JPH08133073A - Pipe travel device - Google Patents

Abstract

PURPOSE: To provide an easily handleable pipe travel device that travels in a complex pipeline made up of a curved pipe and a pipe whose inner diameter is varied. CONSTITUTION: Both driving units 42 and 43 are connected by a connecting member 47 consisting of a first connecting member 47A and a second connecting member 47B. These driving units 47A and 47B are connected to an axle of a driving wheel 46 forming a first turning shaft by a parallel pin 51 free of rotation on each bearing 4A installed in the driving units 42 and 43. In addition, both these first and second connecting members 47A and 47B are connected free of rotation by a connecting member securing pin 48 inserted into a connecting hole formed so as to be orthogonalized to the connecting pin 1 and a tube axis formed in these connecting members 47A and 47B. Therefore, the driving units themselves are rotated to both the shafts, the first turning shaft and the second turning shaft orthogonal with this first turning shaft and the tube axis.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe traveling device used when inspecting the inside of a pipe formed of various pipes.

[0002]

2. Description of the Related Art A device for inspecting the inside by self-propelled in a pipe is required to travel a long distance while towing a cable or the like, but a small-diameter pipe such as a pipe for city gas. In the case of (2), it is very difficult and extremely unrealistic to mount the intra-pipe thrusting mechanism that generates the traction force, the moving motor, and the speed reduction mechanism on the same traveling unit because of the size limitation.

Therefore, for example, as a self-propelled device for observing a pipe having an inner diameter of 50 mm or less, Japanese Patent Laid-Open No. 64-80
A split type driving device as shown in Japanese Patent No. 856 is proposed. With the structure of this drive device, it is possible to pass through the elbow at 90 degrees, but there is a problem that the structure becomes complicated. Further, it is difficult to easily increase the driving ability.

Therefore, a self-propelled device using a link as disclosed in JP-A-59-109470 and JP-A-3-31058 has been proposed. However, although it was easy to obtain a large driving force with this structure,
It could not be sized so that it could be inserted into a thin tube of 50 mm or less.

Therefore, the present applicant has filed Japanese Patent Application No. 5-26520.
The in-pipe traveling device as shown in No. 3 is proposed. With this in-pipe traveling device, it can be inserted into a pipe with an inner diameter of 50 mm or less, and the driving force can be easily increased, and since the connecting member that connects the triangular frames rotates in the plane including the triangular frames, A trolley for observation passes through the bent part of the pipe.

[0006]

However, in the in-pipe traveling device disclosed in the above-mentioned Japanese Patent Application No. 5-265203, the pipe bend portion of the pipe line in which the trolley for observation is inserted must be
It is not always located exactly in the plane where the triangular frame is included, and if the bent portion of the pipe is not in the plane of the triangular frame, it cannot pass through the bent portion of the pipe. For this reason, the observation camera portion was made short to pass the bend of the pipe so that it could pass through the bend portion of the pipe, but sometimes the trolley part cannot pass through the bend portion of the pipe. It was not possible to make a self-propelled camera that could be inserted into a conduit with a.

When an attempt is made to insert the pipe into a conduit formed by combining pipes having different inner diameters, the length of the connecting member for connecting the triangular frames has not changed. The driving force was not transmitted to the inner surface of the pipe because the angle of the connecting member changed too much.

Further, in the mechanism of the self-propelled device disclosed in the above-mentioned JP-A-59-109470 and JP-A-3-31058, the change of the angle of the link corresponds to the change of the inner diameter, but the link is changed. Since the device rotates in a plane, when the user holds a part of the device, the device rotates and bends at the link, which is troublesome to handle.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an in-pipe traveling device that travels in a complicated pipe line formed by a bent pipe or a pipe whose inner diameter changes, and is easy to handle. Has an aim.

[0010]

The in-pipe traveling device of the present invention has at least three drive units each having at least three drive shafts connected to the pipe shaft through connecting members so that the positions of the drive shafts are staggered. An in-pipe traveling device that is connected in series and that forms a drive portion by providing a biasing means so that the intervals between the drive units are close to each other, wherein a connection member that connects the drive units is connected to the axle. It is rotatable about a parallel first rotation shaft and a second rotation shaft orthogonal to the first rotation shaft and the tube shaft.

[0011]

[Operation] According to this configuration, since the connecting member that connects the drive units to each other has a degree of freedom in at least two directions orthogonal to the pipe axis on which the drive units travel,
The drive unit passes through the bent portion of the pipe provided in the pipe.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 relate to a first embodiment of the present invention, and FIG. 1 is a configuration diagram showing an outline of an overall configuration of an in-pipe traveling device, FIG.
FIG. 3 is a diagram for explaining the connection between drive units forming the drive unit of the in-pipe travel device, FIG. 3 is a diagram showing the connection state of the connection members, and FIG. 4 is a diagram for explaining the movement of the connection member units in detail.

As shown in FIG. 1, an in-pipe traveling device 2 is inserted inside a pipe line 1 formed of a pipe.

The in-pipe traveling device 2 has a T (not shown) at its tip.
A camera unit 3 having a V camera and a built-in illumination, a driving unit 4 including at least three driving units having a motor (not shown), a reel 6 around which a connection cable 5 is wound, and a connection to the reel 6. And a power supply unit 7 that operates.

