JPS61105278A - In-conduit traveling apparatus - Google Patents

Abstract

PURPOSE:To freely transfer a chassis at a sufficient speed even in a curved pipe by installing a magnet roller driven by a motor onto the bottom part of the chassis and installing a guide roller for pressing the chassis onto the above-described roller side, onto the outer periphery of the chassis. CONSTITUTION:A chassis (a) is constituted of a body frame 1, top part cover 2 on the both sides of the frame 1, and a rear edge cover 3. A motor 4 is installed into the rear edge cover 3, and a magnet roller 5 driven by the motor 4 is arranged at the center part of the chassis (a), and fixed onto the body frame 1 through a shaft 6 so as to be directed towards the center axis in the longitudinal direction of the chassis (a). In the lengthwise division on the longer axis of the body frame 1, a mechanism consisting of a spring and guides 26 and 27, etc. is installed to press the chassis (a) towards a tubular wall 23 symmetrically with respect to the plane including the roller 5. Therefore, the chassis (a) is allowed to contact with the tubular wall 23 at three points of the roller 5 and two wheels 30 pressed onto the tubular wall 23.

Description

Detailed Description of the Invention: Field of Industrial Application The present invention is directed to the use of, for example, a camera for grasping the condition of the inner surface of a conduit, an inspection device for measuring the wall thickness of a conduit from inside the conduit, etc., at a predetermined position. The present invention relates to a conduit traveling device for loading or towing up to a certain point.

-Conventional structure and its problems Conventionally, a pressure feeding method using fluid pressure has generally been adopted as a means for moving an inspection device or the like for inspecting a conduit from the inside. However, in this method, it is necessary to open both ends of the conduit, and the overall equipment configuration including accessory equipment becomes large-scale and expensive. Further, depending on the type of conduit, the pressure required for pumping may not be acceptable.

There is also equipment that moves by itself inside conduits, including curved pipes, but this equipment is good for large diameter pipes, but
It cannot be used for small pipes with a diameter of less than 100 m, and cannot pass through unevenness of 10 mm to 20 mm inside the pipe. In addition, the movement speed is very slow, which poses a problem for actual use in the field.

・Objective of the present invention The present invention eliminates the problems of the above-mentioned conventional example,
It can pass through curved pipes with a diameter of 100 mm and a radius of curvature of about 100 mm, regardless of the bending direction. 20mm seen in )
It is an object of the present invention to provide a conduit self-propelled device that can pass through concave portions of approximately 100 to 100 cm, and that can also move at a sufficiently high speed for practical use.

・Structure of the present invention In order to achieve the above object, the present invention provides that a Yagnet roller whose rotation direction is oriented in the direction of the longitudinal center axis of the vehicle body is attached to the bottom of a vehicle body whose overall shape is an ellipsoid, and the magnet A conduit self-propelled device is proposed in which a motor for driving the rollers is housed in the vehicle body, and a guide roller is attached to the outer periphery of the vehicle body to press the vehicle body toward the magnet roller.

This conduit self-propelled device supplies power to the motor from outside the conduit via a lead wire, and the rotation of the motor is transmitted to the magnet roller via an intermediate power transmission mechanism. The pipe passes over obstacles (irregularities) while increasing frictional force by the action of guide rollers that press the pipe against the inner surface of the pipe.

If a single device cannot be self-propelled or has insufficient traction force, multiple devices are connected by a universal joint to increase the self-propelling power.

-Example The appearance of the vehicle body a of the traveling device according to the present invention consists of a main body frame 1, a front head cover 2 and a rear head cover 3 on both sides thereof, and has an elliptical spherical shape as a whole.

A drive motor 4 is built inside the occipital cover 3. Further, 5 is a magnet roller arranged at the center of the vehicle body a within a plane parallel to the tube axis direction;
It is fixed to the main body frame 1 via a shaft 6 so as to face in the direction of the longitudinal central axis. The drive motor 4 is for rotating the magnet roller 5 forward and backward, and the rotation of the drive motor 4 is first caused by four spur gears 7, 8, 9, 10
The signal is then transmitted to the shaft 11. A worm gear 12 is fixed on the opposite side of the shaft 11, and will be referred to as a shaft 13, a worm wheel 14, a spur gear 15, a shaft 16, and spur gears 17 and 18.
, a shaft 19, and a spur gear 20, rotation is transmitted from a spur gear 21 on the shaft 6 to the magnet roller 5.
' A through hole is provided in the center of the front head cover 2 and the rear head cover 3 for connection, so that a plurality of one traveling device can be connected. Now, when two units of this device are connected with a flexible universal joint, there will inevitably be a step in the conduit piping as shown in Figure 5 (with a joint such as Semple for cast iron piping, the maximum step is about 20 mm). ), even if one traveling device falls and loses its driving force, the driving force of the other traveling device allows it to overcome a large step and pass.

Six wheels 22 are arranged radially in the same plane between both ends of the main body frame 1, the front head cover 2, and the rear head cover 3, and as shown in FIG. The head and back of the head are prevented from coming into direct contact with the wall 23 of the conduit.

