JPH062701A - Hydraulic actuator and inside-tube traveling device utilizing it - Google Patents

Abstract

PURPOSE:To provide a hydraulic actuator by which the action speed at the time of depressurization can be enhanced with a simple structure. CONSTITUTION:A hydraulic actuator 1 comprises a rubber tube 2 consisting of an elastic body, and a reinforcing body 3 of a mesh structure for covering the outer circumference thereof. In the mesh 3, the intersecting parts 12 of the elements 11a, 11b of the mesh structure are integrally formed, and the intersecting parts 12 are provided with such a function that elastic energy can be stored by the elastic deformation caused by pantographic motion at the time of expansion, and the pantographic motion for regulating the contractive deformation can be assisted by the release of the elastic energy that has been stored in the intersecting parts thereof, at the time of depressurization.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fluid pressure actuator that expands and contracts in the axial direction by supplying and discharging a pressurized fluid, and a pipe traveling device using the same.

[0002]

2. Description of the Related Art Conventionally, as a fluid pressure actuator of this type, there is an air pressure actuator known from Japanese Patent Application Laid-Open No. 50-52872. In this pneumatic actuator, a rubber tube is provided with a mesh covering the rubber tube, and an air pressure pipe is connected to the tube. Then, a large contracting force can be generated in the axial direction by the action of the mesh that covers the periphery of the rubber tube during pressurization. The reaction rate at the time of contraction is generally high although it depends on the air pressure. However, when the pressure is reduced, the pressurized air is simply released to the atmosphere, so that the extension speed becomes slower as the exhaust gas proceeds.

[0003]

Therefore, in general,
By connecting a bias spring to the pneumatic actuator and applying a bias in the extending direction, the biasing force of the bias spring is used for quick extension during decompression. An example of this is disclosed in Japanese Patent Laid-Open No. 63-91555.

However, when this bias spring is used together with the actuator, there is a drawback that the device inevitably becomes large in size.

The present invention has been made in view of the above problems, and an object thereof is to provide a fluid pressure actuator capable of increasing the deformation operation speed at the time of depressurization with a simple structure, and a pipe running using the same. To provide a device.

[0006]

A first aspect of the present invention has an inner cylinder made of an elastic material having both ends sealed, and a mesh structure reinforcing body covering the outer periphery of the inner cylinder, and the inner space of the inner cylinder. Deformation by which the length along the axial direction of the inner cylinder is changed to 1 by the pantograph movement in the wire portion of the reinforcing body when the inner cylinder of the inner cylinder is depressurized In the fluid pressure actuator that performs a second deformation for changing the length of the inner cylinder along the axial direction to another direction opposite to the one direction by the pantograph motion in the wire portion of the reinforcing body at the time of The reinforcing body is formed by integrally or integrally forming intersecting portions of the wire portions of the mesh structure, and the wire portions including the intersecting portions are elastically deformed by the pantograph motion at the time of the first deformation. It has a function to store elastic energy, It is obtained so as to facilitate the pantograph motion at the element wire portion for restricting the second modification by the release of The stored elastic energy in the wire part including the intersection when the pressure is reduced between.

A second aspect of the present invention is a reinforcement body in which an inner cylinder made of an elastic material having both ends sealed and a mesh structure for covering the outer circumference of the inner cylinder are formed integrally or integrally at intersections of the wire portions. And a length of the inner cylinder along the axial direction is changed to a direction of 1 by pantograph movement in the wire portion of the reinforcing body when the inner space of the inner cylinder is pressurized with a fluid. Second deformation, in which the length along the axial direction of the inner cylinder is changed in the direction opposite to the first direction by the deformation and the pantograph movement in the wire portion of the reinforcing body when the inner space of the inner cylinder is decompressed The wire portion including the intersecting portion of the reinforcing body has a function of elastically deforming and storing elastic energy by pantograph motion of the wire portion accompanying the first deformation. Is stored in the wire part including the intersection when decompressing A fluid pressure actuator that promotes pantograph motion of the wire portion that restricts the second deformation by releasing elastic energy, a balloon attachment member connected to both ends of the fluid pressure actuator, and fixed to the balloon attachment member, respectively. A balloon that selectively inflates due to the supply and discharge of the pressurized fluid, and a locking means for pressing the inflated balloon against the inner wall of the tube, and an inspection means provided in any one of the balloon mounting members. And a means for controlling the forward or backward movement by supplying / discharging fluid to / from the inner cylinder of the pneumatic actuator in accordance with alternately supplying / discharging fluid to / from the balloon of each locking means. is there.

