JPH0441114B2 - - Google Patents

Info

Publication number
JPH0441114B2
JPH0441114B2 JP59066671A JP6667184A JPH0441114B2 JP H0441114 B2 JPH0441114 B2 JP H0441114B2 JP 59066671 A JP59066671 A JP 59066671A JP 6667184 A JP6667184 A JP 6667184A JP H0441114 B2 JPH0441114 B2 JP H0441114B2
Authority
JP
Japan
Prior art keywords
tube
balloon
holding
pipe
moving device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP59066671A
Other languages
Japanese (ja)
Other versions
JPS60213581A (en
Inventor
Hajime Fujimoto
Yukie Shimazu
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Priority to JP59066671A priority Critical patent/JPS60213581A/en
Publication of JPS60213581A publication Critical patent/JPS60213581A/en
Publication of JPH0441114B2 publication Critical patent/JPH0441114B2/ja
Granted legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Manipulator (AREA)

Description

【発明の詳細な説明】 本発明は、流体圧を利用した構造簡単な管内移
動装置に関する。
DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an intraductal moving device that utilizes fluid pressure and has a simple structure.

配管内に挿入されて自走し管内検査や異物回収
等種々の作業に適用される従来の管内移動装置を
第1図及び第2図に示す。
FIG. 1 and FIG. 2 show a conventional pipe moving device that is inserted into a pipe and is self-propelled, and is used for various operations such as pipe inspection and foreign object collection.

第1図に示す管内移動装置は、シリンダ機構を
有する駆動移動体101と移動体102とを90度
向きを異にするピン103,104で傾動自在に
連結し、各移動体101,102にシリンダ機構
あるいは機械的機構により管105の内面に張り
出す複数の脚106,107を装備してなる。
The intra-pipe moving device shown in FIG. 1 connects a driving moving body 101 and a moving body 102 having cylinder mechanisms in a tiltable manner with pins 103 and 104 that are oriented 90 degrees apart, and each moving body 101 and 102 has a cylinder. It is equipped with a plurality of legs 106 and 107 that protrude from the inner surface of the tube 105 by a mechanism or a mechanical mechanism.

第2図に示す管内移動装置は、シリンダ108
のケース109側とピストン110側とにそれぞ
れ開閉可能に脚111,112を設けた構造とな
つている。
The intraductal moving device shown in FIG.
It has a structure in which legs 111 and 112 are provided on the case 109 side and the piston 110 side, respectively, so that they can be opened and closed.

これらの管内移動装置は、いずれも移動手段と
して一個あるいは複数個のシリンダを利用して断
続的に管内を移動するもので、移動の際には一方
側の脚を機械的に管内面に突張つて装置自身を管
内に固定する。
All of these intra-pipe movement devices use one or more cylinders as a means of movement to move intermittently within the pipe, and when moving, one leg is mechanically pushed against the inner surface of the pipe. to secure the device itself inside the pipe.

しかし、これらの管内移動装置においては、機
械的に突張らせる脚の部分の機構が複数となり、
機構が複雑な分故障が起きやすく、又汚染した場
合には清掃しにくく、更に大形大重量となつて移
動装置の性能上好ましくないという欠点がある。
However, in these intraductal movement devices, there are multiple mechanisms for the mechanically tensioned legs,
Since the mechanism is complex, it is easy to break down, and if it becomes contaminated, it is difficult to clean, and furthermore, it is large and heavy, which is unfavorable in terms of the performance of the moving device.

本発明は、従来の管内移動装置における上述の
ような欠点を解決すべくなされたもので、装置の
管内への固定及び移動に流体圧を利用した構造簡
単な管内移動装置を提供し、もつて管内移動装置
の故障の低減、清掃の容易化、性能の向上を図る
ことを目的とする。
The present invention has been made to solve the above-mentioned drawbacks of conventional intraductal moving devices, and provides an intraductal moving device with a simple structure that utilizes fluid pressure for fixing and moving the device within a pipe. The purpose is to reduce failures, facilitate cleaning, and improve performance of pipe moving devices.