In the present embodiment, the drive unit 4 is composed of five drive units 41, 42, 43, 44, 45. Each drive unit 41, 42, 43, 44,
45, the drive wheels 4 are staggered in the vertical direction as shown in the figure.
6,46. ． ． Are arranged to connect adjacent drive units to each other by connecting members 47, 47, 47. ． ． Are connected by.

A drive power source section 8 is connected to the drive unit 41 through a connecting member 47 at the hand side end of the drive section 4 as with the drive units. The drive power supply unit 8 is connected to the reel 6 via a connection cable 5 having a length of about 300 m. A remote control switch 9 for controlling the drive unit 4 and a TV monitor 10 for displaying an image obtained by a TV camera are connected to the reel 6. Reference numeral 3a denotes a camera power supply unit for driving the TV camera, which is connected to the drive unit 45 via the connection member 47, like the drive units.

The connection between the drive units will be described in detail with reference to FIG. The drive units are connected to each other in the same manner, and the drive unit 41 and the drive power supply unit 8 are connected to each other in the same manner, and the drive unit 45 and the camera power supply unit 3a are connected to each other in the same manner. The unit 43 will be described, and description of other connections will be omitted. The drive unit 42 and the drive unit 43 are connected by a connecting member 47 including a first connecting member 47A and a second connecting member 47B.

The first connecting member 47A or the second connecting member 47B is rotatably connected to a bearing 4A provided in the drive unit 42 and the drive unit 43 by a connecting pin 51 forming a first rotating shaft. Has been done.

Only the drive unit 42 side will be described below. The same applies to the drive unit 43 side.
The connection pin 51 is parallel to an axle (not shown) of the drive wheels 46 provided in the drive unit 42 and the drive unit 43, and is connected to the connection pin 51 with the first connection member 47A or the second connection member 47A. The connecting member 47B rotates in the directions of arrows A and B, respectively.

Further, as shown in FIG. 3, the first connecting member 47A and the second connecting member 47B are formed by inserting the connecting member fixing pins 48 into the connecting holes 50 formed in the respective connecting members 47A and 47B. It is rotatably connected. The connection hole 50 is formed so as to be orthogonal to the first rotation axis and the tube axis formed by the connection pin 51, and the connection member fixing pin that forms the second rotation axis in the connection hole 50. By disposing 48 and connecting the first connecting member 47A and the second connecting member 47B, the first connecting member 47A and the second connecting member 4 are connected to the connecting member fixing pin 48.
7B and 7B rotate in the directions of arrows a and b shown in FIG. In addition,
The first connecting member 47A and the second connecting member 47B are rotatably connected by caulking and fixing the spacer 49 arranged at the tip of the connecting shaft fixing pin by caulking the tip of the connecting member fixing pin.

By connecting the drive units to each other by the connecting member as described above, when the drive unit 4 advances in the pipeline, the drive units are connected to the first rotary shaft parallel to the axle and the first rotary shaft. Second orthogonal to the rotation axis and tube axis of
It is designed to rotate with respect to both the rotation axis and the rotation axis.

On the other hand, as shown in FIG. 2, the drive unit 42 and the drive unit 43 are connected by a coil spring 52 as an elastic member which is an urging means for urging the units so as to approach each other. The coil spring 52 is connected to the surface of the drive unit 42 and the drive unit 43 opposite to the drive wheels 46.

The operation of the in-pipe traveling device 2 configured as described above will be described. First, when the power switch of the power supply unit 7 is turned on, power is sent to the drive power supply unit 8 via the reel 6 and the connection cable 5. At this time, the information of the remote control switch 9 is transmitted at the same time.

Next, if the information from the remote control switch 9 is "forward", the respective drive units 41, 4
The motors provided in 2, 43, 44, 45 drive to drive the drive wheels 46 provided in each of the drive units 41, 42, 43, 44, 45 to move the drive unit 4 forward. At this time, the drive units 41, 42, 43, 44, 45 are biased by the coil springs 52 connecting the drive units so that the drive units come close to each other, so that the inclined connection connecting the drive units is made. Member 47
The drive wheel 46 is pressed against the inner surface of the pipe via the, and the drive force is transmitted without the drive wheel 46 floating on the inner surface of the pipe.

Then, when the drive unit 4 continues to move straight in the pipeline, the drive unit 4 reaches the bent portion of the pipe in the pipeline. At this time, when the bent portion of the pipe is bent in the same direction as the axial direction of the connecting member fixing pin 48, the drive unit 4 causes the first connecting member 47A or the second connecting member 47B to center around the connecting pin 51. It rotates in the direction of arrow A or arrow B of 2 and passes through the bent portion of the pipe.

On the other hand, when the bent portion of the pipe is bent in the same direction as the axial direction of the connecting pin 51, for example, the first connecting member connecting member 47A and the second connecting member 47B are connected as shown in FIG. The drive unit 43 is rotated in the direction of arrow a around the connecting member fixing pin 48 to pass through the bent portion of the pipe.