[0008]

1 shows a fluid pressure actuator 1 according to a first embodiment of the present invention. As shown in FIG. 1 (A), the fluid pressure actuator 1 comprises a rubber tube 2 as an inner cylinder made of an elastic body, and a metal mesh 3 as a reinforcing body formed in a cylindrical shape on the outer circumference of the rubber tube 2. Both ends of the rubber tube 2 are closed by sealing members 4 and 5 to seal the internal space. The caps 6 and 7 attached to both ends of the mesh 3 are fitted and fixed to the outer circumferences of both ends of the rubber tube 2. That is, the both ends of the rubber tube 2 are
It is fixed by being sandwiched between the sealing members 4 and 5 and the corresponding caps 6 and 7. A supply port 9 for connecting the fluid supply tube 8 is formed in the one sealing member 5, and the fluid supply tube 8 is communicated with the internal space of the rubber tube 2.

On the other hand, the mesh 3 is formed as shown in FIG. That is, for example, a plurality of diamond-shaped openings 10 are regularly punched out in a metal thin plate having strong elasticity such as stainless steel or phosphor bronze to form a mesh structure. The wire portions 11a and 11b of this mesh structure are arranged at equal intervals in two different directions. The wire portion 11a in one direction and the wire portion 11b in the other direction are obliquely arranged at different angles with respect to the central axis direction of the rubber tube 2 at the same angle (θ / 2). Since a plurality of diamond-shaped openings 10 are punched out regularly in a thin plate to form a mesh structure on the same plane, each of the wire portions 11a and 11b has a narrow band-like shape and is integrated at the intersection 12 thereof. ing. The angle (θ / 2) is smaller than 54 ° 44 '.

Next, the operation of the fluid pressure actuator 1 will be described. When a pressurized fluid such as air is injected into the inner space of the rubber tube 2 through the fluid supply tube 8, the rubber tube 2 of the fluid pressure actuator 1 is
It expands in the radial direction, and at this time, the wire portion 11 of the mesh 3
The pantograph movements of a and 11b regulate the contraction in the central axis direction. At this time, the opening 10 of the mesh 3
Is transformed into the shape of FIG. 1 (C) to (D). In this way, the first deformation in which the fluid pressure actuator 1 expands in the radial direction and contracts in the central axis direction for a short time can be performed.

As the rubber tube 2 expands in the radial direction, the angle formed by the wire portions 11a and 11b of the mesh 3 increases (θ <θ '). Along with this, the wire portions 11a and 11b including the intersecting portion 12 of the mesh 3, particularly the portion of the intersecting portion 12, is elastically deformed, and the wire portion 11a and 11b including the intersecting portion 12 are generated. In particular, elastic energy will be stored at the intersection portion 12. The strands 11a and 11b have a plate shape even if the width is narrow and can be deformed in the direction along the plate surface, so that a considerably large elastic energy can be stored.

On the other hand, when the fluid is discharged from the rubber tube 2 of the expanded fluid pressure actuator 1, the wire portions 11a and 11b including the intersecting portion 12, particularly, the intersecting portion 1 thereof.
The elastic energy stored in the portion 2 becomes superior, and finally the elastic energy promotes the extension of the fluid pressure actuator 1 in the central axis direction.

However, according to such a configuration, the mesh 3 has a contraction force generating function by pantograph motion and a bias restoring function by elastic deformation.
The fluid pressure actuator 1 can perform the extension operation quickly without incorporating a bias spring in addition to it, and can be downsized as a device, and the configuration can be simplified. The fluid is not limited to air and may be oil or the like.

FIG. 2 shows a second embodiment of the present invention. This embodiment is a modification of the mesh 3 in the first embodiment, which is formed by braiding a metal wire 13. In addition, wire 1 in different orientations
The intersection 12 of 3 is fixed by brazing to be integrated.

In this embodiment, however, elastic energy can be stored by the deformation of the mesh 3 at the intersecting portion 12, so that the same operation as that described above can be obtained. Further, according to the structure of the mesh 3, its manufacture is easy.

