JPH06134422A - Running device in pipe - Google Patents

Abstract

PURPOSE:To provide a running device capable of moving between pipes having different shapes and capable of running even in a sudden stream. CONSTITUTION:Leg cylinders 8a, 8b are connected to the rear end of the cylinder main body 1a of a main cylinder 1 and the leading end of a cylinder rod 1b through shaft joint parts 2a, 2b, 4a, 4b and the legs 29a, 29b opened and closed by the leg cylinders 8a, 8b are constituted. Support legs 15a, 15b are provided to the cylinder main body 1a and the cylinder rod 1b and wheel cylinders 18a, 18b are supported by the support legs 15a, 15b and wheels 19a, 19b are supported in an up-and-down movable manner by the wheel cylinders 18a, 18b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a traveling device in a pipe, and more particularly, to a device capable of performing stable traveling under a high flow velocity and in spite of changes in the shape and dimensions of the pipe.

[0002]

2. Description of the Related Art Since marine organisms such as shellfish and algae adhere to the inner surface of cooling seawater pipes of various power plants, they are regularly inspected and removed. For this work, a cleaning device that is inserted into the seawater pipe and is self-propelled is used. An example of the cleaning device is shown in FIGS.

A cleaning device 51 shown in FIG.
2, a ceiling wheel 54 is lifted and lowered by a cylinder 53.
And a manipulator 56 that holds the jet nozzle 55, and is loaded into the pipe 57 to form the cylinder 5
At 3, the ceiling wheel 54 is pressed against the ceiling surface in the pipe 57 to maintain the posture, the manipulator 56 is rotated, and high pressure water jetted from the jet nozzle 55 at the tip of the manipulator 56 is sprayed on the pipe inner surface to remove the deposits. It has become.

The cleaning device 58 shown in FIG.
The open leg sledges 60a and 60b before and after being opened and closed by 9 are connected by a cylinder (measurement cylinder) 61, and a manipulator 56 having a jet nozzle 55 is provided in the front portion to form the open leg sledges 60a and 60b. Is opened and stretched over the inner surface of the pipe. In this state, high-pressure water is jetted from the jet nozzle 55 to remove the deposits on the inner surface of the pipe.

[0005]

However, in the conventional device 51 shown in FIG. 10, since the device is held on the inner surface of the pipe via the wheels (moving carriage 52, ceiling wheel 54), the pipe If the contact area with 57 is small, it may not be able to withstand a high flow velocity and may flow, and if there is a step due to a shape change from a rectangular tube to a circular tube or a dimensional change, or if there is a convex obstacle. If the pipe 57 cannot run and the diameter of the pipe 57 changes, the center of rotation of the manipulator 56 does not coincide with the center of the pipe 57 and the nozzle 55
There is a problem in that the height of the blade changes significantly and uniform cleaning cannot be performed.

Further, the conventional device 58 shown in FIG. 11 is strong against a high flow velocity, but cannot adapt to the shape, dimensional change and obstacle like the previous device 51, and also moves due to the measuring operation. There is a problem that the speed is slow, it takes a long time to return after cleaning, and steering cannot be performed, so that it is impossible to run on a flat surface with a large rectangular pipe.

As described above, none of the conventional cleaning devices for pipes can be applied when the flow velocity is high and there is a change in shape or size, which is a cause of hindering automation.

When there is a shape-changed portion or a raised portion in the pipe, it is unavoidable to rely on the diver, but it is practically impossible to enter the pipe with a high flow rate, which is a dangerous work.

Further, it may be possible to stop the water manually, but it is necessary to stop the plant for a long period of time, which has a great social impact due to a decrease in the operating rate.

[0010]

In order to solve the above problems, according to the present invention, legs that are opened and closed by leg cylinders are provided at both ends of a main cylinder, and wheels are provided on a cylinder body of the main cylinder or a cylinder rod and a cylinder rod, respectively. The in-pipe traveling device is configured by providing wheels that move up and down with the use cylinder.

[0011]

According to the in-pipe traveling device having the above structure, the device itself can be firmly fixed to the pipe by opening the leg with the leg cylinder and stretching the leg on the inner surface of the pipe. When returning, the legs can be closed and the wheels can be driven at high speed.

Further, the front and rear legs and the wheels have a total of four support points, and by moving the legs and the wheels up and down in sequence, a rectangular step to a circular step or a step due to a change in the diameter dimension is continuously moved. can do.

Further, steering can be performed by wheels, and horizontal direction control is possible by a plane movement in a rectangular tube. In a circular tube, two wheels are provided so as to face inward, so that layer stability is provided at the center of the tube bottom. You can run it.

[0014]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, a pipe traveling device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a side view of the apparatus of one embodiment, and FIGS. 2 and 3 show the side view taken along the line AA and B-.
The arrow B is shown.

