JPS63234817A - Self-travelling apparatus in conduit - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention is useful for drawing cables into small-diameter conduits, such as underground conduits for wiring communication cables, and for inspecting the inside of conduits. This invention relates to an in-pipe self-propelled device used to move TV cameras and the like.

(Prior art) In order to draw a communication cable etc. into an underground conduit which has a relatively small diameter (75 mm in inner diameter), it is difficult to directly draw the communication cable into the conduit because the diameter of the conduit is small. Conventionally, wires or ropes that can be easily passed through the conduit by themselves are pulled into the conduit in advance, a communication cable is connected to the tip of the rope, and the communication cable is pulled into the conduit by pulling out the rope. I was trying to let it pass.

Also, when inspecting the inside of a pipe, a wire is drawn through the pipe in advance.

FIG. 5 illustrates an example of the conventional communication cable lead-in method as described above.

In this method, when drawing the communication cable into the underground conduit 16 that connects the manholes 17 and 18 underground, the worker 21 first pulls out the polyethylene rope 19 from the drum 20 from the manhole 17 side. Conduit 1
The polyethylene row 119 is fed into the manhole 18 while stretching into the manhole 17 and 18, and the polyethylene row 119 is passed through between the manholes 17 and 18.

After the polyethylene rope 19 is drawn into the pipe line 16 in this way, the tip of a desired communication cable or wire is connected to the tip of the polyethylene rope 19 that has extended to the manhole 18, and after the connection, the polyethylene rope 119 is connected to the manhole 18. By pulling back to the side, the communication cable or wire is threaded into the conduit 19.

FIG. 6 illustrates a conventional method of directly drawing wire loaf 25 using compressed air. In this method, a wire loaf 25 that is a desired communication cable or the like wound around a wire drum 26 is let out, and a wire passing body 24 is inserted into the inner surface of the conduit 16 with the tip of the wire loaf 125 closely attached. Then, the wire passing body 24 is inserted into the conduit 16. On the other hand, an airtight holder 29 is attached to the duct opening 16a of the conduit 16 on the manhole 17 side so that the airtightness within the conduit 16 can be maintained.
The space between the wire passing body 24 in 6 and the two airtight holders is sealed.

85 between the wire passing body 24 and the airtight holder 29
Conduit 16 closed and wire 〇-125 inserted
A compressed air supply vibe 28 and a compressor 27 are connected to this sealed part in order to increase the pressure inside. after that,
When compressed air is sent into the conduit 16 from the compressor 27 via the pipe 28, the pressure increases in the sealed portion, and the wire passage body 24 moves within the conduit 16 to the manhole 18 side, so that the air between the manholes 17 and 18 is The wire loaf 25 can be drawn through the conduit 16. In this case, the wire 0-725 can be taken in and taken out from the airtight holder 29 while keeping the space between it and the wire passage body 24 airtight. Further, a pop-out preventer 30 is attached to the duct opening 16b on the manhole 18 side to prevent the wire-carrying body 24 from popping out due to pressure increase.

In the conventional method described above, the method shown in FIG. 5 involves once drawing the polyethylene loaf 19 into the conduit 16 and then drawing the communication cable or wire through it, which requires double the drawing operation and time. The action of pulling the polyethylene rope 19 into the pipe line 16 in advance is simply pushing out the polyethylene row 119 from the manhole 17 side, so the polyethylene rope 19 can be drawn smoothly into the pipe line 16.
9 is difficult and inefficient.

In addition, the method shown in FIG. 6 requires a long preparation time due to its complicated configuration, and the cost of the device is relatively high.Also, even if a blowout preventer is used to increase the pressure inside the conduit 16, it is dangerous. There is also.

In addition, the normal running Ia structure uses wheels regardless of the inside of the pipe, but when trying to run on wheels in the pipe, special gear mechanisms such as racks and binions are required. In addition to requiring a complex mechanism, the limit force F of the propulsion force of the traveling device is determined by the weight W of the traveling device and the coefficient of friction μ between the wheels and the inner surface of the pipe, and a propulsive force greater than F = Wμ is expected. Therefore, it is difficult to form a traveling device using wheels that travels in a conduit with a relatively small diameter.

Figure 7 further shows a conventional self-propelled device in a pipeline (for example, a
-143359M, see Japanese Patent Application No. 11a60-263453). The in-pipe self-propelled device shown in the same figure has a plurality of bristles 33 attached at an angle around a self-propelled body 31, and a power source 35 (the power is supplied from the manhole side via a cable) within the self-propelled body 31. ) and a motor 37, and the self-propelled body 3
1, and this vibration causes the bristles 33 and the conduit 41 to
There is slippage between the two. Since the bristles 33 are attached at an angle, the slippage 12 varies depending on the direction of inclination. The idea is to obtain propulsive force from the difference in frictional force.

