JPH05338535A - Wheel extension control device in pipeline traveling vehicle - Google Patents

Abstract

PURPOSE:To reduce a size of a cylinder by providing a means for normally rotating one wheel and reversely rotating the other wheel which are in contact with a tube wall when the wheels are extended. CONSTITUTION:A wheel 40A is normally rotated and a wheel 40B is reversely rotated, which are in contact with a tube wall 10, by a wheel rotation means 45. Then, a cleaning device 1 smoothly ascends the tube wall 10. After an elapse of a timer set time, the wheels 4, 5 are brought into contact with trisected positions in a circumference of the tube wall 10 of a pipeline 3 to complete extension thereof, and a suction pipe 2 is arranged at an axis position C of the pipeline 3. Thereafter, the wheels 4, 5 are turned by 90 degrees by wheel turning devices 36, 37 from a circumferential traveling position to a fore and aft traveling position. When a motor 38 is driven to swing a suction nozzle 7 while motors 40 for the wheels 4, 5 are normally rotated, the cleaning device 1 sucks sludge and the like while traveling in the axial direction of the pipeline 3.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wheel overhang control device for a pipeline traveling vehicle that travels in a pipeline for flowing agricultural water, rainwater and the like.

[0002]

2. Description of the Related Art As a conventional pipeline cleaning apparatus for a pipeline traveling vehicle, there is Japanese Patent Application No. 3-225698. This is a device for cleaning the inside of the pipeline while traveling in the pipeline, and when setting this device at the inlet of the pipeline, after turning the wheels to the circumferential traveling position by the wheel turning device, The wheel overhang device extends the wheels in the radial direction of the pipeline.

At this time, since the motor for driving the wheels is not driven, the wheels in contact with the pipe wall of the pipe line are rotated in the circumferential ascending direction by the force of the cylinder of the wheel overhanging device, and the pipe wall is rotated. To rise.

[0004]

However, the wheels have a mode.
In addition to the built-in speed reducer etc. in order to rotate the wheels, the speed reducer must also be rotated and a large force is required, and a large load is applied to the cylinder of the wheel overhang device. I had to make the cylinder bigger.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to set a small size of a cylinder of a wheel overhanging device so that a large load is not applied to the cylinder of the wheel overhanging device when the wheel is extended when the cylinder is set in the pipeline of the vehicle. To be good at.

[0006]

In order to achieve the above-mentioned object, the present invention relates to a pipeline traveling vehicle in which a wheel provided on the outside of a traveling body so as to be able to project is capable of traveling in a pipeline. Means for turning the wheel to the circumferential traveling position, means for extending the wheel after the wheel has turned to the circumferential traveling position,
It is characterized in that it is provided with means for rotating one wheel in contact with the pipe wall of the pipe line in the forward direction and rotating the other wheel in the reverse direction when the wheel is extended.

[0007]

When the pipeline traveling vehicle is set at the entrance of the pipeline, the wheels are turned to the circumferential traveling position by the wheel turning means after the pipeline traveling vehicle is set at the entrance of the pipeline. Next, when the wheels are extended by the wheel extension means and one wheel that is in contact with the pipe wall of the pipeline is rotated forward by the wheel rotation means and the other wheel is rotated reversely, the traveling vehicle becomes smooth. It is set in the pipeline.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 is a pipeline cleaning device as a pipeline traveling vehicle. Reference numeral 2 denotes a suction pipe which is a traveling main body and is arranged at an axial center position C of the pipe line 3. The suction pipe 2 can travel in the pipe line 3 by rotation of wheels 4 and 5 provided outside the suction pipe 2.

A suction hose 6 is connected to the rear end of the suction pipe 2, and the suction hose 6 is connected to a suction means of a suction wheel (not shown). A suction nozzle 7 is connected to the front end of the suction pipe 2. The tip portion of the suction nozzle 7 and the swing cylinder portion 7a are connected by a cylinder 8 and a link 9, and the cylinder 8 and the link 9 cause the suction nozzle 7 to retreat from a two-dot chain line that coincides with the axial center position C. It is vertically swung to a position and a suction position indicated by a solid line that curves downward and extends along the pipe wall 10 of the pipe line 3.