In the first and second embodiments described above, the mesh 3 is made of metal, but if the wire portions 11a and 11b including the intersection 12 can store elastic energy. For example, a material such as plastic or ceramic may be used.

A third embodiment is shown in FIGS. This third
In this embodiment, the in-pipe inspection self-propelled device 20 is configured using the fluid pressure actuator 1 described in the first and second embodiments. The in-pipe inspection self-propelled device 20 is configured as follows. That is, the front protection member 21 and the rear protection member 22 as mounting members are connected by a plurality of fluid pressure actuators 1. These fluid pressure actuators 1 include the front protection member 21 and the rear protection member 2.
2 and the self-propelled device 20 are arranged side by side symmetrically with respect to the central axis of the self-propelled device 20.

A front balloon 23 is attached to the peripheral surface of the front protective member 21 as a locking means for inflating and pressing against the inner wall surface of the tube as described later, and the peripheral surface of the rear protective member 22 is also described later. A rear balloon 24 is attached as a locking means that expands and presses against the inner wall surface of the tube. Although not shown, independent tubes are connected to the front balloon 23 and the rear balloon 24, respectively.

Further, the front protection member 21 incorporates an inspection means for observing the inside of the tube. That is, the observation lens 2 that is located on the central axis of the self-propelled device 20 and opens to the front surface thereof.
5 and the solid-state image sensor 26 located at the focal position after that. Further, a plurality of illumination lamps 27 are provided around the observation lens 25. A signal line 28 is connected to the solid-state imaging device 26, and a power line 29 is connected to the lamp 27. The signal line 28, the power line 29, and the fluid supply tube 8 of the fluid pressure actuator 1 are connected to the self-propelled device 2
It extends rearward from the body of 0. Further, in the front protection member 21, a cooling fin 30 is provided near the lamp 27 to efficiently dissipate the heat generated by the lamp 27.

Next, the in-pipe traveling operation of the self-propelled device 20 for in-pipe inspection will be described. By sequentially pressurizing and depressurizing the front and rear balloons 23 and 24 and the rubber tube 2 of the fluid pressure actuator 1, a forward insect movement is performed. That is, as shown in FIG. 5A, the front balloon 23 is inflated and pressed against the inner wall 31 of the tube to be locked. The fluid pressure actuator 1 is in a contracted and expanded state. The rear balloon 24 is also deflated and separated from the inner wall 31 of the tube. From this state, as shown in FIG. 5B, the fluid pressure actuator 1 is expanded and contracted in its axial direction. Therefore, the rear protective member 22 advances toward the fixed front protective member 21.

Then, as shown in FIG. 5 (C), the front balloon 23 is deflated and separated from the inner wall 31 of the tube, and instead the rear balloon 24 is inflated and pressed against the inner wall 31 of the tube to be attached thereto. , The fluid pressure actuator 1 is contracted to extend in the axial direction. Therefore, the front protection member 21 further advances based on the position of the rear protection member 22 that is moved forward and fixed. It is possible to move forward by repeating this.

The self-propelled device 20 can be retracted by utilizing this action. Also, various other driving procedures are possible.

Since the in-pipe inspection self-propelled device 20 is driven by utilizing the above-mentioned fluid pressure actuator 1, the traveling drive cycle is performed by its quick operation, and the traveling speed can be increased. Fluid pressure actuator 1
Since it is not necessary to place a bias spring etc. around,
It is possible to realize a device that can be self-propelled even in a small diameter pipe.

FIG. 6 shows a fourth embodiment of the present invention. The fluid pressure actuator 1 has a front protection member 21 in which fluid cooling means is incorporated. That is, in this embodiment, the front protection member 21 of the self-propelled device 20 for in-pipe inspection described above is used.
At a position before the rear protection member 22, a cooling tube 41 is branched from the middle of the fluid supply tube 8 to the fluid pressure actuator 1, and the cooling tube 41 penetrates the rear protection member 22 to perform the front protection. It is connected to the air supply port 43 of the recirculation control valve 42 provided inside the member 21. The reflux control valve 42 includes an outlet port 44 and an inlet port 45 on the opposite side of the air supply port 43. A check valve 46 is provided in the outlet port 44 so as to flow out from the reflux control valve 42, and a check valve 47 is provided in the inlet port 45 so as to flow into the reflux control valve 42. These check valves 46 and 67 are composed of a compression spring 48, a valve 49 and a main body 50.
It is pushing to one port of 0. The outlet port 44 and the inlet port 45 are connected by a reflux tube 51 that makes one round from the rear end to the front end inside the front protection member 21. A cooling reflux circuit 52 including the reflux control valve 42 and the reflux tube 51 is provided for each fluid actuator 1. However, it may be provided corresponding to a part of the fluid actuator 1. Other configurations are
This is similar to the third embodiment described above.

