JPH0825452B2 - In-service truck - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to an in-pipe traveling vehicle that travels in a pipe by remote control.

<Prior Art> Conventionally, an in-pipe traveling vehicle that is equipped with a device for performing a predetermined work and travels in a pipe by remote control is generally carried into the pipe through an opening having a size equal to the diameter of the applicable pipe. Has become.

<Problems to be Solved by the Invention> For example, in the case where an in-pipe traveling carriage that carries in from a manhole of a vertical heat exchanger of a nuclear power plant and travels in a main coolant pipe is intended, the following problems to be solved There is.

(1) The manhole has a smaller diameter than that of the pipe. Therefore, a mechanism is required to enter from a small inlet, expand inside, and engage with the inner wall surface of the pipe to obtain a required traveling frictional force.

(2) There are protrusions such as the temperature detecting pipe scoop in the main coolant pipe in the pipe, and it must be possible to run while avoiding these protrusions without interfering with them.

(3) There is a hole such as a branch pipe in the pipe, and it is necessary to be able to travel without falling into this hole.

The present invention has been made in view of such a point, and provides an in-pipe traveling carriage that can be carried in and out from a narrow entrance and exit, avoids protrusions in traveling in a pipe, and prevents falling into a hole. Is intended.

<Means for Solving the Problems> An in-pipe traveling carriage according to the present invention for solving the above-mentioned problems includes a bogie frame, a support leg rotatably supported by the bogie frame, and a support leg attached to the support leg. And a crawler type traveling unit having a crawler for traveling the truck frame along the longitudinal axis of the pipe, a pantograph type telescopic arm attached to the cart frame so as to extend and retract, and a shaft at the tip of the telescopic arm. An expansion support unit having a support roller that is supported and pressed against the inner peripheral surface of the pipe when the expansion arm extends, a swing arm attached to the carriage frame, and a traveling direction of the crawler on the swing arm. And an avoiding roller that is pivotally supported so as to be rotatable about parallel axes and that is releasably abutted against the inner peripheral surface of the pipe by the swing of the swing arm. And a posture control unit for controlling the attitude.

<Operation> By rotating the support leg to move the crawler and contracting the pantograph-type telescopic arm, the whole body is downsized and can be carried in and out through an opening having a small diameter.

By extending the telescopic arm and pressing the support roller against the inner peripheral surface of the pipe, the reaction force of the support roller provides the required running frictional force of the crawler, and by operating the crawler in that state, the bogie frame moves in the longitudinal axis direction of the pipe.

On the other hand, if there is an obstacle such as a protrusion in the pipe, the bogie frame changes its posture in the pipe circumferential direction and avoids this by causing the avoiding roller to contact the pipe inner peripheral surface by the swinging arm and drivingly rotating it. To do.

<Examples> An example of the present invention will be described below with reference to the drawings.

FIG. 1 is a side view showing a state where a module unit is mounted on an in-pipe traveling vehicle according to an embodiment of the present invention, FIG. 2 is a front view thereof, FIG. 3 is a plan view of the in-pipe traveling vehicle, and FIG. IV-IV sectional view of FIG. 1, FIG. 5 is a VV sectional view of FIG. 1,
FIG. 6 is a sectional view taken along line VI-VI in FIG.

As shown in FIG. 1, the traveling vehicle in the main pipe includes a crawler type traveling unit 100, a telescopic support unit 200, and an attitude control unit 300. In this embodiment, a water faucet unit 400 and a water stopper unit 400 are provided as a module unit. Dyeing nozzle unit 5
It is equipped with 00 and.

First, the crawler type traveling unit 100 will be described. The crawler type traveling unit 100 includes a support leg 102 rotatably supported by a carriage frame 11 (see FIG. 3) that is long in the front-rear direction, and a carriage frame attached to the support leg 102.
It has a pair of crawlers 101 arranged along both left and right sides of 11. This crawler 101 is formed by winding an endless belt 104 around a plurality of rollers 103 pivotally supported on the tip of a support leg 102, and the support leg 102 is attached to a bogie frame 11 via a pivot shaft provided in the front-rear direction. It is rotatably supported. As shown in FIG. 4, a forward / reverse motor 105 for driving the crawler is attached to the carriage frame 11, and a pulley belt 107 is stretched between the motor 105 and the crawler drive shafts 106 on both sides. Pulley belt by 105
The crawlers 101 on both sides are driven in both forward and reverse directions via 107, the crawler drive shaft 106, and a worm gear (not shown). Further, a crawler opening / closing cylinder 108 is arranged between the support legs 102, and the cylinder 1
When 08 is driven to extend, the tip ends of both supporting legs 102 are separated from each other, and the crawler 101 is in contact with the inner peripheral surface of the application target pipe P as shown by the solid line in FIG. On the other hand, the cylinder 108
When the drive is shortened, as shown by an imaginary line in FIG. 4, the tip ends of both support legs 102 approach each other, and the crawler 101 moves to the center side. In FIG. 3, 109 is a crawler tension adjusting screw.