A wheel overhanging device 11 is provided between the suction pipe 2 and the wheels 4, 5, and the wheel overhanging device 11 is located on the outer circumference of the front portion of the suction pipe 2 at three equally divided positions on the circumference. The attached front parallel link 12, the rear parallel link 13 attached to the outer periphery of the rear portion of the suction tube 2 in three circumferential positions, and the both sides of the middle portion of the suction tube 2 are slidably fitted in the axial direction. The combined front slide cylinder 14 and rear slide cylinder 15, a front operation link 16 connecting the front slide cylinder 14 and the front parallel link 12, and a rear operation link connecting the rear slide cylinder 15 and the rear parallel link 13. 17 and a wheel overhanging cylinder 18 connected to the front slide cylinder 14 and the rear slide cylinder 15.

When the cylinder 18 is extended, the front slide cylinder 14 slides forward and the rear slide cylinder 15 slides rearward, and the front and rear parallel links 12 and 13 are radially outside via the operating links 16 and 17, respectively. When the cylinder 18 is contracted, the front and rear parallel links 12, 13 contract inward in the radial direction. The front parallel link 12 is a wheel 4
Link 12a attached with other front and rear links 12b, 1
2c, and the rear parallel link 13 is composed of a link 13a to which the wheel 5 is attached and other front and rear links 13b and 13c.

1 and 2, wheel turning devices 36 and 37 are provided between the wheel overhanging device 11 and the wheels 4 and 5, respectively. The wheel turning devices 36 and 37 are connected to the front and rear parallel links 12. , 13 of the base boxes 19 and 20 fixed onto the links 12a and 13a, swivel bases 25 and 26 pivotally supported on the base boxes 19 and 20, and rotation provided in the base boxes 19 and 20. Swivel bases 25, 26 via links 21, 22
The wheel turning cylinders 23 and 24 for turning the wheel and the brackets 29 and 30 provided on the turning bases 25 and 26 and having the wheels 4 and 5 attached thereto are configured.

The cylinders 23, 24 allow the wheels 4, 5 to
Between the front and rear running positions in the axial direction of the pipeline 3 shown in FIG. 1 and the circumferential running positions in the circumferential direction of the pipeline 3 shown in FIG.
It can be turned 0 degrees. The front and rear wheels 4, 5 have a wheel rotation motor 40, a speed reducer (not shown), etc. built therein. The motor 40 rotationally drives the wheels 4, 5 via the speed reducer. It

As shown in FIG. 5, a wheel turning cylinder 2
3, 24 and the wheel overhanging cylinder 18 are air tanks 42 for holding the air sent from the air compressor 41 through the turning electromagnetic switching valve 34 and the overhanging electromagnetic switching valve 35.
It is connected to the. Reference numeral 31 denotes a wheel swelling control device controlled by a program of a microcomputer (not shown), which is composed of wheel turning means 43, wheel swelling means 44, and wheel rotating means 45.

The wheel turning means 43 energizes SOL2 of the electromagnetic switching valve 34 for turning when the circumferential turning switch 32 for turning the wheels 4, 5 to the circumferential traveling position is turned on. The wheel overhanging means 44 energizes SOL3 of the overhanging electromagnetic switching valve 35 when the overhanging switch 33 for overhanging the wheels 4, 5 radially outward of the conduit 3 is turned on. Wheel rotating means 4
When the bulge switch 33 is turned on, 5 rotates the wheel 40A in contact with the tube wall 10 in the forward direction and rotates the wheel 40B in the reverse direction.

Reference numeral 38 is a motor provided at the front end of the suction pipe 2, and the swinging cylinder portion 7 of the suction nozzle 7 is connected via a drive roller 39.
a in contact with the suction nozzle 7 by the forward and reverse rotation of the motor 38.
Swings in the circumferential direction. The present invention has the above-mentioned configuration, and the operation will be described below. When sucking sludge or the like in the pipeline 3, first, the cleaning device 1 is inserted into the inlet of the pipeline 3.