Next, the operation of the cooling reflux circuit 52 will be described. First, when the air pressure of the cooling tube 41 is higher than the air pressure of the reflux tube 51, the compression spring 48 of the check valve 46 in the outlet port 44 is pushed by the fluid pressure to open,
The valve 49 of the check valve 47 in the inlet port 45 is
Closed by being pushed by. Therefore, compressed air is filled in the direction of the arrow as shown in FIG. This is the time when the fluid pressure actuator 1 is being supplied with air.

When the pressure of the cooling tube 41 becomes lower than the pressure of the reflux tube 51, the check valve 4 of the outlet port 44 is
The valve 49 of No. 6 is pushed and closed by the compression spring 48, and the valve 49 of the check valve 47 in the inlet port 45 is pushed and opened by the fluid pressure. Therefore, the air compressed in the arrow direction flows as shown in FIG. This is the time when the fluid pressure actuator 1 is exhausted.

As described above, air is recirculated in the order of the cooling tube 41, the air supply port 43, the outlet port 44, the recirculation tube 51, the inlet port 45, the air supply port 43, and the cooling tube 41 by the action of the recirculation control valve 42. . Then, by forcibly cooling the heat of the illumination lamp 27, CC
The solid-state imaging device 26 such as D can be protected from heat, and long-term observation is possible.

In this embodiment, since the number of fluid pressure actuators 1 is two, the circulation circuit 52 has two systems. However, if the fluid pressure actuators 1 are four, the self-propelled device for in-pipe inspection is used. The return circuit 52 may be of four systems or may be of two systems.

7 and 8 show a fifth embodiment of the present invention. In this embodiment, in the self-propelled device 20 for in-pipe inspection described above, a connection port is provided on the fixed end of the front protection member 21 for fixing the fluid pressure actuator 1 so that the compressed fluid can be directly supplied from the fluid pressure actuator 1. 61 is provided. The other end of the connection port 61 is
It is connected to the air supply port 43 of the recirculation control valve 42 provided near the rear end of the front protection member 21. Outlet port 4 provided with a check valve 46 at the other end of the air supply port 43
4 and an inlet port 45 provided with a check valve 47. The outlet port 44 and the inlet port 45 are the front protection member 2
They are connected by a reflux tube 62 which reaches the front end in 1 and makes one round. The reflux tube 62 extending from the outlet port 44 is provided with a balloon portion 65 near the outlet port 44. The reflux tube 62 that makes a U-turn at the tip of the front protection member 21 incorporates a heat dissipation plate 63 in a sealed state therein. Then, the heat dissipation plate 63 provided in the reflux tube 62 connected to the inlet port 45
Is fixed to a radiator 64 provided so as to cover the entire circumference of the solid-state imaging device 26. The other structure is the same as that of the fourth embodiment described above. A balloon portion 65 is provided in the middle of the reflux tube 62.

According to the self-propelled device 20 for in-pipe inspection, however, the compressed fluid (air) supplied through the fluid pressure actuator 1 passes through the same route as in the case of the fourth embodiment and finally reaches the fluid. It is circulated so as to return to the pressure actuator 1. The compressed fluid expands the balloon portion 65 as shown in FIG. 8 to store the compressed fluid therein. The exhaust of the fluid pressure actuator 1 causes the baleen portion 65 to contract as shown in FIG. Then, the circulating fluid removes the heat conducted to the radiator 64 from the solid-state imaging device 26 via the heat dissipation plate 63, and as a result, the solid-state imaging device 26 is cooled. The other operation is the same as that of the fourth embodiment described above.