This in-pipe self-propelled device is certainly self-propelled, but the eccentric weight 39
Due to the reaction of the torque trying to rotate the eccentric weight, a torque in the opposite direction to the rotation of the eccentric weight acts on the self-propelled body 31, causing the self-propelled body to rotate and twist the traction lobe, wire, power supply cable, etc. There is something to do. In addition, eccentric weight 39
A force acts in the radial direction of the conduit 41 due to the centrifugal force caused by the rotation of the conduit 41, and vibrations and vibrations are also applied to the conduit. This photographing is not preferable, especially in cases where the pipeline is not buried underground, such as a bridge-attached bridge, as it may cause the joint to come off.

(Problems to be Solved by the Invention) As mentioned above, the conventional self-propelled equipment in the pipeline has a complicated structure and takes time, and the self-propelled equipment in the main pipeline rotates and twists the cables. However, there are problems in that the propulsive force is small and the traveling speed is slow.

The present invention has been made in view of the above, and an object thereof is to provide a novel self-propelled in-duct device capable of traveling at a large propulsive force and a relatively high speed.

[Structure of the invention]

(Means for solving the problem) In order to achieve the above object, the in-pipe self-propelled device of the present invention has the following features:
An in-pipe self-propelled device that travels in a conduit, contacts the inner wall of the conduit, has low movement resistance against movement in a first direction in the conduit, and has low movement resistance in the opposite direction to the first direction. A resistor that has high movement resistance against movement in the second direction, and a pair that rotates synchronously in opposite directions around a support shaft perpendicular to the running direction, and whose center of gravity is biased with respect to the support shaft. The present invention is characterized in that it has an eccentric rotating body, and a drive source that rotates the pair of eccentric rotating bodies.

(Function) The in-pipe self-propelled device of the present invention generates a propulsive force in the conduit direction by rotating a pair of eccentric rotating bodies whose centers of gravity are offset in synchronization in opposite directions, and uses this propulsive force to generate resistance. It is designed to run in the direction of lower body movement resistance.

(Example) Hereinafter, the present invention will be explained in detail using the drawings.

FIGS. 1(a) and 1(b) are cross-sectional views when an in-pipe self-propelled device according to an embodiment of the present invention moves within a conduit 1, and FIG. Figure 1 (b
) indicates a state in which the self-propelled device in the pipeline is stopped.

In both figures, the in-pipe self-propelled device has a vibrating body 2 in the center, and a resistor 3 is attached to the tip of the connecting rod 11 via a connecting rod 11 at the front and rear of this vibrating body 2. ing.

A contact portion 3 a that contacts the inner wall of the conduit 1 is provided around the resistor 3 . When the in-pipe self-propelled device is moving in the traveling direction, this contact portion 3a is
), the pipe is bent in the opposite direction to the traveling direction to reduce the resistance to the pipe 1 and facilitate movement in the traveling direction, and the self-propelled device in the pipe moves in the opposite direction to the traveling direction. When this happens, as shown in Figure 1(b), it stretches straight and spreads out, firmly contacting the inner wall of the pipe 1, increasing the resistance against the pipe 1 and preventing it from moving in the opposite direction. There is. As a result of the action of the resistor 3 having such a contact portion 3a, the in-pipe self-propelled device can easily move in the direction of movement shown by the arrow 10, but cannot move in the opposite direction to the direction of movement. There is.

Further, the vibrator 2 has a motor 4 . This motor 4
It is operated by being supplied with power from a built-in battery (not shown) or a power cord (not shown) supplied from a manhole through a conduit 1. The rotation of the motor 4 is transmitted to the rotating shaft 1° via the bevel gear 5, the chain 6 and the sprocket 9, and a pair of eccentric weights 7.8 attached to the rotating shaft 10 are connected to the arrows 70.8, respectively.
As shown by 0, they are rotated in opposite directions.

As a result of the eccentric weights 7.8 rotating in opposite directions around the rotating shaft 10, the centrifugal force in the radial direction due to the eccentric weights 7.8 cancels out, and the axial direction and the width of the straw pipe '1 are reduced. Only centrifugal force in the direction of extension is generated from the eccentric weight 7.8. The centrifugal force in the axial direction due to this eccentric weight 7°8 acts to move the vibrator 2, that is, the self-propelled device in the pipe, in the axial direction via the rotating shaft 10. Movement in the direction opposite to the traveling direction is caused by the contact portion 3 of the resistor 3.
Since this is prevented by the action of a, the in-pipe self-propelled device can only move in the forward direction.