上記目的を達成する本発明に係る管内移動装置
の構成は、膨張されて管の内面に密着され、収縮
されて管の内面から離されるバルーンを外周部に
具え、かつ管の内面にガイドローラが接触する複
数のガイド機構を具えた二つの保持装置をユニバ
ーサルジヨイントを介して流体アクチユエータに
より接近離反自在に連結し、前記バルーン及び前
記流体アクチユエータをそれぞれ作動流体給排装
置に連結したことを特徴とする。
The structure of the intra-tube moving device according to the present invention that achieves the above object includes a balloon on the outer periphery that is inflated and brought into close contact with the inner surface of the tube, and is deflated and separated from the inner surface of the tube, and a guide roller is provided on the inner surface of the tube. Two holding devices equipped with a plurality of contacting guide mechanisms are connected via a universal joint by a fluid actuator so as to be able to approach and separate, and the balloon and the fluid actuator are each connected to a working fluid supply/discharge device. do.

以下、本発明に係る管内移動装置を図面に示す
一実施例に基づき詳細に説明する。
EMBODIMENT OF THE INVENTION Hereinafter, the intraductal moving device according to the present invention will be described in detail based on an embodiment shown in the drawings.

第3図には一実施例に係る管内移動装置の概略
側面を示し、第4図にはその正面を示してある。
FIG. 3 shows a schematic side view of an intraductal moving device according to an embodiment, and FIG. 4 shows a front view thereof.

二つの保持装置1,2は同一構成で、円形の連
結部1a,2aと、連結部1a,2aの円周に連
結部1a,2aに対し取外し可能に取付けられた
環状のバルーン保持部1b,2bと、バルーン保
持部1b,2bの外周部に設けられた環状のバル
ーン(エアチユーブ)A,Bと、バルーン保持部
1b,2bの前面あるいは後面の複数個所(本実
施例では二個所)に設けられたガイド部(ガイド
機構)3,4とからなる。二つの保持装置1,2
は、連結部1a,2a同士を流体アクチユエータ
としてのエアシリンダ5によりユニバーサルジヨ
イント6を介して連結することにより、互いに接
近離反し得るように連結されている。前記ガイド
部3,4は、バルーン保持部1b,2bに取付け
られたガイド保持フレーム3a,4aにばね3
b,4bを介して半径方向に弾力的にガイド保持
部3c,4cを設け、ガイド保持部3c,4cに
ガイド部材として球体(例えば鋼球)3d,4d
を回転自在に設けてなる。球体3d,4dは管7
の内面と点接触するので、回転自在となつていな
くても移動に支障はないが、回転自在としておく
ことにより滑らかな動きが確保される。8は作動
流体給排装置としての制御盤で、当該管内移動装
置の移動方向に応じてエアシリンダ5、バルーン
A,Bへのエアの給排を制御する。9は空気源、
10は大気、11,12はエアシリンダ5へのエ
アの給排管、13,14はバルーンA,Bへのエ
アの給排管である。
The two holding devices 1 and 2 have the same configuration, and include circular connecting portions 1a and 2a, and an annular balloon holding portion 1b that is removably attached to the connecting portions 1a and 2a on the circumference of the connecting portions 1a and 2a. 2b, annular balloons (air tubes) A and B provided on the outer periphery of the balloon holders 1b and 2b, and multiple locations (two locations in this example) on the front or rear surfaces of the balloon holders 1b and 2b. It consists of guide parts (guide mechanisms) 3 and 4. Two holding devices 1, 2
The connecting portions 1a and 2a are connected to each other through a universal joint 6 by an air cylinder 5 serving as a fluid actuator, so that they can be moved toward and away from each other. The guide parts 3 and 4 have springs 3 attached to guide holding frames 3a and 4a attached to the balloon holding parts 1b and 2b.
Guide holding parts 3c, 4c are elastically provided in the radial direction via b, 4b, and spheres (for example, steel balls) 3d, 4d are attached to the guide holding parts 3c, 4c as guide members.
is rotatably provided. Spheres 3d and 4d are tubes 7
Since it makes point contact with the inner surface of the roller, there is no problem with movement even if it is not rotatable, but smooth movement is ensured by making it rotatable. Reference numeral 8 denotes a control panel as a working fluid supply/discharge device, which controls the supply/discharge of air to the air cylinder 5 and balloons A and B according to the moving direction of the intra-tube moving device. 9 is an air source,
10 is the atmosphere, 11 and 12 are air supply and discharge pipes to the air cylinder 5, and 13 and 14 are air supply and discharge pipes to the balloons A and B.

