4
, 5).

Subsequently, when a predetermined period of time has elapsed in this state (at the 1° point), the first... for the elastic actuators 8... The second and third solenoid valves 26, 27, and 28 are switched to the second position. In this case, high pressure air is supplied to each elastic actuator 8...
is elastically deformed in the radial direction as shown in FIG. 13(C),
It contracts in the axial direction against the biasing force of the compression coil spring 12 (step S6). Therefore, as the elastic actuators 8... deform, the locking unit 14 on the rear side of the moving unit 1 moves from the L1 position to the L2 position in FIG.
The moving unit 1 is pulled forward to the desired position, and the overall length of the moving unit 1 is reduced. At this time, the elastic actuator 8.
The compression coil spring 12 is compressed with the contraction and deformation operation in the axial direction.

During this operation, the states of the stop switch 39 and the forward/reverse changeover switch 40 are constantly monitored (step S7
, 8).

Further, at time t2 when a predetermined time has elapsed in this state, the fifth solenoid valve 30 for the rear balloon 18 is switched to the second position, high pressure air is supplied to the rear balloon 18, and the rear balloon 18 is Swelling and deformation (step S
9). The rear balloon 18 is pressed against the inner circumferential surface of the conduit H, and the pressure of the rear balloon 18 causes the rear side of the moving unit 1 to press against the inner circumferential surface of the conduit H as shown in FIG. 13(d). It is locked.

During this operation, the states of the stop switch 39 and the forward/reverse changeover switch 40 are constantly monitored (step SL
0.11).

In addition, after the rear balloon 18 is inflated and deformed, the front balloon 1
The fourth electromagnetic valve 29 for 7 is switched to the first position, and the high pressure air in the front balloon 17 is discharged to the outside (step S12). Therefore, as the high-pressure air is discharged, the front balloon 17 contracts in the radial direction, and the engagement between the front balloon 17 and the inner circumferential surface of the conduit H is released. Furthermore, in this state, the elastic actuator 8
1st for... Second. Third solenoid valve 26, 27, 28
or the first position, and the elastic actuator 8
．． When the high-pressure air inside is discharged to the outside, the elastic actuator 8 is moved by the biasing force of the compression coil spring 12.
・contracts and deforms in the radial direction as shown in FIG. 13(d),
Extend in the axial direction (step 512). In this case, since the front balloon 17 of the moving unit 1 and the inner peripheral surface of the conduit H are disengaged, the elastic actuator 8...
・Due to the axial expansion and deformation of the moving unit 1.
The front side of the mobile unit 1 is moved in the forward direction using the locked rear balloon 18 side as a support point, and the total length of the mobile unit 1 is the original length (the length when the mobile unit 1 is not in use). to return to. Therefore, as the elastic actuators 8 deform, the locking unit 13 on the front side of the moving unit 1 is pushed forward from the L3 position to the L4 position as shown in FIG. 13(d). Therefore, the distal end portion of the endoscope 3 is moved forward together with the locking unit 13.

During this operation, the states of the stop switch 39 and the forward/reverse changeover switch 40 are constantly monitored (step S1
3.14).

Furthermore, after the locking unit 13 on the front side of the moving unit 1 is pushed forward, only the fourth solenoid valve 29 for the front balloon 17 is operated to switch to the second position, and the front balloon High pressure air is supplied only to 17 (step 515). Then, only the front balloon 17 is inflated and deformed, and the front part of the moving unit 1 is locked to the inner peripheral surface of the conduit H by the pressing force of the front balloon 17.

During this operation, the states of the stop switch 39 and the forward/reverse changeover switch 40 are constantly monitored (step Sl
B, 17).

Furthermore, with the front part of the moving unit 1 being locked to the inner peripheral surface of the conduit H by the pressure contact force of the front balloon 17, the fifth solenoid valve 30 for the rear balloon 18 is switched to the first position. The high-pressure air in the rear balloon 18 is discharged to the outside, and the rear balloon 18 is deflated and deformed (step 818).

Then, the engagement between the rear balloon 18 and the inner circumferential surface of the conduit H is released.

