JPH06293259A - In-pipe self-propelling device - Google Patents

Abstract

PURPOSE:To provide an in-pipe self-propelling device for obtaining a high running speed and traction force by a simple structure in a smooth running condition. CONSTITUTION:A device comprises a turn unit 2 inserted into a pipe to be made turnable about a pipe axis, drive wunit 14 for turning the turn unit 2 in the pipe, plurality of wheels 2b arranged in the periphery of the turn unit 2 to roll on a pipe internal wall and arms 2a mounted on the turn unit 2 to press each wheel 2b to the pipe wall, and each wheel 2b is provided to be twisted at a specific angle in the same direction so as to draw a helical locus in the pipe internal wall.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe traveling apparatus suitable for inspecting the inside of a pipe or transporting something inside the pipe.

[0002]

2. Description of the Related Art For example, a device running in a pipe is used for pulling a power transmission line Higashino cable into a pipe for installation and for checking the cable in the pipe. Conventionally, as such in-pipe self-propelled devices, for example, devices having the configurations schematically shown in FIGS. 3 to 5 have been used.

As shown in FIG. 6, a plurality of wheels (u1) are attached to the main body (U) of the apparatus such that each axle is orthogonal to the tube axis, and each wheel (u1) is pressed against the inner wall (W) of the tube. It is a wheel type that drives and propels the wheels while making it a simple mechanism,
Since the ground contact surface between each wheel (u1) and the pipe inner wall (W) is narrow, the grip of the wheel is poor, and it is difficult to obtain the traction force.

FIG. 7 shows a caterpillar type in which a plurality of tracks (v1) are attached to the apparatus main body (V), and each track (v1) is pushed against the inner wall (W) of the pipe to drive and propel it. However, since the contact surface with the inner wall of the pipe can be earned and the grip does not drop even if the traveling speed is increased, the traveling speed and the traction force are relatively advantageous, but the structure becomes complicated and the manufacturing and maintenance are hindered. There's a problem.

The one shown in FIG. 8 is composed of a rubber tube (T1) into which compressed air is introduced and a spring (T2) connecting them, and is a scale that is propelled by expansion and contraction of the tube by compressed air and repulsive force of the spring. Although it is a detachable type, its structure is simple and its traction force is large, but the movements when traveling are not smooth due to the intermittent movement like a lengthy insect, and the traveling speed is slow.

[0006]

SUMMARY OF THE INVENTION The problem to be solved by the present invention is to provide an in-pipe traveling device having a simple structure, a smooth traveling state, and a large traveling speed and traction force.

[0007]

Thus, according to the invention of "Claim 1" of the present application, "a swivel body (2) which is inserted into a pipe and can swivel around a pipe axis, and the swivel body (2) in the pipe. A rotating body (4), a plurality of wheels (2b) arranged around the rotating body (2) and rolling on the inner wall of the pipe, and each wheel (2b) attached to the rotating body (2) Each wheel (2b) is twisted at a predetermined angle in a direction equal to the tube axis (H) so that each wheel (2b) draws a spiral locus on the tube inner wall. There is provided a self-propelled device (1) for a pipe, which is characterized by being provided.

In the in-pipe self-propelled device (1), the revolving structure (2)
The drive body (4) and the drive body (4) may be arranged such that the drive body is arranged inside the revolving body, or the revolving body and the drive body are arranged in the tube axis direction. Usually, the latter structure is preferable because it is simpler to manufacture. In addition, the revolving unit (2) and the driving unit
A speed reducer (3) may be appropriately provided between the speed reducer and (4).

In the latter arrangement arranged in the tube axis direction, as described in "Claim 2" of the present application,
It is preferable to provide a supporting wheel portion (5) that rolls while supporting (4) in the pipe.

In the in-pipe self-propelled device (1), the revolving structure
When (2) is turned, the driving force (4) itself receives a rotational force due to the reaction force, but the invention according to "Claim 3" of the present application can be provided as a configuration for solving this point. .