However, according to the structure of this embodiment, the cooling effect is improved by intensively cooling the portion requiring cooling. Further, by storing air in the balloon portion 65, the amount of recirculation is increased and the cooling performance is improved.

The radiator plate 63 and the radiator 64 may be attached to the lamp 27 as shown in FIG.

FIG. 10 shows a sixth embodiment of the present invention. In the sixth embodiment, the above-mentioned fluid pressure actuator 1 is used as a drive means for bending the bending portion 71 of the endoscope 70. That is, the bending portion 71 of the endoscope 70 is configured by arranging a plurality of bending pieces 72 in the axial direction and rotatably connecting the bending pieces 72 to each other. One end of a bending operation wire 73, 73 is fixed to the inner peripheral portion of the most advanced bending piece 72 at its upper and lower positions, respectively.
The other end of 73 is connected to the corresponding fluid pressure actuator 1. The fluid pressure actuator 1 has a flexible tube 74 at an insertion portion connected to the rear end of the bending portion 71.
Is located inside.

The fluid pressure actuator 1 is constructed in the same manner as described above, and the other end of the wire 73 is connected to the mouthpiece portion 75 in front of the fluid pressure actuator 1. A fluid supply tube 77 is connected to the rear mouthpiece 76. Air is supplied to and discharged from the fluid supply tube 77 by an electromagnetic valve, a control device, and an air compressor (not shown).

Further, the fluid pressure actuator 1 is provided in the semi-rigid cylindrical member 78. A rear end side of the semi-rigid cylindrical member 78 is fixed to the base portion 76, and a tip end of the semi-rigid cylindrical member 78 is attached to one end of a tightly wound coil sheath 79. The other end of the coil sheath 79 is fixed to the rearmost bending piece 72 or a connecting pipe (not shown). The wire 73 described above is inserted into the coil sheath 79. Further, the fluid pressure actuators 1 are arranged at positions displaced from each other in the axial direction of the flexible tube 74 so as not to overlap each other. In addition, it has a general configuration as an endoscope.

When the compressed air generated by the air compressor (not shown) is supplied to the fluid pressure actuator 1 selected by the control device via the solenoid valve and the tube, the fluid pressure actuator 1 moves in the radial direction. It expands and contracts strongly in the axial direction. This contracting force becomes a force for pulling the wire 73, and bends the bending portion 71 in the direction to be pulled. At this time, since the fluid pressure actuator 1 is fixed to the bending piece 72 at the rearmost end via the semi-rigid member 78 and the coil sheath 79 which are fixed to the mouthpiece portion 76 on the rear side, the wire 73 can be pulled. Has become.

In this construction, the two fluid pressure actuators 1 are used to selectively bend in two directions. For example, the four fluid pressure actuators 1 on the left, right, top and bottom are used to bend in four directions. You may do it.

Further, the fluid pressure actuator 1 in each of the above-described embodiments has the wire portions 11a and 11b of the mesh 3 thereof.
Although the angle (θ / 2) formed by is smaller than 54 ° 44 ′, it may be larger than 54 ° 44 ′. In this case, the pantograph movement of the mesh 3 when the pressurized fluid is injected into the inner space of the rubber tube 2 causes the first deformation of extending the fluid pressure actuator 1 in the central axis direction. On the contrary, when the pressurized fluid is discharged from the internal space of the rubber tube 2, the pantograph movement of the mesh 3 is
A second deformation of contracting the fluid pressure actuator 1 in the central axis direction is performed. Of course, elastic energy is accumulated and released at the portions of the wire portions 11a and 11b including the intersecting portion 12 of the mesh 3 due to elastic deformation.

[0039]

As described above, the reinforcing body of the fluid pressure actuator of the present invention is formed by integrally or integrally forming intersecting portions of the wire portions of the mesh structure, and the wire portion including the intersecting portions. Has a function of storing elastic energy by elastic deformation associated with the pantograph motion at the time of the first deformation, and releases the elastic energy stored in the wire portion including the intersection when the internal space is depressurized. Since the pantograph movement in the wire portion that restricts the second deformation is promoted by the above, a fluid pressure actuator capable of increasing the deformation operation speed at the time of decompression with a simple structure It is possible to provide an in-pipe traveling device using the same.

