JPH0672359A - Crawler type traveling device - Google Patents

Abstract

PURPOSE:To enable the steering of a crawler type traveling device for in-piping traveling, and avoid obstructions such as branch pipe opening parts. CONSTITUTION:In a crawler type traveling device which is provided with a sprocket and an idle wheel having the axis of rotation orthogonal to the traveling direction, and a plurality of crawler type traveling bodies 4d, 4e consisting of endless crawlers 42, 42a which are coiled therearound, a steering mechanism which sways a crawler type traveling body 4d in a row diagonally relative to the traveling direction is built in a steering mechanism storing part 19 of a device body 22.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crawler type traveling device for traveling in a pipe using a crawler type traveling body and inspecting the inside of the pipe, and more particularly to a crawler belt capable of avoiding obstacles to traveling by itself. Type traveling device.

[0002]

2. Description of the Related Art As a device used for the purpose of inspecting the inside of a pipe, it has a traveling body that is inscribed in the pipe and travels in the pipe, and inspects the inside of the pipe while traveling in the pipe. A traveling device for carrying out is developed and used. Then, as this traveling device, there is, for example, one shown in FIGS. 10 and 11.

First, FIG. 10 schematically shows an example of a two-axis crimping wheel type traveling device in a pipe. In FIG. 10, reference numeral 1 is a substantially rhombic chassis along the axis of the pipe A, which is expandable and contractable in the diameter direction of the pipe. Further, one end side of the diametrical direction of the chassis 1 is further extended even after intersecting with each other. Then, at the diametrical tip end of the chassis 1, two wheels 2 at one end side and one wheel at the other end side, three wheels 2 in total, are rotatably mounted along the axial direction, respectively. A drive source (not shown) that rotationally drives the wheel 2 is connected to at least one of the wheels 2, and the traveling device can travel in the pipe by the drive source. The wheel arranged on the other end side can change its needle in the traveling direction and also serves as a steering device. Reference numeral B in the figure denotes a camera that monitors the traveling direction.

FIG. 11 shows an example of a three-axis six-wheel crawler type in-pipe traveling device. This is, for example,
No. 435, reference numeral 3 is an apparatus main body, and crawler type traveling bodies 4 and 4a are attached to the outer peripheral portion thereof. The crawler type traveling bodies 4 and 4a are arranged so that the circulation direction of the crawler 5 is along the longitudinal direction of the device body 3, and the crawler type traveling bodies 4 and 4a are arranged in the longitudinal direction of the device body 3, respectively. They are arranged side by side and are separated from each other in the circumferential direction of the apparatus main body 3 at a central angle of 120 degrees.

The crawler type traveling bodies 4 and 4a have a chassis 1a, a sprocket 6 and an idler wheel 7 pivotally supported by the chassis 1a. The sprocket 6 and the idler wheel 7 are provided.
A crawler 5 is wrapped around the. A motor (not shown) is mounted on the chassis 1a of the crawler type traveling body 4 with its output shaft 8 parallel to the rotation shaft 6a of the sprocket 6, and between the motor and the sprocket 6, A gear train 9 that transmits the rotation of the output shaft 8 to the sprocket 6 is provided. The crawler traveling bodies 4 and 4a are supported by the columns 10 and 10a and the joints 11 and 11a attached to the apparatus body 3 so as to be swingable in a direction indicated by an arrow A in FIG.

In the crawler type traveling bodies 4 and 4a, when the motor is driven, the rotation of the output shaft 8 is transmitted to the sprocket 6 through the gear train 9, and the sprocket 6 is rotated.
Rotates and the crawler 5 revolves around the sprocket 6 and the idle wheel 7. Then, the crawler type traveling bodies 4, 4a
At the contact portion between the tip and the traveling object (not shown), the crawler 5 sequentially contacts the traveling object, and the crawler traveling body 4 is caused by the frictional force acting in the longitudinal direction of the crawler traveling bodies 4 and 4a. , 4a tow and proceed. As a result, the crawler type traveling device can travel in the pipe.

[0007]

However, among the above-described conventional in-pipe traveling devices, the two-axis crimping wheel in-pipe traveling device travels by the wheels 2 and therefore, for example, at the joint portion of the pipes. In some cases, obstacles in the pipes, deposits on the inner surface of the pipes, deposits, and the like make the vehicle unable to run. Further, when the friction coefficient of the inner surface of the pipe is reduced due to water, oil film, or the like, the wheel 2 easily slips, which causes a problem that the steering ability is significantly reduced. Further, since there are only two compression bonding directions with respect to the inner peripheral surface of the pipe, when traveling inside the curved pipe, the bending direction of the curved pipe and the expansion / contraction direction of the chassis 1 coincide with each other, and the chassis 1 is located on the bending direction side. When the one end portion is located, traveling in the curved pipe may not be possible.