FIGS. 2(a) and 2(b) are side views of another embodiment of the present invention. The in-pipe self-propelled device of this embodiment has the same vibrator 2 as the embodiment shown in FIG. 1, but differs from the embodiment in that bristles 90 are used instead of the resistor 3 in the embodiment. ing. The base ends of the bristles 90 are attached around the connecting rods 11 attached to the front and rear of the vibrator 2, and the tips are in contact with the inner wall of the conduit 1. In this case, the length to the tip of the brush 90 is longer than the length to the inner wall of the conduit 1, so when the tip comes into contact with the inner wall of the conduit 1, the bristles 90 will move as shown in the figure. It is curved. In the state where the brush 90 is curved as shown and in contact with the inner wall of the conduit 1, the bristles 90 are connected to the vibrating body 2,
That is, the entire self-propelled device within the pipeline is supported within the pipeline 1 as shown. Also, due to the angle at which the bristles 90 curve and contact the inner wall of the conduit 1, the arrow 91
The in-pipe self-propelled device can only move in the direction shown by , and is difficult to move in the opposite direction. Furthermore, in the state shown in FIG. 2(b), the self-propelled device within the conduit can only move in the direction shown by arrow 92, and is difficult to move in the opposite direction. That is, due to its curved state, the bristles 90 have low resistance in one direction, similar to the resistor 3, and enable movement of the self-propelled device in the pipe, but have little resistance in the opposite direction. This increases the size and prevents the movement of the self-propelled device within the pipeline.

In addition, since the bristles 90 have flexibility, even if the cross section of the pipe line 1 changes due to joints, sediment accumulation, etc., the bristles 90
The traction wire 110 has the advantage of bending and can be easily passed through, and also allows the traction wire 110 to be moved from the manhole in the opposite direction to the direction in which the self-propelled device in the pipe is traveling, for example in the direction opposite to the arrow 91 in FIG. 2(a). When the bristle 90 is pulled with a force greater than the traction force of the self-propelled device in the pipe, the bristles 90 become as shown in Fig.
It bends from the curved state shown in a), and then curves in the opposite direction as shown in FIG. 2(b). As a result, the in-pipe self-propelled device can be made to travel in the opposite direction even from halfway.

Next, we will consider the equation of motion of the self-propelled device in a pipeline constructed as described above, and explain the simulation results.

First, the symbols of each parameter are defined as follows.

M: Mass of the entire self-propelled device in the pipeline m: Mass of one eccentric weight 7.8 p: Eccentricity of the eccentric weight 7.8 (center of rotation of the eccentric weight 7.8 and center of gravity of the eccentric weight 7.8) ) Fl: resistance when the self-propelled device in the conduit moves in the direction of movement in Fig. 1 (a) F2: resistance when the self-propelled device in the conduit moves in the opposite direction to the direction of movement in Fig. 1 (a) Resistance during movement Fo: Load applied to the self-propelled device in the pipeline (cable, wire tension, etc.) ω: Rotational angular velocity of eccentric weights 7.8 In Fig. 1(a), eccentric weights 7 and 8
If the angular velocity of rotation is the same and the direction of rotation is reversed so that the radial components of the centrifugal force of the eccentric weight 7.8- cancel each other out, then Equation of motion (taken as X-axis) % formula % When intersects 0 F-F2-F.

Here, the positive direction of the X axis is the right direction in FIG. 1(a).

The results of a computer simulation of the above equation of motion are shown in FIGS. 3(a) and 3(b).

In this simulation, the rotation speed N (rom)
1000 from 1100Orp to 5000 rpm
rpra, which shows the speed fluctuation of the self-propelled device in the pipeline at each rotation speed. Further, each of the parameters in this simulation was set as follows.

M=1.44kg m-〇, 089kg D=1.220m F1=26. 2N Fa=○ F2=46. ON (in case of Fig. 3(a)) = 92.
ON (In the case of Figure 3 (b)) From the simulation results in Figures 3 (a) and (b), the self-propelled device in the pipeline fluctuates in speed almost sinusoidally, gradually increasing the speed and reaching a steady state. It can be seen that the situation is approaching. It can also be seen that the traveling speed when the speed of the in-pipe self-propelled device becomes negative increases as the resistance F2 increases.

FIG. 4 is a diagram showing a specific example of the processing body 2, in which FIG. 4(a) is a plan view, FIG. 4(b) is a front view, and FIG. 4(C) is a cross-sectional view. It is a diagram.

In FIG. 4, the rotation of the motor 4 is transmitted to a first bevel gear 5a connected to its rotational drive shaft.

Further, the rotation of the motor 4 transmitted to the first bevel gear 5a is transmitted to the second bevel gear 5b which is meshed with the first bevel gear 5a.
and is transmitted to the first chain belt 6b and the second chain belt 6C via the third bevel gear 5C, respectively.