Thus, according to the invention of "Claim 3" of the present application, "a revolving structure which is inserted into a pipe and is rotatable around the pipe axis.
(2F) (2B) and a driving body (4F) (4
B), the revolving structure (2F) (2B) and a connecting shaft member (13F) (13B) rotatably fixed thereto, and the pipe inner wall disposed around the revolving structure (2F) (2B). With multiple wheels rolling (2bF) (2bB),
It has an arm (2aF) (2aB) that is attached to the revolving structure (2F) (2B) and presses each wheel against the pipe wall, and each wheel (2bF) (2bB) has a spiral trajectory on the pipe inner wall. As shown, each axle is equipped with two self-propelled units (11) (12) that are twisted in a direction equal to the pipe axis (H) at a predetermined angle, and these self-propelled units (11) (1)
2) Face each revolving structure (2F) (2B) and connect the connecting shaft members (13
F) (13B) is connected so that it can bend, and the revolving structure (2F) of one self-propelled unit (11) and the revolving structure (2B) of the other self-propelled unit (12) rotate in opposite directions. While this connected body moves forward in one direction, the inclination of the axle of each wheel (2bF) in one self-propelled unit (11) and the other self-propelled unit (12).
There is provided an in-pipe self-propelled device (10) ”characterized in that the inclination of the axle of each wheel (2bB) is set oppositely.

In the above-described in-pipe self-propelled device (10), the bending between the self-propelled units (11) and (12) may be configured to be bendable in two axial directions when self-propelled in a pipe having a rounded portion. Suitable for

Each self-propelled unit (1) of the in-pipe self-propelled device (10)
1) In (12), when the revolving unit (2F) (2B) and the driving unit (4F) (4B) are arranged in the tube axis (H) direction, as shown in "Claim 4" of the present application, It is preferable to provide support wheel portions (5F) (5B) for supporting the driving bodies (4F) (4B) in the pipe.

[0014]

According to the invention of "Claim 1" of the present application, when the revolving unit (2) is revolved by the driving unit (4), the revolving unit (2) is rotated.
Each wheel (2b) pressed against the inner wall of the pipe by the arm (2a) attached to it tries to advance in the twist angle direction, and a propulsive force that advances in the pipe like a screw is generated, and the revolving structure (2 ) And the driving body (4) travel forward, whereby each wheel (2b) draws a spiral trajectory on the inner wall of the pipe.

According to the invention of claim 2 of the present application,
Since the revolving unit (2) and the driving unit (4) are arranged in the pipe axis (H) direction, and the driving unit (4) is supported in the pipe by the support wheels (51), the revolving unit (2) has an arm. The wheel (2b) mounted via (2a) and the support wheel (51) that supports the driving body (4) support the entire device at the central portion of the pipe inner shaft.

According to the invention of "Claim 3" of the present application,
Revolving unit (2F) by the driving unit (4F) of the self-propelled unit (11) in front
When the wheel is turned, each wheel (2bF) pressed against the inner wall of the pipe by the arm (2aF) attached to this turning body (2F)
Is trying to roll in the twisting direction, a propulsive force that advances in the pipe as if it were a screw is generated and at the same time the revolving structure (2F)
The driving body (4F) tries to rotate due to the reaction of. At the same time, in the rear self-propelled unit (12), the revolving unit (2B) is revolving in the opposite direction by its driving body (4B), which causes the revolving unit of the front self-propelling unit (11) facing the revolving unit. It will cancel the reaction force of (2F). And each wheel (2bB) attached to the revolving structure (2B) of this rear self-propelled unit (12)
Is attached in a twisting direction opposite to the wheels (2bF) of the front self-propelled unit (11), so that the propulsion direction generated in the rear self-propelled unit (12) is the same as the front self-propelled unit (11). In the same direction, these unit coupling bodies are propelled in one direction.

According to the invention of claim 4 of the present application,
The swinging body (2F) and the driving body (4F) of the front self-propelled unit (11) are arranged in the pipe axis (H) direction, and the driving body (4F) is the supporting wheel portion (5F).
The wheel (2bF) attached to the revolving structure (2F) via the arm (2aF) and the driving unit (4F) are supported in the pipe by
Self-propelled unit (11) in front with support wheels (51F) that support the
Is supported in the central portion of the pipe inner shaft, and the self-propelled unit (12) at the rear also has its revolving body (2B) and drive body (4B) arranged in the pipe axis (H) direction, and the drive body (4B). Is supported in the pipe by the support wheel portion (5B), the wheel (2bB) attached to the revolving structure (2B) via the arm (2aB) and the support wheel (51B) supporting the driving body (4B). ) And, it will be supported at the central part of the pipe inner shaft.