Next, the expansion support unit 200 will be described.
As shown in FIG. 1, the telescopic support unit 200 has a scissor type telescopic arm 201 mounted on the upper surface of the bogie frame 11 and a support roller 202 pivotally supported at the tip of the telescopic arm 201. There is. Telescopic arm 201 is the third
As shown in FIGS. 6 and 6, the telescopic cylinder 203 attached to the bogie frame 11 is connected via a slide shaft 204, and is telescopically driven by the telescopic cylinder 203.
The support roller 202 is pressed against the inner peripheral surface of the pipe P to be applied when the telescopic arm 201 is extended, and the reaction force presses the crawler 101 against the surface on the opposite side of the pipe P to run. Make sure that the required frictional force is obtained. Further, while adjusting the amount of expansion and contraction of the telescopic arm 201, it is possible to cope with pipes of different diameters, while when the telescopic arm 201 is shortened most, it is lowered on the bogie frame 11 as shown by an imaginary line in FIG. It is designed to be stored. Further, 205 in FIG. 2 is an encoder for detecting the traveling distance of the carriage by measuring the number of rotations of the support roller 202, and in FIG.
206 is an idle roller for cylinder spring back.

Next, the attitude control unit 300 will be described. As shown in FIG. 3, the attitude control unit 300 is arranged at the front and rear of the bogie frame 11, and has a pair of swing arms 301 and a rolling direction provided in the tip thereof in the circumferential direction of the pipe. The avoidance roller 302 is provided. As shown in FIGS. 2 and 3, the pair of swing arms 301 are fixed to hollow support shafts 303 that are rotatably supported on the lower surface of the bogie frame 11 about their longitudinal axes. The gears 304 formed on the portions of the two swinging arms 301 facing each other mesh with each other, so that the two swinging arms 301 swing in the opposite directions in synchronization.

The avoidance roller 302 is a bogie frame at the tip of the swing arm 301.
As shown in FIG. 3, the avoidance roller 302 pivotally supported by one of the swing arms 301 is connected to a drive motor 305 of the avoidance roller 302. ,
It is designed to be rotated. On the other hand, Figs. 5 and 6
As shown in the figure, a lever 306 is fixed to one hollow support shaft 303, and a swing arm driving cylinder 308 and a return spring 309 are provided between the lever 306 and a bracket 307 fixedly mounted on the bogie frame 11. When the cylinder 308 is driven, the swing arm 30 is provided via the hollow support shaft 303.
1 swings. Now, when the cylinder 308 is shortened, as shown by the solid line in FIG. 2, the swing arm 301 raises its tip, and the avoiding roller 302 acts as the avoiding roller 302 on the inner peripheral surface of the pipe P with which the crawler 101 abuts. Is separated from. On the other hand, when the cylinder 308 is driven to extend, as shown by an imaginary line in FIG. 2, the swing arm 301 rotates, the avoiding roller 302 descends and abuts on the pipe P, and the telescopic arm 201 is slightly shortened. The crawler 101 away from the inner peripheral surface of the pipe P. When the drive motor 305 is operated in this state, the avoidance roller 302 causes the pipe P to move.
By rolling the inner peripheral surface of the vehicle in the circumferential direction, the entire bogie rotates in the circumferential direction. Incidentally, reference numeral 310 in FIG. 3 is a gravity direction detector, by which the posture of the carriage frame 11 can be detected. Further, in FIG. 6, reference numeral 311 is a guide roller for carrying in the carriage, which is pivotally supported by a support shaft fixed to the hollow support shaft 303.

Further, a water stop unit 400 and a decontamination nozzle unit 500 are mounted on the front and rear of the bogie frame 11, respectively. As shown in FIG. 1, each of these units 400,
The 500 is mounted on the bogie frame 11 so as to be vertically movable via link arms 401 and 501, respectively, and is vertically driven by unit drive cylinders 402 and 502, respectively.