On the other hand, in the three-axis six-wheel crawler type in-pipe traveling device, since the steering mechanism is not provided, the direction of the crawler 5 cannot be changed in the inner peripheral direction of the pipe, and the opening of the branch pipe or the like is not formed. If the crawler 5 comes over these openings when attempting to pass through, there is a problem that the vehicle derails and becomes unable to run. Therefore, the inside of the pipe has been inspected by traveling in two steps across the opening, or by removing the branch pipe part and reattaching the straight pipe for traveling. Further, since the motor is mounted on the chassis 1a, the crawler type traveling bodies 4 and 4a are increased in size by mounting the motor and the gear train 9. Therefore, the traveling device using the crawler type traveling bodies 4 and 4a must be increased in size, and as a result, the pipe cannot be inserted into the pipe unless the pipe has an inner diameter larger than a certain value. There was a problem.

When the traveling device cannot run in the pipe due to each of the above reasons, it is necessary to disassemble the pipe and take out the traveling device in that case.

[0010]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has at least a pair of front and rear wheels having a rotation axis orthogonal to the traveling direction, and an endless coil wound around these wheels. A plurality of crawler-type traveling bodies each having a crawler-shaped crawler belt, wherein at least one crawler-type traveling body with respect to the traveling direction is provided in a crawler-type traveling device for rotating and driving the wheel body in a pipe. And a mechanism for swinging it diagonally, and the crawler belt of the other crawler type traveling body is provided with an axis parallel to the traveling direction and a rotating body rotatably supported around the axis. It is a traveling device.

[0011]

In the crawler belt type traveling device of the present invention, when passing through an opening such as a branch pipe during traveling in the pipe, the crawler belt type traveling body having the mechanism is oriented obliquely with respect to the traveling direction. As a result, the crawler belt type traveling device can be arbitrarily rotated along the inner circumferential direction of the pipe, so that wheel removal of the crawler belt type traveling device at the opening can be prevented.

[0012]

Embodiments of the present invention will now be described in more detail with reference to the drawings. In FIGS. 1 and 2, reference numerals 12 and 12a denote chassis, both ends of which are bent to form connection portions 13 and 13a, and the ends thereof are further bent to form flanges 14 and 14a. These chassis 12 and 12a are composed of three chassis including two chassis of 12 and one chassis of 12a.
The ends of 2, 12a are arranged so as to be on the circumference of the same circle. A hinge 16 having a coil spring 15 therein is provided between the connecting portions 13 and 13a of the adjacent chassis 12 and 12a, and a bolt 17 is attached to the flanges 14 and 14a.
A hinge 18 without a coil spring is attached to the side end of the connecting portion 13 from the outside of the side end by a bolt 17
Is attached through. That is, these hinges 16 and 18 are at positions where their axes 16a and 18a are orthogonal to each other, and the chassis 12 and 12a are connected to each other by the hinge 1
6 and 18 and the coil spring 15 are openably and closably connected in a state in which they are always urged in a direction away from each other.
Then, the front and rear corresponding chassis 12a, 12 respectively
a is connected to the front and rear ends of a substantially cubic steering mechanism housing portion 19 by bolts 17a, etc.
Forming 2.

A steering mechanism 20 is accommodated in the steering mechanism accommodating portion 19. The structure of the steering mechanism 20 is shown in FIGS. At the front and rear ends of the steering mechanism housing portion 19, steering shafts 21 are arranged with their axes directed outward in the circumferential direction of the device body 22, and these steering shafts 21 are connected to cranks 23, 23a, respectively. The steering shaft 24 that connects the two is interlocked and rotatable. Further, the steering shaft 24 is connected to the steering motor 26 via the gear unit 25, and as a result, the rotational movement of the steering motor 26 can be converted into the reciprocating movement of the steering shaft 24.

Here, the drive of the steering motor 26 is controlled by a steering motor drive unit (not shown), and the steering motor drive unit is electrically operated by a control unit (not shown) provided in the main body 22 of the apparatus. It is controlled by a signal.

Reference numeral 27 is a micro switch for controlling the rotation range of the steering shaft 21 by contact with the protrusion 28 provided on the side surface of the clutch 23a. In the case of the present embodiment, the rotation ranges of the steering shafts 21 and 21 are 20 ° on the left and right sides along the axial direction of the device body 22.
It is said that.