Reference numeral 1 denotes a main cylinder (measurement cylinder), and first connecting shafts 2a and 2b are horizontally provided at the rear end of the cylinder body 1a and the front end of the rod 1b, respectively, as shown in the figure. Rotating members 3a and 3b are connected to the respective first connecting shafts 2a and 2b so as to be rotatable around the first connecting shafts 2a and 2b. The rotating members 3a, 3b have second connecting shafts 4a, 4b oriented in a direction orthogonal to the first connecting shafts 2a, 2b, and the second connecting shafts 4a, 4b are respectively provided with mounting members 5a, 5b. The two connecting shafts 4a and 4b are connected so as to be rotatable.

Revolving shafts 6a and 6b are supported on the respective mounting members 5a and 5b with their centers aligned with the center of the cylinder 1, and are provided between the mounting members 5a and 5b and the revolving shafts 6a and 6b. The turning cylinders 7a and 7b are capable of turning.

Leg cylinders 8a and 8b are attached to the swivel shafts 6a and 6b so that their centers coincide with each other, and three links 10a and 10b are circumferentially equidistantly attached to the tips of the rods 9a and 9b. One end is pin-coupled. These links 10a and 10b and the pivot shaft 6a,
Pin 6b is connected to 6b by three arms 11a and 11b.

Shoes 13a, 13b are attached to the tips of the links 10a, 10b via universal joints 12a, 12b. That is, the links 10a, 10b, the arms 11a, 11b, the shoes 13a, 13b are attached to the front and rear legs 29.
That is, a and 29b are formed.

On the other hand, clamps 14a and 14b are attached to the cylinder body 1a and the rod 1b of the main cylinder 1, and two support legs 15a and 15b are provided on the left and right sides of the clamps 14a and 14b, respectively. Each support leg 1
A steering shaft 16 is rotatably attached to the end portions of 5a and 15b.
a and 16b are provided. Clamps 14a and 14b
The steering shafts 16a and 16b are connected by steering cylinders 17a and 17b, and the steering shafts 16a and 16b are rotated by the operation of the steering cylinders 17a and 17b.

Wheel cylinders 18a and 18b are provided below the steering shafts 16a and 16b, and wheels 19a and 18b are provided below the wheel cylinders 18a and 18b, respectively.
19b is supported. In this example, the wheels 19a, 1
At least one of 9b is a driving wheel. The motor for driving is not shown.

A swivel drive unit 20 is attached to the tip of the front leg cylinder 8a, an arm 22 is pin-connected to a swivel shaft 21, and a cleaning brush 23 is pinned to the tip of the arm 22. Are combined. The swivel shaft 21 and the arm 22 are connected by a brush cylinder 24, and the operation of the cylinder 24 pushes the brush 23 against the inner surface of the tube 32 and separates it from the inner surface of the tube 32. In addition, the swivel shaft 21, the arm 22, the brush 23 and the like are hereinafter referred to as a cleaning manipulator 28.

Next, the traveling operation and the like by the in-pipe traveling device having the above-mentioned configuration will be described. First, the operation of continuously moving from the tube 32 having a rectangular cross section to the tube 33 having a circular cross section will be described with reference to FIG.

FIG. 3A shows a state in which the device is stopped in the rectangular tube 32 just before the circular tube 33. From the above state, first close the front leg 29a by the leg cylinder 8a,
The rod 1b of the main cylinder 1 is extended and the front leg 29a is inserted into the circular tube 33. Then, the leg 29a is slightly opened by the leg cylinder 8a, the shoe 13a is slidably contacted with the inner surface of the pipe 33a, the rod 1b is further extended, and the front wheel 19a is pulled up by the wheel cylinder 18a to pull up the circular pipe 33a.
Cylinder for wheel 18
The front wheel 19a is grounded to the inner surface of the circular tube 33 by a.
After that, the rod 1b is extended to the full stroke, the pressure of the leg cylinder 8a is increased, and the front leg 29a is strongly stretched and fixed in the circular tube 33. This state is shown in FIG.

Next, the rear leg 29b is moved by the leg cylinder 8b.
Closed, and the main cylinder 1 is shortened to move the cylinder body 1a.
Etc. to the front leg 29a side. In other words, move forward.
The advanced state is shown in FIG.

Then, the rear leg 29b is moved by the leg cylinder 8b.
The rear leg 29b is fixed to the tip of the rectangular pipe 32 by pushing the front leg 2b with the front end of the front leg 2b by the leg cylinder 8a.
9a is closed and floated lightly enough to be slidable, the main cylinder 1 is fully extended, and the front leg 29a, the brush 23, etc. are advanced. The advanced state is shown in FIG.

Next, the front leg 29a is moved by the leg cylinder 8a.
Open, and the front leg 29a is stretched and fixed to the inner surface of the circular tube 33, the rear leg 29b is closed and floated by the leg cylinder 8b, the main cylinder 1 is shortened, and the rear leg 29b is pulled toward the front leg 29a. This state is shown in FIG.