As described above, while the connecting member for connecting the drive units constituting the drive unit is formed by the first connecting member and the second connecting member, the first connecting member or the second connecting member is formed. And the drive unit are rotatably supported by a connecting pin forming a first rotation shaft parallel to the axle, and
Driven by rotatably supporting the first connecting member and the second connecting member with a connecting member fixing pin forming a second rotating shaft orthogonal to the first rotating shaft and the tube shaft. Since the in-pipe traveling device configured by connecting a plurality of units, camera units, and driving power supply units to each other rotates about two axes orthogonal to the pipe axis, it can smoothly pass through the bent portion of the pipe formed in the pipe line. it can.

The pipe line generally formed is formed such that the pipe bent portion always bends with respect to either the first rotary shaft or the second rotary shaft with respect to the pipe shaft as described above. Therefore, the rotation direction about the connection pin and the rotation direction about the connection member fixing pin are combined to pass through the bent portion of the pipe.

Here, the operation of the connecting cable 5 with respect to the drive unit 4 will be described. In this figure, the drive unit 4 formed by three drive units 41, 42, 43 will be described. When moving forward, drive power supply unit 8 and drive unit 4
1, 42, 43 and the camera power supply unit 3a are biased in advance by a coil spring 52 so that their positional relationships approach each other. Therefore, as shown in FIG. 5A, each drive unit 41, 4 connected by the connecting member 47 formed of the first connecting member 47A and the second connecting member 47B.
The driving wheels 46 of 2, 43 are pressed against the inner surface of the pipe to obtain an initial driving force.

When a driving force is generated and the driving unit 4 moves forward, the camera unit 3 is positioned in front of the driving unit 4 so that a larger traveling load is applied to the driving unit 43 located at the leading end of the driving unit. Hang up. Therefore, a force acts such that the drive unit 42 located behind the drive unit 43 pushes the drive unit 43 forward. The force acting from the drive unit 42 to the drive unit 43 is a component force that presses the drive wheel 46 of the drive unit 43 against the inner surface of the pipe because the connecting member 47 is inclined.

That is, since the driving unit 42 applies a driving force to the driving wheel 43 of the driving unit 43 to the inner surface of the pipe, a frictional force superior to the running load of the driving unit 43 is generated between the driving unit 42 and the driving wheel 43. It is generated between the inner surface of the pipe and the drive force of the drive wheel 46 is reliably transmitted, and the drive unit 4 advances in the pipe. At this time, the pulling force of the connection cable 5 is applied to the camera power supply unit 3 a located on the tip side of the drive unit 4. The reason for this is that if a force is applied to the drive power supply unit 8, the force that acts to push the drive unit on the front side from the rear side disappears, and the component force that pushes the drive wheel 46 of each drive unit to the inner surface of the pipe is rearward. This is because the frictional force for driving is reduced and the drive wheels 46 run idly because they are not given from the unit etc.

Next, the backward movement of the in-pipe traveling device 2 will be described. The component force of the force acting to push the drive unit on the front side in the traveling direction from the rear side with respect to the traveling direction acts as the force for pressing the drive wheel 46 of the drive unit on the backward traveling side to the inner surface of the pipe. Further, when the vehicle travels in reverse, the connecting cable 5 may be pulled because the in-pipe travel device 2 is desired to be pulled out quickly.
However, pulling the connection cable 5 does not mean that the drive wheels 46 of the drive unit rotate quickly. Therefore, as shown in FIG. A traveling load for backward movement is exerted on the camera power supply unit 3a located on one side, and the drive wheel 46 is pressed against the inner surface of the pipe with a force larger than usual.

At this time, if there is an obstacle 55 such as a joint or corrosion in the pipe as shown in the figure, a large resistance is generated in the traveling direction by the obstacle 55, and a part of this resistance force is also generated. The inclined connecting member 47 acts as a force for pressing the drive wheel 46 against the inner surface of the pipe. Therefore, the drive wheels 46 are caught by the obstacles 55, so that the drive wheels 46 are more strongly pressed against the obstacles 55, and as a result, the drive wheels 46 are deformed and finally stop traveling.

In this case, as shown in FIG. 5C, if the connecting cable 5 is connected to the drive power source unit 8 at the forefront of the traveling direction when traveling in reverse, the foremost portion of the traveling direction is pulled by the connecting cable 5. As a result, the force applied to the connecting member 47 can be reduced. By reducing this force, the drive wheels 4
6 reduces the force pressing the inner surface of the pipe,
It becomes easier to get over. That is, for example, even if the drive wheels 46 become immobile due to a failure or the like, if the connection cable 5 is pulled, the force pressing the inner surface of the pipe of the drive wheels 46 can be reduced and the in-pipe traveling device 2 can be easily pulled out. it can.

Therefore, the connection cable 5 may be fixed to the drive unit 4 as shown in FIG. As shown in the figure, the connection cable 5 is inserted through the inner hole 81 of the drive power supply unit 8 and into the camera power supply unit 3a. A first stopper 71 is fixed to the tip portion of the connection cable 5, and the stopper 71 is housed in the hook 31 that moves in the axial direction inside the camera power supply unit 3a so as not to fall off.