Next, control of this mobile unit 1 returns to the state of step S4. By repeating this series of operations, the moving unit 1 of the intraductal traveling device moves forward, and the distal end of the endoscope 3 is pulled in the forward direction.

Further, when the moving unit 1 moves backward, the forward/reverse changeover switch 40 is operated to switch to the backward direction. When this backward movement state is determined by the input determination unit 41 of the control device 37, the forward and backward movement control unit 42 controls the first to fifth electromagnetic valves 26 to 3o based on a predetermined backward movement program. Switching operations are performed sequentially. Then, the order is reversed to that of the forward movement, that is, step S1 in FIG. 12C.
Pressurized fluid (high pressure air) is sequentially supplied and discharged to the rear balloon 18, the elastic actuator 8..., and the front balloon 17 in the order of 9 to 834, and these are inflated and deformed alternately, and the moving unit 1 moves backward. It is done.

Next, a description will be given of stop control of the moving unit 1, which fixes the moving unit 1 at an arbitrary position within the pipeline H to be inspected during a series of forward or backward movements of the moving unit 1. Here, as shown at time B in FIG. 14, the operation when the stop switch 39 is turned on during the forward motion of the mobile unit 1 will be described as an example. In this case, at point C immediately before the stop switch 39 is turned on, the forward/backward movement control unit 42 switches the fourth solenoid valve 29 for the front balloon 17 to the first position, and the front balloon 1
The front balloon 17 is maintained in a state in which the high-pressure air in the balloon 7 is discharged to the outside, that is, in a state in which the front balloon 17 is contracted in the radial direction. At this time, the first
．． Second. The third solenoid valve 26, 27, 28 and the fifth solenoid valve 30 for the rear balloon 18 are kept switched into the second position. Therefore, the rear balloon 18 is inflated and deformed, and the rear side of the moving unit 1 is held in a state locked to the inner peripheral surface of the conduit H by the pressure contact force of the rear balloon 8, and the elastic actuators 8... is elastically deformed in the direction of expansion and is held in a contracted state in the axial direction against the biasing force of the compression coil spring 12.

In this state, when the input determination unit 41 determines whether three stop switches have been turned on or not, the forward and backward movement control by the forward and backward movement control unit 42 is stopped based on this stop signal, and the movement by the stop control unit 43 is stopped. A two-stage stop control of both balloons 17 and 18 of the unit 1 and the elastic actuator 8 is performed.

That is, when the stop switch 39 is turned on, first, the fourth solenoid valve 29 for the front balloon 17 is switched to the second position by the stop 1, IJ i1 section 43, as shown in FIG. High pressure air is supplied to the balloon 17 (step 535). Then, a first stage stop control is performed in which the front part balloon 17 is inflated and deformed and the front part of the moving unit 1 is fixed to the inner circumferential surface of the conduit H by the pressure contact force of the front part balloon 17.

Furthermore, after the front balloon 17 of the moving unit I is fixed to the inner circumferential surface of the conduit H, a control signal from the stop control section 43 causes the first... Second
．． Third solenoid valve 26, 27° 28 and rear balloon 1
The fifth solenoid valve 30 for No. 8 is switched to the first position. Then, high pressure air is discharged from the elastic actuators 8... and the rear balloon 18 (step 536).
, elastic actuators 8 . . . are contracted and deformed in the radial direction by the biasing force of the compression coil spring 12, and are held at the maximum length extended in the axial direction. In this case, as shown in FIG. 15, there is a time point B when the fourth solenoid valve 29 for the front balloon 17 is switched to the second position, and a time point B when the fourth solenoid valve 29 for the front balloon 17 is switched to the second position, and the first solenoid valve 29 for the elastic actuator 8 . 2nd□3rd solenoid valve 26, 27.
28 and B' when the fifth solenoid valve 30 for the rear balloon 18 is switched to the first position, if! !
An appropriate time difference tS is provided. Then, high pressure air is discharged from the elastic actuators 8 . . . and the rear balloon 18 while the front portion of the moving unit 1 is securely engaged with the inner circumferential surface of the conduit H.