[0018]

The present invention will be described in detail below with reference to the illustrated embodiments, but the present invention is not limited thereto. Example 1 FIG. 1 is a schematic front view of an example of a self-propelled device in a tube according to the “claim 2” of the present application, and FIG. 2 is a schematic cross-sectional view thereof. In the figure, the in-pipe self-propelled device (1) includes a revolving structure (2), a speed reducer (3),
It is mainly composed of a driving body (4) and a supporting wheel portion (5).

The revolving structure (2) has a two-stage structure including a small tubular portion (21) having a small diameter and a large tubular portion (22) having a large diameter, and the outer peripheral surface of the small tubular portion (21). Two arms (2a) are attached to each of the four sides, and wheels (2b) are provided at the tip of each arm (2a). Each of the arms (2a) is attached so as to be tilted at the same angle with respect to the pipe axis (H) so that the axle of each wheel (2b) is in the same direction as the pipe axis (H). It is designed to twist. The rear end of each arm (2a) is locked to the revolving structure (2) by a spring (2c), and the wheel (2b) at the tip of the arm is urged outward. The internal gear (22a) is provided on the inner peripheral surface of the large tubular portion (22) of the revolving structure (2).
Is fixed and a plurality of planetary gears (22b) meshing with the gears are attached by a gear shaft support member (22c) and a reduction gear housing (31). The front half of the gear shaft support member (22c) slides on the inner wall surface of the large tubular portion (22) of the revolving structure (2), and the second half of the gear axially supporting member (22c) passes through the radial bearing (23a) into the small tubular portion (21). Has been inserted inside. In addition, a shaft core member (23) is inserted into the small tubular body part (21) via a radial bearing (23a), a spacer (23b) and a thrust needle bearing (23c). ) At one end of the gear shaft support member (22
c) is fixed with nuts (23d). With the above configuration, the revolving structure (2) can rotate around the shaft center member (23).

The speed reducer (3) is a speed reducer housing housing (31).
It is housed inside, and its planetary gear is attached to its rotating shaft (32).
A sun gear (33) meshing with (22b) is attached.

The driving body (4) comprises a DC motor (41) and a motor housing housing (42) for housing the DC motor (41). One end of the housing (42) is a reducer housing
(31) and a screw, the other end of which is a support wheel portion (5) described later.
An arm part (43) for attachment is formed, and an eyebolt (44) for traction is attached to the end part thereof.

The support wheel portion (5) includes two wheels (51) arranged in four directions around the motor housing housing (42),
A holding member (52) for holding the wheel and a holding member locking means (53) for movably locking the other end of each holding member (52). Each holding member (52) is configured to be bendable at a central portion between two wheel fixing positions, one end is fixed to the motor housing housing (42), and the other end is holding member locking means ( It is fixed at 53). The holding member locking means (53) is a tubular body inserted into the arm portion (43) of the motor housing housing (42) and can slide along the arm portion (43).
It is pressed and urged by a spring (54) inserted in the arm portion (43). Therefore, the holding member (52) is
The bent portion is held by 4) so that each wheel (51) can press the inner wall of the pipe.

In-pipe self-propelled device (1) configured as described above
The operation of will be described. Revolving structure (2) of self-propelled device (1) in pipe
Attach the small tubular body part (21) of each arm to the outer surface.
Equivalent diameter (2a) by purging
5mm), the wheels (2b) provided at the tip of each arm (2a) are twisted in the direction in agreement with the pipe axis (W) as shown in FIG. ) Is pressed.

When the DC motor (41) of the driving body (4) is operated in this state, it is transmitted to the speed reducer (3) and the DC motor (41)
After being appropriately adjusted, the rotational force of is transmitted to the plurality of planetary gears (22b) via the sun gear (33), and transmitted from the planetary gears (22b) to the internal gear (22a) to cause the revolving structure (2) to move. Is rotated. At this time, the revolving structure (2) includes a radial bearing (23a) and a thrust needle bearing (23c) arranged around the shaft center member (23).
Turn smoothly through and. Each wheel at the tip of each arm (2a) pressing the inner wall of the pipe by the revolving structure (2).
When (2b) tries to advance in the twist angle direction, a propulsive force that advances in the tube as if it were a screw is generated.