A threaded portion 32 is provided in the axial direction on the tip end side of the hook 31, and a screw provided inside the first gear 35 meshes with the threaded portion 32.
The first gear 35 is provided so as to rotate with respect to the camera power supply unit 3a but does not move in the axial direction, and the second gear 36 meshes with the first gear 35. Then, by rotating the motor 37, this rotational force is transmitted to the second gear 36 and the first gear 35, and the screw portion 3
2 is moved back and forth in the axial direction.

A second stopper 72 and a third stopper 73 are fixed to the connection cable 5 which is inserted through the inner hole 81 of the drive power source section 8. The second stopper 72
A slider 74 is provided between the third stopper 73 and the third stopper 73.
Is inserted. The slider 74 is the drive unit 4
The slider 74 is connected to the connecting member 47A connected to No. 1 so that the slider 74 moves forward and backward in the inner hole 81 of the drive power source unit 8 in the axial direction.

The operation of the connection cable 5 will be described. When moving forward, as shown in FIG. 6A, the motor 37 is rotated to pull the screw portion 32 toward the tip side to move the hook 31 to the tip side, and the stopper 71 of the connection cable 5 is hooked on the hook 31. . Therefore, the force of pulling the connection cable 5 is applied to the camera power supply unit 3a on the front end side in the traveling direction. Therefore, the force from the drive unit located at the rear acts and the drive unit 4 smoothly advances to the front.

When the vehicle is moving backward, as shown in FIG. 6B, the motor 37 is rotated in the opposite direction to that when moving forward, and the screw portion 32 is moved to the hand side to move the hook 31 to the hand side. Then, the stopper 71 of the connection cable 5 is opened in the camera power supply unit. Then, the connection cable 5
Instead of being caught by the camera power supply unit 3a, the second stopper 72 hits the slider 74, and the same state as when the slider 74 is connected to the drive unit 41 via the connecting member 47A is obtained. That is, the force of pulling the connection cable 5 is applied to the drive unit 41 on the leading end side in the traveling direction via the slider 74. Therefore, since the driving wheel 46 does not exert a force that pushes the inner surface of the pipe, the in-pipe traveling device 2 can be easily pulled out of the pipe by pulling the connection cable 5.

The third stopper 73 is for preventing the connection cable 5 from being unnecessarily fed to the tip side and loosened.

A modification of the first embodiment will be described with reference to FIG. In the first embodiment, the connecting member 47 is formed of the first connecting member 47A and the second connecting member 47B, and the connecting members are rotatably connected by the connecting member fixing pin 48. In the embodiment, one connecting member 4 is used.
7C. Then, the bearing 4A that rotatably connects the connecting member 47C with the connection pin 51 is connected with the newly provided bearing 4B with the bearing pin 53 so as to rotate.
The connecting member 47C is biaxially composed of a connecting pin 51 which is a first rotating shaft parallel to the axle and a bearing pin 53 which is a second rotating shaft orthogonal to the first rotating shaft and the pipe shaft. It is designed to rotate with respect to.

As described above, in the case where the drive units are connected to each other by one connecting member, the connecting member is rotated about two axes by providing the bearing pin shaft in addition to the connecting pin shaft. It can move freely and can run on the bent part of the pipe in the pipeline.

Further, in the first embodiment, the coil spring 52 is provided on one side of the connecting member 47, but two coil springs 52 may be provided on both sides of the connecting member 47, or on both sides. Since the moment about the second rotation axis can be canceled by this, it is possible to prevent the connection members 47A and 47B from rotating carelessly around the connection member fixing pin 48, and the drive unit 4 is straight in the normal state. You can keep the state.

Further, although the coil spring 52 is used as the elastic member in the first embodiment, a cord-shaped member formed of a rubber member instead of the coil spring 52 also has the same function.

In the first embodiment, the coil spring is connected between the drive units as the urging means for moving the drive units closer to each other. However, the coil spring is connected around the axis of the connection member fixing pin connecting the connection members. The same effect can be obtained by providing a coil spring that generates a rotational force in the direction of approaching the drive unit.

Further, instead of the coil spring, each end of the connecting member may be fixed to the drive unit and the connecting member, and the connecting member may be used as a torsion bar to obtain the same effect.

Further, although the motor and the screw are used as the mechanism for switching the action point of the force of the connection cable, the same effect can be obtained by changing the fixing position by using an electromagnet as the mechanism for switching the action point of the connection cable. The effect is obtained.

8 and 9 relate to the second embodiment of the present invention. FIG. 8 is a diagram showing an in-pipe traveling device for inserting pipe lines having different pipe diameters, and FIG. 9 is a diagram showing a structure of a connecting member. . The pipe line 1 not only bends in a complicated manner, but also the inner diameter of the pipe forming the pipe line 1 changes. Therefore, it is necessary to provide the in-pipe travel device 2 with a mechanism that flexibly responds to changes in the pipe inner diameter.

Here, the traveling state of the in-pipe traveling device 2 in the pipeline will be described. When traveling the pipe running device 2 in the pipe,
For example, as shown in FIG. 8A, in the pipe 1A having a small pipe inner diameter, the smaller the pipe inner diameter, the more parallel the connecting member 47 connecting the drive units to the pipe axis. Will become. For this reason, the driving wheel 46, which is a component of the pushing force transmitted in the traveling direction from the driving unit located at the rear side, is less pressed against the pipe surface, so that the sufficient pressing force cannot be obtained and the driving wheel slips. I will end up.