Furthermore, after a certain period of time has elapsed in this state, at time point D when the high pressure air has been sufficiently discharged from the elastic actuators 8... and the rear balloon 18, the second stage stop control is performed. During this second stage stop control, as shown in FIG. 17, the fifth solenoid valve 30 for the rear balloon 18 is switched to the second position, and high pressure air is supplied to the rear balloon 18 (step 537). . Then, a second stage stop control is performed in which the rear balloon 18 is inflated and deformed and the rear part of the moving unit 1 is locked to the inner circumferential surface of the conduit H by the pressing force of the rear balloon 18. in this case,
The fourth solenoid valve 29 for the front balloon 17 is switched to the second position and held in the operated state, and the front balloon 17 is held in an inflated and deformed state, and the elastic actuators 8... 1st. Second. third solenoid valve 26,
27 and 28 are similarly switched to the first position and held in the operated state, and the elastic actuators 8 are contracted and deformed in the radial direction by the biasing force of the compression coil spring 12.
It is held at its maximum axially extended length. With this second-stage stop control being performed, both ends of the moving unit 1 are pressed against the inner circumferential surface of the conduit H by both the front and rear balloons 17 and 18, as shown in FIG. , and the movement of the mobile unit 1 is reliably stopped.

Therefore, in the case of the above configuration, when a stop signal for stopping the movement of the mobile unit 1 is output from the stop switch 39 during the movement of the mobile unit 1, the stop control section 43 controls both of the movement of the mobile unit 1. Balloon 17.1
Both balloons 17 and 18 are supplied with pressurized fluid.
by inflating and deforming the moving unit 1 to both the front and rear balloons 1.
Since the movable unit 1 is locked to the inner circumferential surface of the conduit H by the angle 7° 18 and fixed at an arbitrary position within the conduit H, the movable unit 1 can be stably held when the movable unit 1 stops moving. Therefore, during use, such as a self-propelled pipe inspection device, the insertion section 3a of the endoscope 3 can be moved at any position during the movement operation of moving the insertion section 3a within the pipe H to be inspected, such as an industrial pipe. By stopping the movement of the unit 1, it is possible to perform operations such as observing in detail the corroded portion of the inner wall surface of the pipe H, for example, more stably than in the past. Furthermore, even when the moving unit 1 is traveling in the conduit H extending in the vertical direction, the moving unit 1 may fall when the movement of the moving unit 1 is stopped in the middle of the moving operation. This can be prevented and stopped safely.

Further, by changing the settings of the forward/backward movement control section 42 of the control device 37, the moving speed of the moving unit 1 can be easily changed.

Furthermore, when the movement of the moving unit 1 is stopped, the insertion portion 3a of the endoscope 3 can always be held at the center position of the pipe H to be inspected, so that the endoscope 3 can be used to approximately equalize the top, bottom, left and right of the pipe H. − can be observed.

Furthermore, in the first stage stop control that is performed first when the stop switch 39 is turned on, the fourth stop control for the front balloon 17 is performed.
A time point B when the two solenoid valves are switched to the second position,
The first one for the elastic actuator 8... Second. the third solenoid valve 26, 27, 28 and the fifth for the rear balloon 18;
An appropriate time difference ts is provided between time point B and time point B when the solenoid valve 30 is switched to the first position. Since the high pressure air is discharged from the elastic actuators 8 and the rear balloon 18, it is possible to reliably prevent the moving unit 1 from falling during this first stage stop control.

In addition, three elastic actuators 8... and each air tube 21a, 21b for the front and rear balloons 17, 18
, 21c, 22.23 are bundled at the terminal end of the winding part 24, and this tube bundle is covered with the protective tube 25, so that the front and rear balloons 17, 18 and the plurality of elastic actuators 8... Compared to the case where a plurality of tubes supplying pressurized fluid to each of the tubes are arranged separately, the tubes can be arranged in an orderly manner, and the plurality of tubes can be prevented from being scattered randomly.