On the other hand, on the upper surface of the steering shaft 21, a pair of support members 29 having a U-shaped cross section are provided on the chassis 12a.
The crawler type traveling body 4d is fixed to each of the support members 29 by bolts (not shown) or the like. In addition, a pair of support members 29 a having an L-shaped cross section are provided on the chassis 12 to support the bolts 1.
The crawler type traveling body 4e is fixed to the support member 29a by bolts (not shown) or the like.

A crawler type (crawler type) running body designated by reference numeral 4d is shown in FIGS. 6 and 7, reference numeral 30 is a chassis having a substantially cubic shape, and the bearings 31a and 31b attached to the front and rear ends of the chassis have rotating shafts 32, respectively.
a, 32b are rotatably supported, and these rotary shafts 32a, 32b
A play wheel 33 and a sprocket 34 are provided at both ends of the
Is fixed. Further, a pair of left and right running wheels 35 rotating along the longitudinal direction of the chassis 30 are attached to the upper and lower side surfaces of the chassis 30. In the case of the present embodiment, three pairs of running wheels 35 are attached to the side surfaces of the upper end portion and one pair is attached to the side surfaces of the lower end portion.

Further, a motor 36 is arranged in the chassis 30 with its output shaft 37 being perpendicular to the rotation shaft 32b, and the rotation of the output shaft 37 is also the same as that of the chassis 3.
Gear unit 38 installed coaxially with the output shaft 37 in 0
And electromagnetic clutch 39 and bevel gears 40a, 40b
It can be transmitted to the rotating shaft 32b via. Also,
Reference numeral 51 denotes a bearing that supports the electromagnetic clutch 39, and reference numeral 41
Is a connector for connecting an external power source to supply power to the motor 36, and for inputting an electric signal for controlling forward or backward movement of the crawler type traveling device and controlling the speed at that time. The drive of the motor 36 is controlled by the controller via a motor drive unit (not shown).

The idle wheel 33 and the sprocket 3
An endless crawler (crawler belt) 42 is wound around the belt 4. The crawler 42 is, for example, as shown in FIG. 8, and includes a pair of left and right chains 43, and a pair of front and rear chains whose opposite ends are supported by opposing chain pieces 44 of the chains 43 via L-shaped mounting fittings 45. The frame member 46 and a bar 49 fixed between the frame members 46 and protruding above the crawler 42 by a predetermined amount. In order to smoothly orbit the crawler 42, it is desirable that the pitch of the chain pieces 44 be made fine to some extent in correspondence with the radius of the sprocket 34. Further, the material of the bar 49 is required to be in contact with the inner surface of the pipe and not slippery, and is appropriately selected from plastic, rubber, ceramic, metal or the like as necessary. In the case of the present embodiment, the bar 49 is made of an integrally molded urethane resin.

On the other hand, the crawler type traveling body indicated by reference numeral 4e is the same as the crawler type traveling body of 4d and crawler 42a.
Only the structure of is different. Therefore, only the characteristic structure of the crawler 42a will be described below.

The structure of the crawler 42a is shown in FIG. In the crawler 42a, the chain 43, the chain piece 4
4, the same as the crawler 42 is used for the mounting bracket 45 and the frame member 46. The four rollers (rotating bodies) 48 are provided between the frame members 46.
It is rotatably supported with 7 parallel to the chain 43. As the material of the roller 48, plastic, rubber, ceramics, metal or the like may be appropriately adopted as needed, like the above-mentioned bar 49, but in the present embodiment, an integrally molded product of urethane resin is used. ing.

Next, the operation of the crawler type (crawler type) traveling device having the above structure will be described below. First,
A traveling device having a diameter corresponding to the inner diameter of the pipe 50 for traveling the device is selected and inserted into the pipe 50. In this case, the pipe 50
It suffices if the hinge 16 is in a slightly opened state at the minimum diameter of. Each chassis 1 is inserted by the coil spring 15 by the coil spring 15.
2, 12a are separated from each other, and the outer surfaces of the crawlers 42, 42a expand until they come into contact with the inner peripheral surface of the pipe 50. As a result,
The traveling device is held in the pipe 50.