Further, as shown in (b) of the figure, in the pipe 1B having a proper pipe inner diameter, the connecting member 47 is inclined at an angle of about 45 ° with respect to the pipe axis. The force that pushes the drive wheel 46 against the inner surface of the pipe, which is the component of the force that is transmitted from the vehicle in the traveling direction, effectively works and the drive unit 4 travels.

When the inner diameter of the pipe is large, the connecting member rises up with respect to the central axis of the pipe, and the component force of the pushing force transmitted from the drive unit located at the rear side in the advancing direction. The force of pressing a certain drive wheel 46 against the inner surface of the pipe becomes large. As a result, the drive wheels 46 may deform and become immobile. Then, in the conduit 1C in which the inner diameter of the pipe is further increased, the connecting member 47 is raised by 90 ° with respect to the pipe axis, and the drive wheel 46 does not contact the inner surface of the pipe.

As described above, the force pressing the drive wheel 46 against the inner surface of the pipe varies depending on the inner diameter of the pipe forming the conduit 1.

Therefore, in the drive section 4 shown in FIG. 8 (d), the length of the connecting member 47D can be changed according to the inner diameter of the pipe. As a result, an appropriate angle of the connecting member 47D can always be obtained with respect to the inner diameter of the pipe.
Sufficient driving force is applied to the driving wheels 46 to allow the vehicle to travel freely inside the pipe.

That is, as shown in FIG.
D is divided into two members, a first member 91 and a second connecting member 92, and a slide portion 93 at the tip of the second connecting member 92 is inserted into the first member 91. . A threaded portion 94 is formed at the tip of the slide portion 93.

The tip of the threaded portion 94 has a first member 91.
It is meshed with a screw formed inside a first gear 95 provided inside. Then, the first gear 95 meshes with the second gear 96, and the second gear 96 is connected to the rotation shaft of the motor 97, so that the rotation force of the motor 97 becomes the second.
Is transmitted to the gear 96 and the first gear 95 of the
Moves back and forth along the axis of the first member 91.

That is, if the rotation of the motor 97 is controlled according to the inner diameter of the pipe, the length of the connecting member 47D can be changed to a desired length. As a result, the pipes having different inner diameters can freely travel in correspondence with the pipelines formed by the pipes having various inner diameters.

The above modification will be described. As shown in FIG. 10, in this embodiment, instead of changing the length of the connecting member 47D by the motor 97, the length of the connecting member is changed manually. Therefore, the connecting member 47E is connected to the first member 10
It is divided into two members, 1 and the second member 102,
A screw 103 is formed at the tip of the second member 102. The screw 103 is a nut 10 provided at the end of the first member 101 so as to be rotatable and not to fall out.
Screwed in 4. The nut 104 is prevented from coming off from the first member 101 by a stopper 105.

This connecting member 47E rotates the nut 104 to allow the first member 101 and the second member 10 to rotate.
The distance from 2 changes. As a result, the length of the connecting member 47E that connects the drive units to each other can be changed. By adjusting the length of the connecting member 47E in advance before inserting it into the conduit 1, it is possible to deal with conduits formed by pipes of various inner diameters.

11 and 12 relate to a third embodiment of the present invention, and FIG. 11 is a diagram showing a schematic configuration of the entire pipeline traveling device,
FIG. 12 is a diagram showing a configuration on the hand side of the pipeline traveling device.

In the structure of the pipeline traveling device 2 described above, as shown in FIG. 11 (a), for example, when the drive unit of part A is gripped, the entire drive part hangs down, which makes the handling troublesome. Therefore, as shown in (b) of the same figure, the drive power source unit 8 and the camera power source unit 3a are connected by a connecting member 111 having a predetermined flexibility.

If the connecting member 111 is not provided, the distance between the drive power source section 8 and the camera power source section 3a will always change in accordance with the pipe inner diameter within a certain range depending on the angle of the connecting member 47. If the drive power supply unit 8 and the camera power supply unit 3a are connected by the connecting member 111 having a constant length, the interval becomes constant and the angle of the connecting member 47 cannot be changed. For this reason, it is necessary to connect the connecting member 47 located on the rear side to a place different from the drive power source unit 8 so that the angle of the connecting member 47 can be changed.

As shown in FIG. 12A, the connecting member 47 arranged on the drive power source side is rotatably connected to the connecting member 111 via the slide pin 112. The slide pin 112 is provided so as to advance and retreat in a slide groove 113 formed in the connecting member 111 in the same direction as the tube axis. Further, as shown in FIG. 12B, the slide pin 112 is biased toward the tip side by a spring 114, and the slide pin 112, the slide groove 113, and the spring 114 are arranged symmetrically.

As described above, the connecting member 47 of the in-pipe traveling device 2 which is not provided with the connecting member 111 is connected to the drive power source unit 8
The connection member 47 is connected to the drive power source unit 8 by a coil spring or the like so that the distance between the connection member 47 and the drive power source unit 8 is shortened.
The same effect is obtained by being urged toward the forward direction side by No. 4.