Furthermore, air tubes 23 for the rear balloon 18 and air tubes 21a, 2 for the elastic actuators 8...
1b and 21c, a winding part 24 of a predetermined length is formed at the rear of the moving unit 1 around the insertion part 3a of the endoscope 3 at a certain interval and wound in a substantially coil shape. Balloon 17
Since the air tube 22 is inserted into the winding part 24 together with the insertion part 3a of the endoscope 3, when the moving unit 1 moves back and forth, the rear part of the air tube 22 is inserted in the winding part 24. An air tube 23 for the rear balloon 18 fixed to the stop unit 14 side and air tubes 21a, 21 for the elastic actuator 8...
The coiled winding portions 24 of b and 21c are expanded and contracted, and the air tube 22 for the front balloon 17 fixed to the front locking unit 13 side and the rear locking unit are It is possible to absorb the amount of change in length corresponding to the amount of expansion and contraction of the moving unit 1 that occurs between the air tubes 23.21a, 21b, and 21c on the side of the stop unit 14. Therefore, three elastic actuators 8.
...and air tubes 21 a, 2 l b, 21 c for the front and rear balloons 17°.

22. Even in the case where the base end side of 23 is bundled and integrated at the terminal position of the winding part 24, the front locking unit is closed as the entire length of the moving unit 1 contracts during forward and backward movement of the moving unit 1. Front balloon 17 fixed on side 13
in the forward direction by the air tube 22 for the rear balloon 18 or other tubes fixed to the rear locking unit 14 side (the air tube 23 for the rear balloon 18 and the air tubes 21a, 21b, 21c for the elastic actuators 8...). Since the air tube 22 is pushed out and can be prevented from loosening, the loosening of the air tube 22 brings the air tube 22 into contact with the elastic actuator 8, and the braided reinforcement structure of the elastic actuator 8... Injury to the body 10 can be reliably prevented.

In addition, in the above embodiment, three contractile elastic actuators 8... are arranged in parallel between the frames 6.7, or four contractile elastic actuators 8... are arranged in parallel between the frames 6.7. A configuration may be adopted in which more than one of them are arranged in parallel.

Further, FIG. 18 shows a second embodiment of the present invention.

This is a modification of the configuration of each tube extending to the rear of the moving unit 1. That is, in this embodiment, the air tube 23 for the rear balloon 18 and the air tubes 21a, 21b for the elastic actuators 8...
, 21c on the rear side of the moving unit 1 is maintained in a substantially linear shape. Further, a winding portion 51 having a predetermined length and wound approximately in a coil shape is formed in the extending portion of the air tube 22 for the front balloon 17 on the rear side of the moving unit 1 . The insertion portion 3a of the endoscope 3 and the air tube 23.
a, 21b, and 21c are inserted.

In this case, the air tube 22 for the front balloon 17 is connected to the moving unit side tube 52 fixed to the moving unit 1 side at the rear part of the moving unit 1 and the connecting tube 53 on the pressurized air supply path switching control section 25 side. It is divided into two parts, and these parts are connected by a joint 54 that allows the tube to be easily removed. Furthermore, the air tube 23 for the rear balloon 18 and the air tubes 21a, 21b, 21c for the elastic actuators 8... ... are connected to each other.

Therefore, in the case of the above configuration, the air tube for the front balloon 17 fixed to the front locking unit 13 side is adapted to extend and contract the entire length of the moving unit 1 when the moving unit 1 moves forward and backward. Since the coiled winding portion 51 of 22 can be expanded and contracted, the air tube 22 for the front balloon 17 fixed to the front locking unit 13 side when the entire length of the moving unit 1 is expanded and contracted.
and each air tube 23.21 on the rear locking unit 14 side.
a, 21b, and 21c, the amount of change in length corresponding to the amount of expansion and contraction of the moving unit 1 can be absorbed. Therefore, in this case, as in the first embodiment, it is possible to prevent the air tube 22 from loosening when the entire length of the moving unit 1 is expanded or contracted.
Due to the slackness of the air tube 22, the elastic actuator 8... comes into contact with each other, and the elastic actuator 8...
It is possible to reliably prevent damage to the braided reinforcing structure 10.