As a result, the large cylindrical body portion (22) of the revolving structure (2),
The driving body (4) and the supporting wheel portion (5) are continuously inserted into the pipe. At this time, the support wheel portion (5) is inserted into the pipe while the wheel (51) presses the wall, so that the driving body (4) is supported at the center of the pipe. As described above, each wheel (2b) provided on the revolving structure (2) draws a spiral locus on the inner wall of the pipe, while the self-propelled device (1) in the pipe travels forward in the insertion direction. Become.

Embodiment 2 FIG. 3 is a schematic front view of an example of an in-pipe self-propelled device according to the "claim 4" of the present application, and FIG. In these figures, the in-pipe self-propelled device (10) is a self-propelled unit (11) including a revolving unit, a speed reducer, a driving unit, and a supporting wheel unit.
It is mainly composed of two items (12).

The structure of each self-propelled unit (11) (12) is the same as that of the in-pipe self-propelled device (1) of the first embodiment except the connecting shaft member (13) and the coupling material (14). These numbers are the same as those in the first embodiment (however, F for the forward self-propelled unit and B for the rear self-propelled unit are shown after each number), and description thereof is omitted. To do.

The connecting shaft member (13) is the same as the shaft center member (23) of the first embodiment except that each end is formed so as to engage with the coupling material (14) as shown in FIG. It is almost the same. One connecting shaft member (13F) is provided with a male connecting member (15) at its end, and the other connecting shaft member (13B) is provided with a female connecting member (16) at its end, With the male connecting member (15) slightly inserted in the female connecting member (16), each is locked by the coupling material (14).

As shown in FIG. 5, the coupling member (14) is engaged with a female connecting member (16) by a pin (16a) provided on the outer surface of the female connecting member (16) in a direction horizontal to the plane of the drawing. Mold connection member (1
5) is a pin (1) provided on the outer surface in a direction perpendicular to the paper surface.
5a), which allows the two self-propelled units (11) and (12) to be bent in two axial directions.

In-pipe self-propelled device (10) configured as described above
The operation of will be described. The small cylinder part (21F) of the revolving structure (2F) of the self-propelled unit (11) in front of the self-propelled device (10) in the pipe is made so that each arm (2aF) provided on its outer surface is narrowed. Each wheel (2bF) installed at the end of each arm (2aF) by inserting it into the end of the pipe of equivalent diameter (pipe diameter φ125mm in this example)
Press the inner wall of the pipe with. At this time, each wheel is similar to the first embodiment.
(2bF) is twisted in the same direction as the tube axis.

In this state, the driving body of the front self-propelled unit (11)
When the (4F) DC motor is operated, it is decelerated and transmitted as in the first embodiment, and the revolving structure (2F) revolves smoothly. Due to the turning of the revolving structure (2F), each wheel (2bF) at the tip of each arm (2aF) that presses the inner wall of the pipe tries to advance in the twisting angle direction, and the propulsive force that advances in the pipe like a screw is generated. Is generated.

The forward self-propelled unit (11) by the above propulsive force
Self-propels in the pipe, but at the same time, the unit itself tries to rotate due to the reaction of the rotation of the revolving structure. At this time, when the DC motor of the drive unit (4B) of the rear self-propelled unit (12) is operated, the revolving unit (2B) of this unit (12) becomes the front unit.
It starts to rotate in the opposite direction to the revolving structure (2F) in (11). And it will be pulled by the front self-propelled unit (11) and inserted into the pipe, but each wheel (2bB) provided on the revolving structure (2B) of the rear self-propelled unit (12) is Self-propelled unit in front (11)
Since each wheel (2aF) is mounted in the opposite twisting direction, the propulsion direction generated in the rear self-propelled unit (12) is the same direction as the front self-propelled unit (11), and these unit connections are It will be promoted in one direction. Then, in propulsion in the pipe, since the revolving structure (2F) of the front self-propelled unit (11) and the revolving structure (2B) of the rear self-propelled unit (12) rotate in opposite directions to each other, these units Between (11) and (12), the mutual reaction forces are canceled out, the device itself does not rotate around the tube axis, and it is more stable than that of the first embodiment.
You can run more smoothly in the pipe.