In this state, the connector 41 is connected to the external power source, the electromagnetic clutch 39 is closed, and the motor 36 is closed.
Is driven, the output shaft 37 rotates, and the rotation is transmitted to the rotary shaft 32b via the gear unit 38, the electromagnetic clutch 39, and the bevel gears 40a and 40b, and the sprocket 34 rotates. Then, the connecting pin 53 of the chain piece 44 is pulled by the tooth portion 34a formed on the outer periphery of the sprocket 34, and the crawlers 42, 42a are guided by the running wheel 35 while being guided by the sprocket 34.
Around the idler wheel 33, the crawlers 42, 42a sequentially contact the inner peripheral surface, and the crawler type traveling body 4
The traveling device travels due to the frictional forces acting in the axial directions d and 4e.

When changing the needle, first, an electric signal is transmitted from the control section to the steering motor 26 via the steering motor drive unit to rotate the steering motor 26. Then, this rotation is transmitted to the steering shaft 24 via the gear unit 25, and as a result, the rotational movement of the steering motor 26 is converted into the reciprocating movement of the steering shaft 24, and the reciprocating movement of the steering shaft 24 is further reciprocated at both ends thereof. Is transmitted to the cranks 23 and 23a respectively connected to the steering shaft 2 at the cranks 23 and 23a.
Rotate 1. As a result, the crawler type traveling body 4d fixed on the steering shaft 21 via the support member 29.
Swings left and right with respect to the traveling direction, and the traveling device changes its needle.

By utilizing this feature, it is possible to easily pass through a branch pipe opening which has been difficult in the past. That is,
When passing through an opening such as a branch pipe during traveling, the device main body 2
The orientation of the crawler-type traveling body 4d is controlled by visually monitoring the inside of the pipe 50 using a posture detection camera and a rear monitoring camera (both not shown) provided in FIG. 2 and controlling the steering direction and traveling speed. Is slanted with respect to the traveling direction, and the traveling device is slanted with respect to the axis of the pipe 50 until the positions of the crawler type traveling bodies 4d and 4e on the inner peripheral surface do not overlap with the positions of the openings. After that, the traveling direction may be returned to the axial direction before traveling. Further, if necessary, while crossing the inside of the pipe 50 obliquely, passing through an opening or traveling in the inside of the pipe 50 in a spiral shape, a more precise inspection is performed to obtain more multifaceted information. You can

Here, in the present invention, the crawler 42.
However, since the bar 49 is fixed between the frame members 46 and protrudes a certain amount above the crawler 42, it is unlikely to skid like the other crawlers 42a, and the steerability of the crawler 42 is significantly improved. Meanwhile, the other crawler 42a
In the above, since the rollers 48 rotate in the needle changing direction in accordance with the needle change of the traveling device by the crawler 42, the friction in the width direction generated between the traveling object and the crawler belt 17 is reduced. Therefore, it is possible to prevent the crawler from being separated from the sprocket 16 or the idle wheel 15.

Further, in the crawler type traveling body 4d of the present invention, since the output shaft 20 is parallel to the traveling direction, torque is generated in the rotating direction of the output shaft 20 during traveling, and accordingly, the above-mentioned There may be a difference in the installation pressure in the width direction, which may affect the straightness of the crawler type traveling member 4d. In this case, however, in the crawler type traveling device, the rotation direction of the output shaft 20 may be different as necessary. The crawler type traveling body different from the above is provided, and the torque is offset by generating the torque in the direction opposite to the rotation direction. As a result, the straightness of the crawler type traveling device is not deteriorated by using the crawler type traveling body 4d of the present invention.

Further, the number of rollers 48 in the width direction is not limited to four, and three or more sprockets 34 and idler wheels 33 are provided, and three or more chains 4 are provided.
3 may be connected by a plurality of frame members 46. In addition, since all the drive equipment including the motor 36 and the steering motor 26 are all housed in the chassis 30 or the steering device housing 19, the waterproof crawler system traveling can be easily performed by using the waterproof connector 41. Become a body. Further, when a plurality of crawler type traveling bodies 4d are used, centralized control by controlling current and voltage can be easily performed.

Note that automatic control may be applied instead of visual steering. That is, the position where steering is necessary can be known in advance from the piping diagram, etc.
A feedforward-like control program for steering control is created in advance corresponding to the position of the branch pipe opening and the like, and steering is performed based on this program.
It is possible to automatically run while avoiding the opening.

The presence / absence of an opening is determined based on image information obtained from a front monitoring camera or information such as a change in characteristics of ultrasonic waves or laser light reflected on the inner wall of a tube. The steering mechanism may be driven based on the above. That is, the steering mechanism is brought into a stopped state on condition that the opening does not exist, and when the opening exists, feedback control is performed so that the steering mechanism is driven (steered) in either direction. By doing
It is possible to automatically run while avoiding the opening.