Thereafter, the rear leg 29 is moved by the leg cylinder 8b.
b is opened, and the inner surface of the circular tube 33 is stretched and fixed. With this, the entire device is moved into the circular tube 33, and can be further advanced. This state is shown in FIG.

Next, the movement within the tube which is curved in the vertical direction will be described. In this case, as shown in FIG. 5, the front and rear first connecting shafts 2a and 2b rotate the front leg 29a side and the rear leg 29b side including the rotating members 3a and 3b in the vertical direction with respect to the main cylinder 1, It corresponds to the shape of the curved portion 34.

When moving in a curved pipe in a horizontal plane, the front and rear legs 29a and 29b including the mounting members 5a and 5b are mainly moved by the front and rear second connecting shafts 4a and 4b, as shown in FIG. It rotates in the left-right direction with respect to the cylinder 1 and corresponds to the shape of the bending portion 35.

7 to 9 show examples of control of direction change when traveling in a plane such as in a wide rectangular pipe. FIG. 7 shows a straight traveling state. In order to change the direction from this state, first, the front cylinder 29a is used to close the front leg 29a, and the wheel cylinder 18b is used to lift the rear wheel 19b up and down to float the steering cylinder. By operating 17a, the steering shaft 16a is operated to cut the front wheel 19a in the target direction.

After that, when the main cylinder 1 is extended and the rear leg 29b is used as a reaction force to extend the front leg 29a side, the main cylinder 1 advances toward the front wheel 19a, as shown in FIG.

When the front leg 29a is moved forward, the front leg 29a is opened by the leg cylinder 8a to land on the rear leg 2a.
9b is closed and floated by the operation of the leg cylinder 8b, and then the main cylinder 1 is shortened to pull the rear leg 29b side toward the front leg 29a side. The rear leg 29b side moves in the direction of the front leg 29a side, and the switching of the direction is completed.

For cleaning the inner surface of the pipe of the apparatus, after the rear leg 29b is stretched by the leg cylinder 8b and fixed to the pipe, the front leg 2
The cleaning manipulator 28 is swung while the 9a is floated to the inner surface of the pipe and the front leg 29a is advanced by the extension operation of the main cylinder 1.

Since the traveling of the apparatus is performed by the extension movement of the main cylinder 1, the wheels 19a and 19b do not essentially need to be driven by a motor, and may be driven. However, a high speed effect can be obtained by driving with a motor when the vehicle is idled for restoration. Of course, the cable may be pulled and collected.

The present invention is not limited to the above embodiment, but can be implemented in various modes. For example, although the one-sided rod is used as the main cylinder 1, a two-sided rod may be adopted. In addition, the first connecting shafts 2a and 2b and the second connecting shaft 4
The arrangement with a and 4b may be reversed, and other types such as a universal joint may be used. Further, as a cleaning manipulator, it is possible to use not only a brush but also a spray manipulator.

[0036]

According to the in-pipe traveling apparatus of the present invention, the main cylinder is provided with legs which are opened and closed by the leg cylinders, and the main cylinder body or the cylinder rod and the cylinder rod are respectively provided with the wheel cylinders. Since the wheels that move up and down are provided, the legs are expanded and contracted according to the shape of the pipe, and the wheels are moved up and down to extend and contract the main cylinder, it is difficult to achieve high flow velocity and pipe shape ,
It enables stable running regardless of dimensional changes.

Therefore, it becomes possible to automate various in-pipe works, avoiding the stoppage of the plant and the like, and reducing the burden on the worker.

[Brief description of drawings]

FIG. 1 is a side view of an in-pipe traveling device according to an embodiment of the present invention.

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

FIG. 3 is a view taken along the line BB in FIG.

FIG. 4 is an explanatory diagram of movement in a tube having a different shape.

FIG. 5 is an explanatory diagram of movement in a tube that bends up and down.

FIG. 6 is an explanatory diagram of movement in a tube that curves to the left and right.

FIG. 7 is an explanatory diagram of a direction change.

FIG. 8 is an explanatory diagram of a direction change.

FIG. 9 is an explanatory diagram of a direction change.

FIG. 10 is a schematic view of an example of a conventional pipe cleaning device.

FIG. 11 is a schematic view of an example of a conventional pipe cleaning device.

[Explanation of symbols]

 1 Main Cylinder 1a Cylinder Body 1b Rod 2a, 2b First Connecting Shaft 4a, 4b Second Connecting Shaft 8a, 8b Leg Cylinder 18a, 18b Wheel Cylinder 19a, 19b Wheel 23 Cleaning Brush 28 Cleaning Manipulator 29a, 29b Leg

Claims (1)

[Claims] 1. A leg which is opened and closed by a leg cylinder is provided at each end of the main cylinder, and wheels which are vertically moved by a wheel cylinder are provided on a cylinder body of the main cylinder or a cylinder rod and a cylinder rod, respectively. In-pipe traveling device.