Further, the first chain belt 6b is hung around a first sprocket 9b, and a first rotating shaft 10b is attached to the rotation center of the first sprocket 9b. Furthermore, a first eccentric weight 7 is connected to the first rotating shaft 1ob. The rotation of the motor 4 is caused by the first bevel gear 5a, the second bevel gear 5b, and the first chain belt 6b.
, the first sprocket 9b1 and the first rotating shaft 101], and is transmitted to the first eccentric weight 7 to rotate the first eccentric weight 7.

Furthermore, the second chain belt 6c is similarly hung on the second sprocket 9C, and a second rotating shaft 10c is attached to the rotation center of the second sprocket 9C. Furthermore, a second eccentric weight 8 is attached to the second rotating shaft 10C.
is installed. The rotation of the motor 4 is caused by the first bevel gear 5a and the third overlap I! 5C, the second chain belt 6c, the second sprocket 9c, and the second rotating shaft 10c to the second eccentric weight 8, and the second
The eccentric weight 8 is rotated.

The first eccentric weight 7 and the second eccentric weight 8 are each formed into a semicircular shape, as can be clearly seen from FIG.
The semicircular shape of the second eccentric weight 7 is located above, and the semicircular shape of the second eccentric weight 8 is located below, so that they are attached so that they are out of phase by 180 degrees.

Furthermore, when the motor 4 rotates, the first eccentric weight 7 and the second eccentric weight 8 rotate in opposite directions as shown by arrows 71 and 81 in FIG. 4 (1), respectively. . That is, the direction of rotation of this eccentric weight 7.8 is the same as that shown in FIG.

In this structure, the first and second eccentric weights 7.8 have the same quality m and eccentricity,
The first and second rotating shafts 10b are arranged concentrically by the rotation of the motor 4.

When rotating synchronously around 10C, that is, with the same point of action of centrifugal force and the same rotational angular velocity and opposite rotational direction,
The centrifugal forces in the radial direction cancel each other out, and only the centrifugal force in the direction of the pipe line 1 is effectively generated. It is possible to move in the direction of Also, this conduit 1
In addition to the centrifugal force in the direction of Alternatively, the bristles 90 can run in a direction with less resistance.

As an example, as a result of manufacturing a self-propelled device in a pipe having a correction body 2 shown in FIG. 4 and a brush 90 shown in FIG. It was confirmed that the vehicle was traveling on the road at a speed of 10 m/min or more.

In the above embodiment, resistance or l! depends on the direction of movement. Although the resistor 3 and the bristles 90 are cited as examples of different Jm forces, the explanation is not limited to these; for example, the magazine "Automation, Vol. 19,
It is also conceivable to apply the structure shown in "Dynamics for Automatic Assembly" by the structure described in "No. 8, No. 91".

〔Effect of the invention〕

As explained above, according to the present invention, a pair of eccentric rotating bodies whose centers of gravity are biased are rotated synchronously in opposite directions to generate a propulsive force in the direction of the pipe, and this propulsive force causes the resistance body to Since it travels in the direction of low movement resistance, the centrifugal force in the radial direction of the conduit is canceled out, so there is no radial vibration, and there is no twisting of cables due to the rotation of the device itself. , capable of traveling at relatively large propulsive forces and high speeds.

[Brief explanation of drawings]

FIG. 1 is a sectional view of a self-propelled device in a pipeline according to an embodiment of the present invention, FIG. 2 is a side view of another embodiment of the present invention, and FIG. 3 is a self-propelled device in a pipeline according to the above embodiment. A graph showing the simulation results of the device, Figure 4 is a detailed configuration diagram of the vibrating body used in the self-propelled pipe device shown in Figures 1 and 2, Figures 5 and 6 are
The figure is a diagram for explaining a conventional method of pulling in a communication cable, and FIG. 7 is a diagram showing a conventional self-propelled device within a conduit. DESCRIPTION OF SYMBOLS 1... Pipeline, 2... Vibrator, 3... Resistor, 4...
...Motor, 7.8...Eccentric weight, 90...Brush. Agent Patent Attorney Tamotsu Miyoshi Yuna 1 (a)
) Figure 1 (b) District 2 (a) Figure 2 (b)

Claims (2)

[Claims] (1) An in-pipe self-propelled device that travels within a conduit, contacts the inner wall of the conduit, has low movement resistance against movement in a first direction within the conduit, and and a resistor having high movement resistance against movement in a second direction opposite to the movement direction, and rotating in synchronization in mutually opposite directions around a support shaft perpendicular to the running direction.
An in-duct self-propelled device comprising: a pair of eccentric rotors whose center of gravity is offset with respect to the support shaft; and a drive source for rotating the pair of eccentric rotors. (2) The in-duct self-propelled device according to claim 1, wherein the resistor is comprised of bristles having a length longer than the distance to the inner wall of the pipe.