In such a traveling trolley, the cylinder 1 of the crawler type traveling unit 100 is used when the trolley is loaded and unloaded through the small diameter opening.
While shortening 08 and moving both crawlers 101 toward the center side,
The cylinder 203 of the extension / contraction support unit 200 is shortened to contract the extension / contraction arm 201, and the cylinder of the attitude control unit 300 is also included.
308 is shortened so that both swinging arms 301 are in a state where their tips are raised, and the guide rollers 311 for carrying in the cart are directed right below. Further, the water shutoff unit 400 and the decontamination nozzle unit 500 also have their cylinders 402 and 502 shortened and lowered downward. By doing so, the whole is reduced in size compactly, and it becomes possible to pass through an opening having a small diameter.
Here, the crawler 101 is used for loading and unloading, or a separately provided guide device 12 is used.

When the carriage is carried into the pipe P, the cylinder 108 of the crawler type traveling unit 100 is extended to expand both crawlers 101 to the outside so as to abut against the inner peripheral surface of the pipe P, and the cylinder 203 of the telescopic support unit 200. Extend and retract telescopic arm
The support roller 202 is pressed against the inner peripheral surface of the upper portion of the pipe P by advancing 201 upward, and the reaction force gives a required frictional force when the crawler 101 travels. And the water faucet unit 400
And decontamination nozzle unit 500 to cylinders 402 and 502, respectively.
And the crawler 101 is actuated to run in the pipe P.

Further, as shown in FIG. 2, when there is a partial projection Q in the pipe P and it becomes a hindrance to traveling, the attitude control unit 300 is operated. That is, the cylinder 308 is extended and the swing arm 301 is rotated to press the avoidance roller 302 against the pipe P, and the drive carriage of the avoidance roller 302 rotates the entire carriage in the circumferential direction to avoid the protrusion Q. To do.
In this case, the attitude of the carriage is controlled by the signal obtained by the gravity direction detector 310.

The driving operation of each part of these traveling carriages is performed by remote control by a control device (not shown) installed outside the loading / unloading port of the piping system.

<Effects of the Invention> As described above in detail with reference to the embodiment, according to the present invention, it is possible to carry in and out through an opening having a small diameter by moving the crawler and shortening the pantograph-type telescopic arm. Becomes On the other hand, by extending the telescopic arm and pressing the support roller against the inner peripheral surface of the pipe, it is possible to secure sufficient running friction of the crawler, and it is also possible to follow the inside of pipes of different diameters by changing the extension amount of the telescopic arm. Becomes Furthermore, the traveling by the crawler can prevent the holes such as the branch pipes from falling. On the other hand, even when there is an obstacle in the pipe, the avoidance roller is brought into contact with the inner peripheral surface of the pipe by the swinging arm, and the entire bogie is rotated in the pipe circumferential direction to avoid it, so that traveling can be continued without any hindrance. You can

[Brief description of drawings]

FIG. 1 is a side view showing a state where a module unit is mounted on an in-pipe traveling vehicle according to an embodiment of the present invention, FIG. 2 is a front view thereof, FIG. 3 is a plan view of the in-pipe traveling vehicle, and FIG. 1
IV-IV sectional drawing of a figure, FIG. 5 is a VV sectional drawing of FIG. 1, and FIG. 6 is a VI-VI sectional view of FIG. In the drawing, 11 is a bogie frame, 100 is a crawler type traveling unit, 101 is a crawler, 102 is a support leg, 105 is a crawler driving motor, 108 is a crawler opening / closing cylinder, 200 is a control support unit, 201 is a telescopic arm, 202 Is a support roller, 203 is a telescopic arm telescopic cylinder, 300 is a posture control unit, 301 is an oscillating arm, 302 is an avoiding roller, 305 is an avoiding roller driving motor, 308 is an oscillating arm driving cylinder, and 400 is a water stop. A stopper unit, 500 is a decontamination nozzle unit, and P is a tube.

Claims (1)

[Claims] 1. A crawler having a bogie frame, a support leg rotatably supported by the bogie frame, and a crawler attached to the support leg and adapted to run the bogie frame along a longitudinal axis of a pipe. A mold traveling unit, a pantograph-type telescopic arm that is attached to the bogie frame in a telescopic manner, and a support roller that is pivotally supported by the tip of the telescopic arm and that is pressed against the inner peripheral surface of the pipe when the telescopic arm extends. An extendable support unit, a swing arm attached to the bogie frame, and a swing arm swingably supported by the swing arm about an axis parallel to the traveling direction of the crawler. An in-pipe traveling carriage, comprising: an attitude control unit having an avoidance roller that releasably abuts on the inner peripheral surface of the pipe by movement.