The connecting member 47 has a slide groove 113.
Since the drive unit 41 is restricted inside, it prevents the drive unit 41 from moving to an unfavorable position due to violent movement. further,
Since the connecting member 111 has a predetermined flexibility (semi-hardness), the connecting member 111 is held at a predetermined length by the connecting member even when one of the drive units constituting the drive unit 4 is gripped. Drive unit does not hang down,
Moreover, even a bent portion of the pipe can freely pass through the pipe.

FIGS. 13 to 19 relate to a fourth embodiment of the present invention, FIG. 13 is a view showing an applicator attached to a gas pipe, FIG. 14 is a sectional view showing the structure of the applicator, and FIG. 1 is a diagram showing an operation when the in-pipe traveling device is pulled out from the applicator, FIG. 16 is a diagram showing an image captured by a camera provided at a tip portion of the in-pipe traveling device in the gas pipe, FIG.
7 is a diagram showing a state in which the in-pipe traveling device has reached the first shutter of the applicator, FIG. 18 is a diagram showing a state in which the in-pipe traveling device passes through the first shutter of the applicator, FIG.
FIG. 6 is a diagram showing a state in which the traveling device in the pipe passes through a second shutter of the applicator and is taken out.

Here, a case where the in-pipe traveling device 2 of the present invention is used for a gas pipe will be described. The gas tube is always filled with gas, and there is a need to observe in a live tube state (a state in which gas is flowing). In such a case, the gas pipe cannot be cut in order to insert the in-pipe traveling device 2 into the pipe. For this reason, the applicator is used as a jig for providing the inspection hole without cutting the gas pipe.
However, there is a possibility that the in-pipe traveling device of the present invention is caught on a normal applicator. Therefore, this point is improved as follows.

As shown in FIG. 13, the applicator 122 of this embodiment is set in the gas pipe 121. The applicator body 123 is provided with a knob 124 for changing the rotational position.

As shown in FIG. 14, the applicator body 12
A blade pipe 125 is provided inside 3 so as to draw a loose R so that the in-pipe traveling device can smoothly insert into and remove from the gas pipe, and the tip side is inserted into the gas pipe 121. In addition, the tip of the blade tube 125 has an index 12
6 is provided.

The proximal side of the blade tube 125 is fixed to a knob 124, and the blade tube 125 rotates integrally with the knob 124 by turning the knob 124. The knob 124 is configured so as not to fall off from the applicator body 123 by the retainer 127. Further, an O-ring 128 for preventing gas from leaking from the gas pipe 121 is arranged between the applicator body 123 and the knob 124. Further, the knob 12
A first shutter 131 and a second shutter 132 are provided in the inner hole of No. 4. The first shutter 131 and the second shutter 132 are respectively the first operation knob 13
The opening / closing operation is performed by the third and second operation knobs 134.

The operation of the in-pipe traveling device 2 via the applicator 122 will be described. ◎.

A case where the in-pipe traveling device 2 is taken out from the gas pipe 121 will be described.

In-pipe traveling device 2 inserted in the gas pipe
When it is pulled out to the hand side, it reaches the applicator 122. At this time, since the drive unit 4 is not provided with a mechanism for restricting the vertical direction, it is not clear in which direction the in-pipe travel device 2 will return.

As shown in FIG. 15, for example, it is assumed that the user returns in the most convenient and easy-to-remove state. That is, since the curved surface of the applicator body 123 is opposed to the rotation axis of the connecting member 47, the drive unit 4 is operated by the blade tube 125.
You can pass through the inside smoothly.

However, normally, it does not return in such a direction. For example, when the curved surface of the blade tube is positioned in the direction in which the drive unit 4 is difficult to pass, it becomes difficult to pull out the in-tube traveling device smoothly.

Then, as shown in FIG. 16A, when the in-pipe traveling device 2 reaches the vicinity of the applicator main body 123, the camera section 3 disposed at the tip of the in-pipe traveling device 2 is moved.
The index 126 is displayed on the monitor screen 135 by.
Then, the knob 124 is operated to rotate the blade tube 125 and rotate the direction of the drive unit 4 to a position where it is easy to pull out. That is, the index 126 of the monitor screen 135 and the vertical angle θ of the screen are determined from the screen, and the knob 124 is rotated by that angle θ. At this time, since the index 126 is rotating together with the in-pipe traveling device 2, the position on the screen does not change. Therefore, the knob 124 is operated with the dust 136 and the like accumulated in the lower portion of the pipe as a guide. Then, as shown in FIG. 16B, if the position of the dust 136 is deviated by θ, the axis of the connecting member of the in-pipe traveling device and the R surface of the blade pipe are opposed to each other, and a smooth movement is possible.

At this time, the connection cable 5 connected to the in-pipe traveling device 2 is pulled toward you. Then, as shown in FIG. 17, first, the in-pipe travel device 2 is moved to a position before the first shutter 131. Here, the first shutter 131 is opened and the in-pipe travel device 2 is moved to a position before the second shutter 132, as shown in FIG.

Next, the first shutter 131 is closed and the second shutter 131 is closed.
The shutter 132 of is opened. Then, as shown in FIG. 19, the in-pipe traveling device 2 is taken out from the applicator 122.

As described above, by alternately opening the first shutter 131 and the second shutter 132, the in-pipe traveling device 2 can be taken out from the gas pipe in the active pipe state.