Furthermore, the connecting tube 5 on the pressurized air supply path switching control section 25 side of the air tube 22 for the front balloon 17
3 and the air tube 23 for the rear balloon 18, the air tubes 21a, 21 for the elastic actuator 8...
b, 21c are connected to the moving unit 1 by the joints 54, respectively.
Since it is removably connected to the side, it is possible to select and use an air tube with a length that matches the length of the appropriate pipe line H of the piping to be inspected. Therefore, for example, if the length of the pipeline H to be inspected is short, by selecting and using a short air tube, the responsiveness of the pressurized air supply and discharge operation can be improved compared to when using a long air tube. , and the traveling speed of the mobile unit 1 can be increased.

Furthermore, in the above embodiment, when the movement of the mobile unit 1 is stopped, the front balloon 17 is first fixed in the first stage of stop control, and the rear balloon 18 is fixed in the next second stage of stop control. However, a configuration may be adopted in which the rear balloon 18 is first fixed in the first stage stop control, and the front balloon 17 is fixed in the second stage stop control.

Further, when the movement is stopped, the moving unit may be fixed in the conduit H using only either the front balloon 17 or the rear balloon 18.

Further, FIGS. 19 to 23 show a third embodiment of the present invention.

This is a mobile unit 6 having a configuration different from that of the first embodiment.
1. That is, in this embodiment, the first
Supply of pressurized fluid in place of the contractile elastic actuator 8 of the type that expands in the radial direction and elastically deforms to generate a contractile force in the axial direction when supplied with pressurized fluid, as in the embodiment of Three substantially cylindrical elastic actuators 62 are employed, which are elastically deformed while contracting in the radial direction, and extend in the axial direction. These elastic actuators 62 are arranged parallel to each other in the axial direction of the moving unit 61 between the frames 6 and 7. Both ends of these elastic actuators 62 are connected to each other while being arranged at equal intervals on the same circumference of the inner end surface of the frame 6.7.

As shown in FIG. 20, each elastic actuator 62 is provided with a tubular body 63 made of an elastic material such as rubber. This tubular body 63 is covered with a braided reinforcing structure 64 made of high-tensile fibers and formed into a generally tubular shape. Further, both end openings of the integral structure consisting of the tubular body 63 and the braided reinforcing structure 64 are sealed by closing members 65.

Further, the braided reinforcing structure 64 is made by knitting warp threads 66 and weft threads 67 of strands, for example, in a hand-woven manner, as shown in FIG. This extension type elastic actuator 62
Each braiding angle θ formed by the center line 0 extending in the axial direction of the warp yarn 66 and the weft yarn 67 is set to a value larger than 54' to 44', for example, within the range of 65'' to 80°. 62 contracts in the radial direction by supplying pressurized fluid into the tubular body 63 and is elastically deformed in a state of being expanded in the axial direction.

Furthermore, in this moving unit 61, the compression coil spring 12 of the first embodiment is omitted. Further, the frame 6 on the front side of the moving unit 61 is provided with an insertion portion 3a of the endoscope 3.
An insertion hole is formed through which the endoscope 3 is slidably inserted in the axial direction, and the distal end portion of the endoscope 3 is mechanically fixed to the frame 7 on the rear side by appropriate fixing means.

Next, the operation of the above configuration will be explained with reference to FIGS. 22 and 23. Here, FIG. 22 shows the forward movement state of the moving unit 61, and FIG. 23 shows the front and rear balloons 17, 18 and the three elastic actuators 62.
. . . indicates the operation timing of each. In FIG. 23, 1 indicates the high-pressure air supply state, and 0 indicates the high-pressure air discharge state.

First, before the power is turned on to the in-pipe self-propelled inspection device 2 (when not in use), the pressurized fluid in each elastic actuator 62 of the moving unit 61 is discharged to the outside, and the Since the pressurized fluid in the balloons 17 and 18 is also maintained in a state where it is discharged to the outside, the three elastic actuators 62 are in their normal state in which they are not elastically deformed, as shown in FIG. 22(a). , the front and rear balloons 17 and 18 are similarly held in their normal states without being elastically deformed.