この装置においては、連結部1a,2aに対し
バルーン保持部1b,2bはボルト止めされ、着
脱できるようになつているので、管7の大きさに
合わせて異なる大きさのバルーン保持部1b,2
bを付け替ることができ、各種配管に対応し得
る。
In this device, the balloon holding parts 1b and 2b are bolted to the connecting parts 1a and 2a so that they can be attached and detached.
b can be replaced and can be used with various types of piping.

次に、当該管内移動装置の管内移動動作につい
て説明する。
Next, the intraductal movement operation of the intraductal moving device will be explained.

一方のバルーンAを膨張させて管7内面に密着
させると共に、他方のバルーンBを収縮させて管
7内面から離し、この状態でエアシリンダ5を伸
ばす。バルーンAにより一方の保持装置1は管7
内面に固定されているので、保持装置2が管7内
を移動する。
One balloon A is inflated to bring it into close contact with the inner surface of the tube 7, while the other balloon B is deflated and separated from the inner surface of the tube 7, and in this state, the air cylinder 5 is extended. One holding device 1 is connected to the tube 7 by the balloon A.
Since it is fixed to the inner surface, the holding device 2 moves inside the tube 7.

エアシリンダ5が伸び切つた状態で、バルーン
Bを膨張させて管7内面に密着させると共に、バ
ルーンAを収縮させて管7内面から離す。
With the air cylinder 5 fully extended, the balloon B is inflated to bring it into close contact with the inner surface of the tube 7, and the balloon A is deflated and separated from the inner surface of the tube 7.

この状態でエアシリンダ5を縮めると、保持装
置1が保持装置2に引き寄せられ、装置全体がエ
アシリンダ5のストローク分だけ移動したことに
なる。
When the air cylinder 5 is retracted in this state, the holding device 1 is drawn toward the holding device 2, and the entire device is moved by the stroke of the air cylinder 5.

以上の動作を繰り返すことにより、装置は管7
内を移動される。
By repeating the above operations, the device
be moved within.

尚、バルーンA又Bが収縮した状態で保持装置
1又は2が移動する際には、ガイド部3又は4の
球体3d又は4dが管内7内面に当るので、スム
ーズな移動が行なえる。又、管7内面にギヤツプ
がある場合でもガイド部3,4のばね3b,4b
がギヤツプを吸収するので、滑らかな移動が保証
される。更に、バルーンA,Bは環状をなし、管
内面全周に密着するため、密着面積が大きく、従
つて、空気圧が低くても高い保持力が得られる。
よつて、管の方向が三次元的に変化しても移動が
可能である。
When the holding device 1 or 2 moves with the balloon A or B deflated, the sphere 3d or 4d of the guide portion 3 or 4 comes into contact with the inner surface of the tube 7, so that the holding device 1 or 2 can move smoothly. Also, even if there is a gap on the inner surface of the tube 7, the springs 3b, 4b of the guide parts 3, 4
absorbs the gap, ensuring smooth movement. Furthermore, since the balloons A and B are annular and are in close contact with the entire circumference of the inner surface of the tube, the contact area is large, and therefore a high holding force can be obtained even when the air pressure is low.
Therefore, movement is possible even if the direction of the tube changes three-dimensionally.