Next, when the circle turning switch 32 is pushed (step S ₂ ), the wheel turning means 43 of the wheel overhang control device 31 is pushed.
SOL2 of the electromagnetic switching valve 34 for turning is excited by this, the switching valve 34 is moved to the right position, and the air in the air tank 42 is guided to the wheel turning cylinders 23, 24 of the wheel turning devices 36, 37, and the cylinders 23, 24 are reduced. Rotating arm 2
1, 22 and the swivel base 25 and 26 pivot through a wheel 4,5 with brackets 29 and 30 also starts to operate timer starts the turning circumferentially traveling position from a running position before and after (Step S ₃₎ ..

The set time of the timer elapses (step S
₄ ) and the turning of the wheels 4 and 5 are completed, and the wheels 4 and 5 are in the circumferential traveling position (step S ₅ ). (See FIG. 3) After that, when the extension switch 34 is pressed (step S ₆ ),
The wheel overhanging means 44 of the wheel overhanging control device 31 excites the SOL3 of the electromagnetic switching valve 35 for overhanging, the switching valve 35 is in the right position, and the air in the air tank 42 is removed by the wheel overhanging device 11.
To the wheel overhanging cylinder 18, the cylinder 18 extends, the front slide cylinder 14 slides forward, and the rear slide cylinder 15 slides rearward.
The front and rear parallel links 12 and 13 start to expand outward in the radial direction via 17, the wheels 4 and 5 start to extend, and the timer also starts to operate (step S ₇ ).

Along with that, the wheel rotating means 45 rotates the wheel 40A in contact with the pipe wall 10 in the forward direction, and the wheel 40B is rotated.
Is reversely rotated (step S ₇ ). Then the cleaning device 1 Sum the tube wall 10 - climbs to's, the set time of the timer has elapsed (Step S ₈₎ and a wheel 4,5 circumferentially trisected positions of the tube wall 10 of the pipe 3 And the bulging of the wheels 4 and 5 is completed (step S ₉ ), and the suction pipe 2 is arranged at the axial center position C of the pipe line 3. (See FIG. 4) After that, the wheel turning devices 36 and 37 turn the wheels 4 and 5 from the circumferential traveling position to the front and rear traveling positions by 90 degrees. (See FIG. 1) Then, when the motor 38 is driven to swing the suction nozzle 7 and the motors 40 of the wheels 4 and 5 are normally rotated, the cleaning position 1 travels in the axial direction of the pipe line 3. Aspirate the sludge.

[0020]

As described above, according to the present invention, when the traveling vehicle is set at the entrance of the pipeline, after the wheels are turned to the circumferential traveling position by the wheel turning means, the wheels are stretched by the wheel overhanging means. Since one wheel that comes out and is in contact with the pipe wall of the pipeline is rotated forward and the other wheel is rotated reversely, the wheel overhanging cylinder does not require a large force to rotate the wheel. Can be made smaller.

[Brief description of drawings]

FIG. 1 is a side view of a pipeline traveling vehicle.

FIG. 2 is a view on arrow A in FIG.

FIG. 3 is a cross-sectional view of a circumferential traveling position in which a lower wheel of the pipeline traveling vehicle is in contact with a pipe wall of the pipeline.

FIG. 4 is a sectional view of a circumferential traveling position of a wheel of a pipeline traveling vehicle.

FIG. 5 is a block diagram of the device of the present invention.

FIG. 6 is a flowchart of the device of the present invention.

[Explanation of symbols]

 1 Pipeline Cleaning Device (Pipelined Vehicle) 2 Suction Pipe (Running Body) 3 Pipeline 4 Wheels 5 Wheels 10 Pipe Wall 43 Wheel Turning Means 44 Wheel Overhanging Means 45 Wheel Rotating Means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Norihiro Matsumoto 6-45 Koshienguchi, Nishinomiya-shi, Hyogo Within Far East Development Co., Ltd.

Claims (1)

[Claims] 1. A pipeline traveling vehicle in which a wheel is provided outside the traveling main body so as to be able to travel in a pipeline by rotation of the wheel, and a means for turning the wheel to a circumferential traveling position and a wheel Means for extending the wheel after turning to the circumferential traveling position, and means for rotating one wheel in contact with the pipe wall of the pipe line in the forward direction while the wheel is extended and rotating the other wheel in the reverse direction Wheel bulge control device for a pipeline vehicle.