When the in-pipe traveling device 2 is inserted, the above procedure may be reversed. In this case, if the direction of the in-pipe traveling device 2 is set in advance so that it can easily pass, the labor of rotating the blade pipe 125 can be saved.

20 to 25 relate to the fifth embodiment of the present invention, FIG. 20 is a diagram showing the construction of the drive unit of the self-propelled robot, and FIG. 21 is a view showing the connection unit between the first connecting member and the drive unit. FIG. 22 is a diagram showing the configuration, FIG. 22 is a diagram showing the configuration of the connecting portion between the first connecting member and the second connecting member, and FIG. 23 is a diagram showing the configuration of the connecting portion between the second connecting member and the third connecting member. FIG. 24 is a diagram showing a schematic configuration of a drive shaft of a drive unit, and FIG. 25 is a block diagram showing a schematic of a self-propelled robot control circuit.

By the way, this is an example in which the drive unit of the present invention is applied to a self-propelled robot running in a pipe.

As shown in FIG. 20, in this embodiment, the coil spring 52 used in the first embodiment is unnecessary. In addition, the connecting member that connects the drive unit 42 and the drive unit 43 is replaced by the first connecting member 151 and the second connecting member 15.
2 and the third connecting member 153. Other configurations are the same as those of the above-described embodiment, and the same members are designated by the same reference numerals and the description thereof is omitted.

As shown in FIG. 21, the first connecting member 151
A first gear 141 is formed on the base end side of the. The first gear 141 has a second gear built in the drive unit 42.
Gears 142 are meshed with each other. The gear 142 is connected to the motor 145, and by rotating the motor 145, the inclination angle of the first connecting member 151 with respect to the drive unit 42 can be changed. Therefore, the coil spring 52 used in the first embodiment is unnecessary. The connection pin 146 for fixing the first connection member 151 has a first pin for detecting an angle.
An encoder 147 of is provided.

Further, as shown in FIG. 22, a connecting member connecting pin 155 is arranged at the connecting portion between the first connecting member 151 and the second connecting member 152 as in the first embodiment.
The third gear 143 is fixed to the connecting member connecting pin 155.

The fourth gear 14 is attached to the third gear 143.
4 meshes with each other, and the motor 1 is attached to the fourth gear 144.
48 is attached. The rotation of the motor 148 causes the fourth gear 144 and the third gear 143 to rotate.
Is rotated to change the angle of the second connecting member 152 with respect to the first connecting member 151. The connecting member connecting pin 155 is provided with a second encoder 149 for detecting an angle.

Further, as shown in FIG. 23, the length of the connecting member can be changed. Second connection member 15
2 includes a screw 1 formed at the tip of the third connecting member 153.
54 is included. This screw 154 is attached to the fifth gear 16
5 is screwed into a threaded portion provided in.

The fifth gear 165 is the sixth gear 16
6 is engaged with the sixth gear 166, and the sixth gear 166 is connected to the motor 16
It is attached to the shaft of 7. The rotation of the motor 167 causes the sixth gear 166 and the fifth gear 16 to rotate.
5 rotates and the second connecting member 152 and the third connecting member 15
The distance from 3 can be changed.

The tip of the screw 154 has a screw 154.
Is provided with a third encoder 168 for detecting the amount of movement. Accordingly, it is possible to detect how far the second connecting member 152 and the third connecting member 153 are apart from each other.

Further, as shown in FIG. 24, the drive unit 42 is provided with a sensor 163 for detecting the ground pressure of the drive wheels 46. For example, the pressure sensor 163 is provided on the bearing 161 of the drive unit 42 via the spacer 162.
Is provided to detect the pressure applied between the bearing 161 and the drive unit 42.

As shown in the control circuit of FIG. 25, the output from the pressure sensor 163 provided in each drive unit is
It is connected to a bus 173 to which a CPU 172 is connected via an interface 171. A motor drive circuit 175 for driving a drive motor 174, a motor 145, a motor 148, and a motor 167 (not shown) is provided on the bus 173.
Is connected. The bus 173 has a ROM 176 containing a control program and a RAM 17 for data processing.
7. A communication circuit 178 for receiving a control signal is connected.

Next, the operation will be described. When the CPU 172 receives commands for forward, backward, and stop from the communication circuit 178,
Each motor 145, 1 according to the program in OM176
48,167 are controlled.

First, the CP 172 is the pressure sensor 163.
The motor 145, the motor 148, and the motor 167 are controlled so that the signals are received at appropriate values. This is the same when the drive motor 174 is rotated to move forward or backward. It also operates similarly when passing through obstacles and joints. Based on the information from the pressure sensor 163, the control motors 145, 148, 167 provided on the connection members 151, 152, 153 are controlled, and the pressure of the pressure sensor 163 becomes a desired value.

With such a configuration, it is possible to drive not only in a simple-shaped pipeline but also in a complicated-shaped pipeline.

[Supplementary Note] At least three drive units having 1.2 or more axles are connected in series to the pipe shafts through connecting members so that the directions of the axles are staggered, and at the same time, the drive is performed. In the in-pipe traveling device that forms a drive unit by providing a biasing unit that biases the units closer to each other, a connecting member that connects the drive unit has a first rotary shaft that is parallel to the axle. And an in-pipe traveling device that is rotatable about the rotation axis and a second rotation axis orthogonal to the rotation axis.