以上、一実施例に基づき詳細に説明したよう
に、本発明に係る管内移動装置によれば、管内面
に対する保持機構をバルーン式にしたことによ
り、構造が簡単となり、故障が少なくなつて信頼
性が向上し、清掃なども容易となり、更に軽量化
も図れることから操作性も増す。又、部品点数の
低減が図れ、部品交換時の経済性も増す。保持方
式が空気バルーンによる全周密着方式であるた
め、小さい空気圧力で高い保持力が得られ、エネ
ルギ的にも有利である。
As described above in detail based on one embodiment, according to the intra-pipe moving device according to the present invention, the holding mechanism for the inner surface of the pipe is of a balloon type, which simplifies the structure, reduces failures, and improves reliability. This improves the efficiency, makes cleaning easier, and also makes it lighter, which increases operability. Moreover, the number of parts can be reduced, and the economy when replacing parts can be increased. Since the holding method is a full-circumference contact method using an air balloon, a high holding force can be obtained with a small air pressure, and it is also advantageous in terms of energy.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図及び第2図はそれぞれ従来の管内移動装
置の側面図と側断面図、第3図は本発明の一実施
例に係る管内移動装置の概略側面図、第4図はそ
の正面図である。 図面中、1,2は保持装置、1a,2aは連結
部、1b,2bはバルーン保持部、3,4はガイ
ド部、5はエアシリンダ、6はユニバーサルジヨ
イント、7は管、8は制御盤、A,Bはバルーン
である。
1 and 2 are a side view and a sectional side view of a conventional intraductal moving device, respectively, FIG. 3 is a schematic side view of an intraductal moving device according to an embodiment of the present invention, and FIG. 4 is a front view thereof. be. In the drawing, 1 and 2 are holding devices, 1a and 2a are connecting parts, 1b and 2b are balloon holding parts, 3 and 4 are guide parts, 5 is an air cylinder, 6 is a universal joint, 7 is a pipe, and 8 is a control Boards A and B are balloons.

Claims (1)

【特許請求の範囲】[Claims] 1 膨張されて管の内面に密着され、収縮されて
管の内面から離されるバルーンを外周部に具え、
かつ管の内面にガイドローラが接触する複数のガ
イド機構を具えた二つの保持装置をユニバーサル
ジヨイントを介して流体アクチユエータにより接
近離反自在に連結し、前記バルーン及び前記流体
アクチユエータをそれぞれ作動流体給排装置に連
結したことを特徴とする管内移動装置。
1 Equipped with a balloon on the outer periphery that is inflated and brought into close contact with the inner surface of the tube, and deflated and separated from the inner surface of the tube,
Two holding devices equipped with a plurality of guide mechanisms in which guide rollers are in contact with the inner surface of the tube are connected via a universal joint by a fluid actuator so that they can be approached and separated, and the balloon and the fluid actuator are respectively supplied and discharged with working fluid. An intraductal moving device characterized in that it is connected to a device.
JP59066671A 1984-04-05 1984-04-05 Pipe inside travel device Granted JPS60213581A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP59066671A JPS60213581A (en) 1984-04-05 1984-04-05 Pipe inside travel device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP59066671A JPS60213581A (en) 1984-04-05 1984-04-05 Pipe inside travel device

Publications (2)

Publication Number Publication Date
JPS60213581A JPS60213581A (en) 1985-10-25
JPH0441114B2 true JPH0441114B2 (en) 1992-07-07

Family

ID=13322600

Family Applications (1)

Application Number Title Priority Date Filing Date
JP59066671A Granted JPS60213581A (en) 1984-04-05 1984-04-05 Pipe inside travel device

Country Status (1)

Country Link
JP (1) JPS60213581A (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62114884U (en) * 1986-01-14 1987-07-21
JP2634195B2 (en) * 1988-06-06 1997-07-23 三菱重工業株式会社 Fully automatic operation control method of pipe moving device
JP2725187B2 (en) * 1988-08-22 1998-03-09 タイホー工業株式会社 Transfer device in cavity
FR3016674B1 (en) * 2014-01-21 2016-08-26 Astrium Sas PULSE PUSHING DEVICE

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52134489A (en) * 1976-05-04 1977-11-10 Mitsubishi Heavy Ind Ltd Device to shift object within tubing
JPS5434289A (en) * 1977-06-24 1979-03-13 V Chiepurochiefunichiesukii N Moving apparatus passing through pipe passage of crack detector pick up

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58116661U (en) * 1982-02-01 1983-08-09 関西電力株式会社 Bore inspection device

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52134489A (en) * 1976-05-04 1977-11-10 Mitsubishi Heavy Ind Ltd Device to shift object within tubing
JPS5434289A (en) * 1977-06-24 1979-03-13 V Chiepurochiefunichiesukii N Moving apparatus passing through pipe passage of crack detector pick up

Also Published As

Publication number Publication date
JPS60213581A (en) 1985-10-25

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