[0031]

As described above, in the crawler type traveling apparatus of the present invention, when passing through an opening such as a branch pipe during traveling in the pipe, the direction of the crawler having a steering mechanism is set to the traveling direction. By making it diagonal,
Since the crawler type traveling device can be arbitrarily rotated along the inner circumferential direction of the pipe, the crawler can be prevented from being derailed to the opening. As a result, it is possible to travel almost anywhere in the pipe having a general configuration, which saves labor associated with the inspection and shortens the process.

[Brief description of drawings]

FIG. 1 is a side view of a crawler type traveling device showing an embodiment of the present invention.

FIG. 2 is a view of a crawler type traveling device showing an embodiment of the present invention.
It is a side view from the inside II direction.

FIG. 3 is a partial side sectional view taken along the line III-III in FIG. 4 of the steering mechanism showing the embodiment of the present invention.

FIG. 4 is a partial cross-sectional view taken along the line IV-IV in FIG. 3 of the steering mechanism showing the embodiment of the present invention.

FIG. 5 is a partial cross-sectional view taken along line VV in FIG. 3 of the steering mechanism showing the embodiment of the present invention.

FIG. 6 is a partial side sectional view of the crawler belt-type traveling body showing the embodiment of the present invention, taken along line VI-VI in FIG. 7.

FIG. 7 is a side view of a crawler type traveling body showing an embodiment of the present invention.

FIG. 8 is a crawler belt VII in FIG. 3 according to an embodiment of the present invention.
It is sectional drawing which followed the I-VIII line.

FIG. 9 is a sectional view of the crawler belt in one embodiment of the present invention, which is indicated by IX- in FIG.
It is a side view from the IX direction.

FIG. 10 is a schematic view of a two-axis crimping wheel type in-pipe traveling device showing an example of a conventional in-pipe traveling device.

FIG. 11 is a side view of a crawler belt type traveling body showing a structure of a conventional crawler belt type traveling body.

[Explanation of symbols]

 1, 1a, 12, 12a, 30 Chassis 2 Wheels 3, 22 Device main body 4, 4a, 4d, 4e Crawler type pipe running body 5, 42, 42a Crawler 6, 34 Sprocket 6a, 32a, 32b Rotating shaft 7, 33 Idler 8,37 Output shaft 9 Gear train 10,10a Strut 11,11a Joint 13,13a Connection part 14,14a Flange 15 Coil spring 16,18 Hinge 16a, 18a, 47 Shaft 17,17a, 17b Bolt 19 Steering mechanism storage Part 20 Steering mechanism 21 Steering shaft 23, 23a Crank 24 Steering shaft 25, 38 Gear unit 26 Steering motor 27 Micro switch 28 Protrusion 29, 29a Support member 31a, 31b, 51 Bearing 34a Teeth 35 Running wheel 36 Mo Over 39 electromagnetic clutch 40a, 40b bevel gear 41 connector 43 chain 44 chain piece 45 mounting member 46 frame member 48 around 49 bar 50, A pipe 53 contact pin B Camera

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Iwa Saito Iwao Saito 3-3-22 Nakanoshima, Kita-ku, Osaka City, Osaka Prefecture Kansai Electric Power Co., Inc. No. 1 JGC Corporation Yokohama Office (72) Inventor Naoto Goi 3-35, Onoue-cho, Naka-ku, Yokohama-shi, Kanagawa JGC Inspection Co., Ltd.

Claims (4)

[Claims] 1. A plurality of crawler track type traveling bodies having at least a pair of front and rear wheels having a rotation axis orthogonal to the traveling direction, and an endless crawler belt wound around these wheels.
In a crawler type traveling device that rotates and drives the wheel body in a pipe, at least one crawler type traveling body has a steering mechanism that swings obliquely with respect to the traveling direction, and The crawler belt type traveling device, wherein the crawler belt of the crawler belt type traveling body is provided with a rotating body rotatably supported about an axis parallel to the traveling direction. 2. The crawler-type traveling body comprises a power unit and a power transmission unit installed in a space surrounded by the crawler belt, and an output shaft of the power unit is parallel to the traveling direction. The crawler belt type traveling device according to claim 1, wherein: 3. The crawler-type traveling device according to claim 2, further comprising at least one crawler-type traveling body in which the rotation direction of the output shaft is different from the others. 4. A control device for controlling the steering mechanism on the basis of information about the state of the contact surface of the cover in front of the cover traveling device. Sash type traveling device.