At this time, the outer diameters of the front and rear balloons 17, 18 are smaller than the inner diameters of appropriate pipes H such as piping to be inspected.

Further, when the start switch 38 is turned on with the forward/reverse selector switch 40 being operated in the forward direction,
At that point (time t in Figure 23), the rear balloon 18
Only the fifth solenoid valve 30 is operated to switch to the second position, and high pressure air is supplied only to the rear balloon 18. In this state, as shown in FIG. 22(b), the rear balloon 1
8 is inflated and deformed, and the rear side of the moving unit 61 is locked to the inner circumferential surface of the conduit H by the pressing force of the rear balloon 18.

Subsequently, when a predetermined period of time has elapsed in this state (time t2), the first, second, and so on for the elastic actuators 62 . Third
The solenoid valves 26, 27, and 28 are switched to the second position. In this case, high pressure air is supplied to each elastic actuator 62 .
... is elastically deformed in a state of extension in the axial direction, as shown in FIG. 22(b).

Therefore, as the elastic actuators 62 deform, the locking unit 13 on the front side of the moving unit 61 is pushed forward from the f11 position to the g2 position in FIG. Extended.

Furthermore, at time t3, when a predetermined period of time has elapsed in this state, the fourth solenoid valve 29 for the front balloon 17 is switched to the second position, and high pressure air is supplied to the front balloon 17. The balloon 17 is inflated and deformed. The front balloon 17 is pressed against the inner circumferential surface of the conduit H, and the pressure force of the front balloon 17 causes the front side of the moving unit 61 to move inside the conduit H as shown in FIG. 22(C). It is locked to the peripheral surface.

In addition, after the front balloon 17 is inflated and deformed, the rear balloon 1
The fifth solenoid valve 30 for the elastic actuators 62 is switched to the first position, and the high pressure air in the rear balloon 18 is discharged to the outside. Second. The third solenoid valve 26°27.28 is switched to the first position, and the high pressure air inside the elastic actuator 62 is discharged to the outside. As the high-pressure air is discharged, the rear balloon 18 contracts in the radial direction, and the engagement between the rear balloon 18 and the inner circumferential surface of the conduit H is released.

Furthermore, as the high-pressure air inside the elastic actuators 62 is discharged, the elastic actuators 62 return to their original normal state by their own restoring force (elastic restoring force). Therefore, as the elastic actuators 62 return to their original positions (contracting and deforming movements in the axial direction), the moving unit 61 moves toward the rear or in the forward direction using the front balloon 17, which is held in a locked state, as a support point. When the locking unit 14 on the rear side is operated, as shown in FIG. 22(d),
Since the endoscope 3 is pulled forward from the 3rd position to the g4 position, the distal end of the endoscope 3 is moved forward together with the locking unit 14.

By repeating this series of operations, the moving unit 61 of the intraductal traveling device moves forward, and the distal end of the endoscope 3 is pulled in the forward direction.

Further, the stop control of the moving unit 61 to fix the moving unit 61 at an arbitrary position in the pipeline H to be inspected during a series of forward or backward movements of the moving unit 61 is substantially the same as in the first embodiment. It will be done.

Therefore, even with the above configuration, the same effects as in the first embodiment can be obtained. Furthermore, since the compression coil spring 12 of the first embodiment can be omitted in this embodiment, the flexibility of the entire moving unit 61 can be increased. Therefore, the moving unit 61 is moved to the pipe H to be inspected.
When traveling inside the pipe, the ability to pass through a curved pipe portion in the pipe H or a bent portion of the pipe H can be improved.

In addition, in the above embodiment, three extension type elastic actuators 62... were arranged in parallel between the frames 6.7, but four extension type elastic actuators 8... were arranged in parallel between the frames 6.7. A configuration may be adopted in which two or more units are arranged in parallel, and in this case, the pulling force of the moving unit 61 can be further increased.

Furthermore, FIG. 24 shows a fourth embodiment of the present invention.

This is an arrangement in which an extensible bellows 71 is disposed between the frames 6 and 7 of the fourth embodiment, and three extensible elastic actuators 62, etc. are accommodated within this bellows 71. be.

