JPH0645339B2 - In-service truck - Google Patents

Description

TECHNICAL FIELD The present invention relates to an ITV camera or the like for investigating the condition of the inner surface of a pipe such as a gas pipe, a petroleum pipe, a water and sewer pipe, and a measuring instrument for investigating the wall thickness of the pipe. Etc. and a self-propelled in-pipe traveling carriage for pulling a welding machine for repair welding to a predetermined position in the pipe.

[Prior Art] Conventionally, as a trolley that travels in a pipeline, JP-A-60-92
951, JP-A-58-214845, and JP-A-59-14.
7260, Japanese Utility Model Laid-Open No. 60-188373, and Japanese Patent Laid-Open No. 60-
There are 119446 etc.

Further, as a pulling method when a curved pipe is present in the pipeline, there are JP-A-60-140311, JP-A-60-249800 and JP-A-59-125469.

In addition, if both ends of the pipeline are opened, a pig system in which air is blown from one side to move it, or a wire is attached to both ends of the bogie, and this wire is wound by a winch or the like at both ends and then returned to move. The method is adopted.

[Problems to be Solved] However, the above-described conventional truck running in the pipeline can be sufficiently used when the pipeline is straight, but it is a tube in which curved pipes such as up, down, left and right exist. Not applicable to the road.

The technique of the former two of the above three as a pulling method when there is a curved pipe in the pipeline can be applied to a curved pipe with a certain R, but a short pipe obtained by diagonally cutting the pipe is connected. It cannot be applied to the miter bend pipe manufactured by.

That is, in the case of a curved tube having a constant R, it is disclosed in JP-A-60-1.
Since the wheels 3a and 3b of 40311 shown in FIG. 2 have a small inclination, the wheels change direction while causing a slight slip with the pipe wall. However, for example, a 90 ° bent tube is 30
In the case of a miterbend pipe manufactured by connecting three 3 ° cut pipes, the inclination of the pipe axis is about 30 °. To change the direction of this 30 ° inclination at a time, see JP-A-60-1403.
As shown in FIG. 2 of 11, it is considered impossible to use ordinary wheels such as drive wheels 3a and 3b and thrust wheels. In the case of a traveling truck with a disc-shaped or ring-shaped wheel that strongly presses against the inner wall of the pipe and obtains the driving force by the frictional force between the two, the pipe axis angle of the miter bend curved pipe that can run is limited to about 15 °. Is. The pipe axis angle that can be traveled can be increased to some extent by making the length and weight of the bogie proper, but in the conventional traveling bogie, if the pipe axis angle exceeds about 15 °, the bogie body It is empirically known that no matter how the length or weight of the car is changed, it will be unable to drive.

In this case, it is operatively possible to weaken the pressing force of the wheels to reduce the frictional force and change the direction, but in that case, the driving force is reduced and traveling becomes impossible.

Also, the latter technique has the same disadvantages as the former, and since it uses a magnet roller, it cannot be applied to anything other than iron pipes.

Further, in the pig system and the wire system, both ends of the pipeline need to be open, which results in high civil engineering costs. Also, in the case of the wire type, due to the sliding friction between the inside of the curved pipe (the side where the wire rope contacts) and the wire rope,
There is a problem that the bent pipe is worn or the wire rope is cut.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an in-pipe traveling carriage that can be used without problems not only for straight pipes but also for bent pipes such as miter bend pipes.

[Means for Solving the Problems] An in-pipe traveling carriage according to the present invention includes a plurality of pairs of frames, which are provided symmetrically with respect to the pipe axis, facing forward and rearward from the central portion of the carriage main body, and having base ends thereof. A rotatably provided drive wheel provided at the tip of the frame and a body provided rotatably on the main body, so that a plurality of barrel rollers can be rotated along the outer periphery of the wheel in a direction orthogonal to the traveling direction. , A mechanism for driving the drive wheel forward and backward toward the inner wall of the pipe, and a mechanism for moving a pair of frames symmetrically provided with respect to the pipe axis in synchronization with each other. A first wire mechanism having flexible wires extended from both ends fixes one end of the flexible wire to a bracket fixed to the main body and one end of the flexible guide tube to a frame. And the above guy The other end of the wire tube is fixed to a bracket fixed to the main body, and the other end of the wire is fixed to the other frame that is paired with the frame; The mechanism is composed of the first wire mechanism and the one mounted in the opposite direction.