[Brief description of drawings]

1A and 1B show a first embodiment of the present invention, in which FIG. 1A is a side sectional view of the fluid pressure actuator, FIG. 1B is a side view of the fluid pressure actuator when inflated, and FIG. FIG. 3D is a plan view of the mesh when it is expanded.

FIG. 2 is a plan view of a mesh in a fluid pressure actuator according to a second embodiment of the present invention.

FIG. 3 is a side sectional view of an in-pipe traveling device using the fluid pressure actuator according to a third embodiment of the present invention.

FIG. 4 is a perspective view of the vicinity of the front protection member of the traveling device in a pipe according to the third embodiment of the present invention.

FIG. 5 is an explanatory diagram showing a traveling sequence of the in-pipe traveling device according to the third embodiment of the present invention.

6A and 6B show a fourth embodiment of the present invention, in which FIG. 6A is a side sectional view of an in-pipe traveling device using the fluid pressure actuator, and FIGS. 6B and 6C are fluid circuit diagrams of fluid cooling means. is there.

FIG. 7 is a side cross-sectional view showing a fifth embodiment of the present invention and the vicinity of a front protection member of an in-pipe traveling device using the fluid pressure actuator.

FIG. 8 is a sectional view showing a part of the fluid cooling means of the fifth embodiment of the present invention.

FIG. 9 is a side cross-sectional view showing a modified example of the fifth embodiment of the present invention, in the vicinity of a front protection member of an in-pipe traveling device using the fluid pressure actuator.

FIG. 10 is a side sectional view of an endoscope insertion portion showing a sixth embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Fluid pressure actuator, 2 ... Rubber tube, 3 ... Mesh, 8 ... Fluid supply tube, 11a, 11b ... Element wire part, 12 ... Intersection part, 20 ... Self-propelled device for in-pipe inspection, 70 ...
Endoscope.

Claims (2)

[Claims] 1. An inner cylinder made of an elastic body having both ends sealed,
With a mesh structure reinforcing body that covers the outer periphery of the inner cylinder,
A first deformation for changing the length of the inner cylinder along the axial direction to 1 by pantograph movement in the wire portion of the reinforcing body when the inner space of the inner cylinder is pressurized with a fluid; When the inner space of the cylinder is decompressed, the length along the axial direction of the inner cylinder is set to 1 by the pantograph movement in the wire portion of the reinforcing body.
In a fluid pressure actuator that performs a second deformation in which the direction is changed to the other direction, the reinforcing body is formed by integrally or integrally forming intersecting portions of the wire portions of the mesh structure. The wire portion including the portion has a function of storing elastic energy by elastic deformation associated with the pantograph movement during the first deformation, and is stored in the wire portion including the intersection when the internal space is depressurized. A fluid pressure actuator, wherein the release of the generated elastic energy promotes a pantograph motion in the wire portion that restricts the second deformation. 2. An inner cylinder made of an elastic body having both ends sealed,
A reinforcing member having a mesh structure that covers the outer circumference of the inner cylinder and integrally or integrally formed at the intersections of the wire portions, and the reinforcing member when the inner space of the inner cylinder is pressurized with a fluid. A first deformation in which the length along the axial direction of the inner cylinder is changed to 1 by pantograph movement in the wire portion, and the wire portion of the reinforcing body when the internal space of the inner cylinder is depressurized The second deformation for changing the length of the inner cylinder along the axial direction by the pantograph movement in the direction opposite to the first direction is performed, and the wire portion including the intersecting portion of the reinforcing body has the first deformation. Has a function of elastically deforming and storing elastic energy by pantograph motion of the wire portion accompanying the above, and when the internal space is decompressed, the elastic energy stored in the wire portion including the intersection portion is discharged to release the elastic energy. Bread tag of the wire part that regulates the second deformation A fluid pressure actuator for promoting movement, a balloon attachment member connected to both ends of the fluid pressure actuator, and a balloon fixed to the balloon attachment member and selectively inflated by supplying and discharging pressurized fluid. A locking means for pressing the inflated balloon against the inner wall of the tube, and an inspection means provided on any one of the balloon mounting members, according to alternately supplying and discharging the fluid to the balloon of each locking means. An in-pipe traveling device, comprising: means for controlling forward / backward movement by supplying / discharging a fluid to / from the inner cylinder of the pneumatic actuator.