In this case, when moving the moving unit 61 into the pipeline H to be inspected, the extendable elastic actuators 62, etc. can be protected from oil, dirt, etc. in the pipeline H.
Durability can be improved.

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 this invention, the moving unit can be stably held when the moving unit stops moving, and even when the moving unit is running in a conduit extending in the vertical direction, the moving unit can be held stably. The movement of the mobile unit can be freely and safely stopped during operation.

[Brief explanation of drawings]

1 to 17 show a first embodiment of the present invention, and FIG. 1 is a side view showing the fixed state of the moving unit;
Figure 2A is a schematic configuration diagram of the entire pipe self-propelled inspection device.
Figure B is a perspective view showing the external appearance of the self-propelled pipe inspection device, Figure 3 is a side view showing the moving unit, Figure 4 is a perspective view showing the schematic configuration of the elastic actuator, and Figure 5 is a perspective view showing each air of the moving unit. A side view showing how the tubes are arranged.
7 is a schematic configuration diagram showing the pressurized air supply path switching control section of each air passage of the moving unit, and FIG. 8 is a schematic configuration diagram showing the first switching position of the solenoid valve. 9 is a schematic configuration diagram showing the second switching position of the solenoid valve, FIG. 1O is a schematic configuration diagram showing the control circuit of the moving unit, and FIG. 1
Layout diagram of flowchart in 2D diagram, Figure 12A to 1st
2D diagrams are flowcharts of each part of FIG. 11, FIG. 13 is a schematic configuration diagram showing the operating state of the moving unit, FIG. 14 is a time chart showing the operating states of the elastic actuator and both front and rear balloons, and FIG. 15 is a flowchart of each part of FIG. 11. A time chart showing the operating state when the stop switch is turned on, Fig. 16 is a schematic configuration diagram showing the state in which pressurized air is supplied only to the front balloon, and Fig. 17 shows the pressurized air supply state when the mobile unit is fixed. FIG. 18 is a side view showing a moving unit according to a second embodiment of the present invention; FIGS. 19 to 23 are diagrams showing a third embodiment of the present invention; FIG. is a side view showing the mobile unit, No. 20
The figure is a side view showing the schematic structure of the elastic actuator.
FIG. 1 is a plan view showing how the warp and weft of the braided reinforcement structure are knitted, FIG. 22 is a schematic configuration diagram showing the operating state of the moving unit, and FIG. 23 is a time chart showing the forward operating state of the moving unit. FIG. 24 is a side view, partially in section, of a moving unit according to a fourth embodiment of the present invention. 1.61...Movement unit, 8.62...Elastic actuator, 17.18...Balloon (locking part), 3
6... Pressurized fluid supply device (pressurized fluid supply means), 39
... stop switch (stop signal output section), 42 ... forward/backward movement control section (movement control means), 43 ... stop control section (
mobile unit body fixing means). Applicant's representative Patent attorney Jun Tsuboi Figure 1 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure +2A Figure +28. FJ Exit 12C 12D Circulation Figure 14 tS Figure 15 Figure 17 Figure 19 Figure 21 B

Claims (1)

[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; a moving unit equipped with a locking part that can be locked in pressure contact with the inner circumferential surface of a pipe; and a pressurized fluid supply means for supplying pressurized fluid to each of the locking parts and the elastic actuator of the moving unit. , switching and controlling the state of supply of pressurized fluid from the pressurized fluid supply means to each of the locking portions and the elastic actuator and the state of discharge of pressurized fluid from each of the locking portions and the elastic actuator; movement control means that moves 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 each locking portion; , a stop signal output section that outputs a stop signal to stop the moving operation of the moving unit during the moving operation; and a stop signal output section that outputs a stop signal to stop the moving operation of the moving unit; and when the stop signal from the stop signal output section is input, at least A moving unit fixing means for supplying pressurized fluid to one of the locking portions to expand and deform at least one of the locking portions to fix the moving unit in pressure contact with the inner circumferential surface of the pipe. Traveling device.