Symmetrical with respect to the plane containing the magnet roller 5 and 90 degrees apart from each other
A mechanism for pressing the device (vehicle body a) toward the tube wall 23 is provided in a section of two planes having angles of , a spring guide 25, a guide A26, and a guide B27.One end of the guide B27 is fixed to one of the wheels 22 in the same direction as the pressing mechanism, and the other end is fixed to the guide bin 28. The other end of the guide A26 is connected to the spring guide 25 by a two-wheeled wheel 30 via a shaft 29.The guide A26 and the guide B27
An elongated hole is formed in the spring 24 so that its length can be freely changed as the spring 24 expands and contracts. This device is installed on the tube wall 23.
The spring that presses the pipe toward the pipe has a stroke of 10 mm or more in both the tension and compression sides during normal running, and is therefore able to overcome the unevenness that exists within the conduit. In particular, it can sufficiently cope with a protrusion of around 10 mm at the take-out portion, and can run over such obstacles.

The conduit self-propelled device constructed as described above is in contact with the pipe wall 23 at three points: the two wheels 30 pressed against the pipe wall 23 and the magnet roller 5. When the vehicle is running, it can run reliably without slipping due to the magnetizing force of the springs and magnet rollers 5. Furthermore, piping at all angles, such as rising and falling pipes, can be freely run and stopped by the above-mentioned spring force and magnetizing force.

Also, as you can see from the overall shape, this device has a diameter of 100 m.
It is possible to freely move through conduits including curved conduits with a radius of curvature of about IC'OigJ, and conduits with unevenness present at joints, extraction parts, etc.

・Effects of the present invention As described above, the traveling device according to the present invention has an elliptical spherical overall shape, employs a magnetic roller as a driving wheel, and further assists the magnetizing force of the magnetic roller and controls the posture. A guide roller is provided to maintain the magnet roller, and a motor that applies a driving force to the magnetic roller is attached to the vehicle body a.
Since the tube is housed within the tube, it can be moved freely regardless of the direction of bending even in a curved tube with a diameter of 100 m11 and a radius of curvature of about 100 mm, and the moving speed can be sufficiently put to practical use. In addition, by connecting a plurality of this devices with a universal joint and running them, it is possible to pass through unevenness of about 20 mm from 10101L existing in a conduit. Because of these characteristics, when inspecting corroded parts, welded parts, etc. of gas pipes, etc., we attach a pipe internal camera and a pipe wall thickness measuring machine to move freely inside the pipe and locate the required position. This has a significant effect on improving inspection time and performance. Also,
Since it has a back function, there is no need to excavate and open both ends of the inspection section, making it possible to inspect the conduit in both directions from a single excavation trench, which has a great effect on reducing excavation costs.

This device is not only used as an inspection device, but also
It can also be used as a transport device for various work equipment necessary for repairing the inner surface of conduits, etc.

[Brief explanation of the drawing]

The drawings show an embodiment of the conduit self-propelled device according to the present invention, in which Fig. 1 is a front view, Fig. 2 is a sectional view taken along line A-A, and Fig. 3 is a perspective view seen from direction B. , Figure 4 is a partially cutaway side view showing the state of passage through a 90" bend (inner diameter 100 +++ m, curvature 100 mm), and Figure 5 is a partially cutaway side view showing the passage of a 90" bend (inner diameter 100 + + + m, curvature 100 mm). Figure 5 shows a step occurring at the joint, one of the vehicles falls into the step and the driving force is reduced. 1 is a partially cutaway side view showing a situation in which the other runner pushes or pulls the vehicle over a step when the driver loses the vehicle. 1. Body frame; 2. Top cover. , 3... Back head cover, 4... Drive motor, 5... Magnet roller, 6...
... shaft, 7 ... spur gear, 8 ... spur gear, 9 ... spur gear, 10 ... spur gear,
11...Axis, 12...Worm, 13
...Axis, 14...Worm wheel,
15...Spur gear, 16...Shaft, 17.
...Spur gear, 18...Spur gear, 19...
...Shaft, 20...Spur gear, 21...
・Spur gear, 22... Wheel, 23... Tube wall, 24... Spring, 25... Spring guide, 26... Guide A, 27...
...Guide B, 28...Guide pin, 29
...Axle, 30...Two wheels, 31...
...Universal joint, 32...Cable.

Claims (1)

[Scope of Claims] 1. A magnet roller whose rotation direction is directed toward the longitudinal center axis of the vehicle body is attached to the bottom of the vehicle body whose overall shape is an ellipsoid, and a motor for driving the magnet roller is attached to the bottom of the vehicle body. Stored inside the vehicle body, and on the outer periphery of the vehicle body,
A conduit traveling device comprising a guide roller for pressing the vehicle body against the magnet roller. 2. An in-duct traveling device according to claim 1, which is formed by connecting a plurality of vehicle bodies by a universal joint.