[Operation] Drive wheels are provided at the tip of a plurality of frames that are provided in the main body of the carriage in a front-to-back direction and rotatably in pairs with respect to the tube axis so as to be rotatable. By rotating toward the wall, the drive wheel is pressed against the pipe wall, so that the required traction force can be obtained.

Further, since a plurality of barrel rollers are provided along the outer periphery of the drive wheel and the rollers can freely rotate in the tube circumferential direction, the barrel roller can be used even when passing through the miter bend curved tube portion. Since the roller freely rotates with the tube wall, it can pass without loss of traction force.

In addition, since the plurality of frames provided in pairs with respect to the above-mentioned tube axis rotate symmetrically by the tuning device, the main body is located in the center of the pipe, so that the main body is maintained even when passing through the curved pipe. The part does not contact the inner wall of the pipe.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS.

The trolley body 11 is a tubular body having a hexagonal cross section, and a base 12 having a pin 13 is fixed to the center of each side thereof. Frames 14, 14 having drive wheels 20 at their tips are pivotally attached to the pin 13 in the front-rear direction. Therefore, in this example, the main body 11 is provided with three sets of front-facing frames 14 and three rear-facing frames 14 in pairs.

A coupling hardware 26 is provided at the front and rear of the main body 11 so that a work cart or the like (not shown) can be coupled via a universal joint 27. Further, when passing through the curved pipe portion, a conical portion 28a with which the outer peripheral portion of the end portion of the truck or the like to be connected abuts is formed in order to prevent the flexible joint portion from being extremely bent and hindering traveling. Stopper disc 2
8 are provided.

Each frame 14 is configured by connecting left and right members 14a and 14b, and a wheel driving motor 15 and a speed reducer 16 are sandwiched between both members. The power from the motor 15 is transmitted to the reduction gear 16 via the belt 17, and the output from the reduction gear is transmitted to the drive wheels 20 via the chain 18.

The drive wheel 20 is a barrel-shaped roller 22 having a curvature that forms the outer periphery of the wheel around the frame 21, and has three wheel members rotatably pivoted about its axis, which are equally distributed. ° It is constructed by overlapping the phases. Thus, the outer peripheral surface of the wheel 20 is formed by the six barrel-shaped rollers 22 and can smoothly move in the tube axis direction.
Moreover, the barrel roller 22 can freely rotate in the circumferential direction of the tube.

A cylinder 25 is connected to the main body 11 and each frame 14 at both ends via pins, so that the drive wheel 20 is pressed against the inner wall of the pipe.

Then, in the miter bend curved pipe portion, each wheel 20
Tries to rotate while skidding. At this time, the barrel roller 22 which is in direct contact with the inner wall of the pipe is rotated, and the slip between the wheel outer periphery and the inner wall of the pipe is almost eliminated, so that the side slip of the wheel is substantially eliminated. Therefore, the sliding frictional resistance between the wheel outer periphery and the pipe inner wall is significantly reduced, and the propulsive force of the bogie does not substantially decrease, that is, the bogie passes through the curved pipe portion without loss of traction force. be able to.

In this case, when each frame rotates asymmetrically with respect to the tube axis, the main body portion may deviate from the center of the tube and may contact the inside of the bent tube when passing through the bent tube portion. Therefore, a tuning device 30 for the upper and lower frames is provided to control the pair of frames symmetrically arranged with respect to the main body 11 so as to move symmetrically with respect to the main body. This device will be described with reference to FIGS. 4 and 5 in the case of a pair of upper frame 14 and lower frame 24, which are vertically symmetrical with respect to the main body 11.