[0033]

According to the present invention, since the screw type moving method is adopted, smooth movement is possible and the traction force is large. Further, since the two vehicles are configured to turn in mutually opposite directions, reaction forces are canceled out to each other, so that traveling with a good balance can be performed.

[Brief description of drawings]

FIG. 1 is a schematic front view of an example of a self-propelled device in a pipe according to a claim 2 of the present application.

2 is a schematic cross-sectional view of the device of FIG.

FIG. 3 is a structural explanatory view showing the relationship between each wheel in a state of being inserted into a pipe and a pipe wall.

FIG. 4 is a schematic front view of an example of a self-propelled device in a pipe according to claim 4 of the present application.

5 is a schematic cross-sectional view of a main part of a connecting portion of the apparatus of FIG.

FIG. 6 is a schematic diagram of an example of a conventional in-pipe self-propelled device.

FIG. 7 is a schematic diagram of another example of a conventional in-pipe self-propelled device.

FIG. 8 is a schematic diagram of still another example of a conventional in-pipe self-propelled device.

[Explanation of symbols]

(2) (2F) (2B) ... Revolving structure (3) (3F) (3B)
… Reducer (4) (4F) (4B)… Drive unit (5) (5F) (5B)
… Supporting wheel (2a) (2aF) (2aB)… Arm (2b) (2bF) (2b
B) ... Wheels (11) ... Front self-propelled unit (12) ... Rear self-propelled unit (13) ... Connecting shaft member (H) ... Government shaft

Continuation of the front page (72) Inventor Nakatsuru ▼ Yoshiaki 3-3-3 Nakanoshima, Kita-ku, Osaka City Kansai Electric Power Co., Inc. (72) Inventor Mamoru Kawahara 6-2-27 Nakanoshima, Kita-ku, Osaka Stock Market Company Kansai Tech (72) Inventor Keiichi Soyama 6-2-27 Nakanoshima, Kita-ku, Osaka Stock Company Kansai Tech (72) Inventor Norio Yamashita 6-2-27 Nakanoshima, Kita-ku, Osaka Stock Company Inside Kansai Tech

Claims (4)

[Claims] 1. A swivel body that is inserted into a pipe and is capable of swiveling around a pipe axis; and a drive body that swivels the swivel body in the pipe.
It is composed of a plurality of wheels arranged around the revolving structure and rolling on the pipe inner wall, and an arm attached to the revolving structure and pressing each of the wheels against the pipe wall. Each wheel has a spiral trajectory on the pipe inner wall. An in-pipe self-propelled device, characterized in that each axle is twisted in a direction equal to the pipe axis at a predetermined angle as illustrated. 2. The in-pipe self-propelled device according to claim 1, wherein the swivel body and the driving body are arranged in a pipe axis direction, and the driving body is provided with a support wheel that supports the driving body in the pipe and rolls. . 3. A revolving structure that is inserted into the pipe and is capable of revolving around a pipe axis, and a drive structure that revolves the revolving structure within the pipe.
A connecting shaft member rotatably fixed to the revolving structure, a plurality of wheels arranged around the revolving structure and rolling on an inner wall of the pipe, and a plurality of wheels mounted on the revolving structure on the pipe wall. Two self-propelled units each having a pushing arm and each axle being twisted at a predetermined angle in a direction equal to the tube axis so that each wheel draws a spiral locus on the tube inner wall, Of the self-propelled unit, the revolving units are opposed to each other and the connecting shaft members are flexibly coupled, and the revolving unit of one self-propelled unit and the revolving unit of the other self-propelled unit revolve in opposite directions. However, the inside of the pipe is characterized in that the inclination of the axle of each wheel in one self-propelled unit and the inclination of the axle of each wheel in the other self-propelled unit are provided so that this connected body advances in one direction. Self-propelled device. 4. The self-propelled unit, wherein a revolving unit and a driving unit are arranged in a pipe axis direction, and the driving unit is provided with a support wheel for supporting the driving unit in the pipe and rolling the supporting unit. Self-propelled device in the pipe.