The tuning device 30 is composed of a first wire mechanism 31 and a second wire mechanism 32. The configuration of the second wire mechanism 32 is the same as that of the first wire mechanism 31, but only the mounting direction is reversed. Therefore, the configuration of the first wire mechanism 31 will be described.

The flexible wire 35 is inserted into the flexible guide tube 38 by extending both ends thereof. The upper end of the wire 35 is fixed to the upper bracket 33 fixed to the main body 11 via a fixing tool 36. The upper end of the guide tube 38 is fixed to the upper frame 14 via a metal 37. The lower end of the guide tube 38 is fixed to the lower bracket 34 fixed to the main body 11 via a fixing tool 39. Then, the lower end portion of the wire 35 is fixed to the lower frame 24 via a fixture 40.

Then, as shown in FIG. 4, a second wire mechanism 32 having the same structure as the first wire mechanism 31 is attached with its direction reversed.

In this way, the pair of upper and lower frames 14 and 24 rotated by the respective cylinders 25 move vertically symmetrically with respect to the main body 11, and the main body 11 is always kept at the center position of the pipe. Therefore, even when passing through the curved pipe portion, the main body portion does not contact the inner wall of the curved pipe.

Although the above embodiment has been described with reference to the case where three pairs of frames 14 facing the front-rear direction from the main body 11 are provided, the number of frames 14 is set to four when the traction force is not so required. It may be two pairs.

[Advantages of the Invention] The in-pipe traveling vehicle of the present invention is as described above, and of course the straight pipe portion and the curved pipe portion having a constant R can be traveled without any problem.

[Brief description of drawings]

1 to 3 show an embodiment of the present invention. FIG. 1 is a side view, FIG. 2 is a front view, and FIG. 3 is a plan view of a pair of front and rear frames, FIG. FIG. 5 is a side view and a front view showing a mounted state of a pair of upper and lower frame tuning devices. 11 ... main body, 14 ... frame, 20 ... driving wheel,
22 ... barrel type roller, 25 ... cylinder, 30 ... frame synchronizing device, 31 ... first wire mechanism, 32 ...
Second wire mechanism, 35 ... Flexible wire, 38 ... Flexible guide tube

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masatoshi Tsuchiya, 5-1, Hirano-cho, Higashi-ku, Osaka City, Osaka Prefecture Osaka Osaka Gas Co., Ltd. (72) Inventor, Norihiko Sato 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nippon Steel Pipe Co., Ltd. (72) Inventor Takafumi Miyata 1-2 1-2 Marunouchi, Chiyoda-ku, Tokyo Nihon Steel Pipe Co., Ltd. (72) Inventor Kiyoshi Kanayama 88 Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Japan Steel pipe construction Co., Ltd. (72) Inventor Osamu Kasio 88 Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Japan Steel pipe construction Co., Ltd. (72) Inventor Yuji Yamashita 88, Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Japan Steel pipe work (56) References JP-A-63-158386 (JP, A) JP-A-63-27751 (JP, A) JP-B-63-19384 (JP, B2)

Claims (1)

[Claims] 1. A plurality of pairs of frames symmetrically arranged with respect to a tube axis facing forward and rearward from a central portion of a bogie main body, the base end of which is rotatably provided on the main body. A rotary drive wheel provided at the tip of the frame, wherein a plurality of barrel rollers are provided rotatably in a direction orthogonal to the traveling direction along the outer circumference of the wheel; A cylinder for driving the cylinder toward and away from the wall and a mechanism for moving a pair of frames symmetrically provided with respect to the tube axis in synchronization with each other. One wire mechanism fixes one end of the flexible wire to a bracket fixed to the main body, fixes one end of the flexible guide tube to a frame, and fixes the other end of the guide tube to the main body. Bracket And the other end of the wire is fixed to a frame on the other side forming a pair with the frame, and a second wire mechanism having the same configuration as the first wire mechanism faces the first wire mechanism. In-pipe traveling trolley composed of and those installed in reverse.