2. 2. The in-pipe traveling device according to appendix 1, wherein the urging means that brings the drive units closer to each other is at least one elastic member provided on a surface of the drive unit opposite to the axle.

3. 3. The in-pipe traveling device according to appendix 2, wherein the elastic member is a coil spring.

4. Note 2 in which the elastic member is a rubber member
The in-pipe traveling device described.

5. 2. The in-pipe traveling device according to appendix 1, wherein the urging means is a coil spring that generates a rotational force in a predetermined direction on a connection member connected to the drive unit.

6. Note 1 wherein the urging means is a torsion bar that connects the drive unit and the connecting member.
The in-pipe traveling device described.

7. 2. The in-pipe traveling device according to appendix 1, wherein the urging means is a motor connected to a connecting member that connects the drive unit and the connecting member.

8. 2. The in-pipe traveling device according to appendix 1, wherein the connecting member is formed of two members.

9. 9. The in-pipe traveling device according to appendix 8, wherein a second rotating shaft is provided at a connecting portion between the connecting members.

10. Second provided on the connecting portion of the connecting member
10. The in-pipe traveling device according to appendix 9, wherein a motor is connected to the rotating shaft of the.

11. 2. The in-pipe traveling device according to appendix 1, wherein a second rotating shaft orthogonal to the first rotating shaft and the pipe shaft is provided in the vicinity of the first rotating shaft parallel to the axle.

12. The in-pipe traveling device further includes a control device and a connection cable for connecting the control device and the drive unit to transmit a signal, and the action point of force of the connection cable can be switched. In-pipe traveling device.

13. 13. The in-pipe traveling device according to appendix 12, wherein the connection cable has two points of action, that is, on a tip side and a hand side of the drive unit.

14. 13. The in-pipe traveling device according to appendix 12, wherein the operating point of the connection cable is switched between a motor and a screw.

15. 13. The in-pipe traveling device according to appendix 12, wherein an action point of the connection cable is switched by an electromagnet.

16. 2. The in-pipe traveling device according to appendix 1, wherein an expansion and contraction adjusting mechanism is provided in a connecting member that connects the drive units to each other.

17. 17. The in-pipe traveling device according to appendix 16, wherein the expansion / contraction adjusting mechanism is a screw provided on a connecting member.

18. The in-pipe traveling device as described in Appendix 1, wherein the expansion / contraction adjusting mechanism is provided with a motor for rotating a screw.

19. 2. The in-pipe traveling device according to appendix 1, further comprising auxiliary carriages in front of and behind a drive unit configured by the drive unit.

20. 20. The in-pipe traveling device according to appendix 19, in which auxiliary carts arranged in front of and behind the drive unit are connected to each other by a flexible member.

21. Note 2 in which the flexible member is rubber
0 in-pipe traveling device.

22. 21. The traveling device in a pipe according to appendix 20, wherein the flexible member is a plastic member.

23. A guide device for introducing an in-pipe traveling device that travels in a pipe into a pipe, having a branch pipe portion that forms an acute angle with respect to a pipe into which the in-pipe traveling device is inserted, and in a state where the pipe is kept airtight. A housing to be fixed, a first tube body that is rotatably fitted to the branch tube section and has two airtight shutters, and a distal end of the first tube body inside the housing is inserted into the pipe through the housing. An in-pipe guide device comprising a flexible second pipe body and an index provided on the pipe side of the second pipe body.

24. 24. The in-pipe guide device according to appendix 23, wherein the second tubular body is a blade having an R surface braided with metal.

25. 24. The pipe guide device according to appendix 23, wherein the second pipe body is a rubber pipe.

26. Note 23 in which the second tubular body rotates
The in-pipe guiding device described.

[0120]

As described above, according to the present invention, it is possible to provide an in-pipe traveling device that travels in a complicated pipe line formed by a bent pipe or a pipe whose inner diameter changes, and is easy to handle. .

[Brief description of drawings]

1 to 4 relate to a first embodiment of the present invention,
FIG. 1 is a configuration diagram showing an outline of the overall configuration of the in-pipe traveling device.

FIG. 2 is a diagram for explaining connection between drive units forming a drive unit of the in-pipe traveling device.

FIG. 3 is a diagram showing a connection state of connection members.

FIG. 4 is a diagram for explaining the movement of the connecting member in detail.

FIG. 5 is a diagram showing a relationship between a connection position of a connection cable and an action applied to the in-pipe traveling device.

FIG. 6 is a diagram for explaining connection of connection cables.

FIG. 7 is a diagram showing another configuration of the connecting member.

8 and 9 relate to a second embodiment of the present invention, and FIG. 8 is a view showing an in-pipe traveling device for inserting pipe lines having different pipe diameters.

FIG. 9 is a diagram showing a configuration of a connecting member.

FIG. 10 is a diagram showing another configuration of the connecting member.

11 and 12 relate to a third embodiment of the present invention, and FIG. 11 is a diagram showing a schematic configuration of the entire pipeline traveling device.

FIG. 12 is a diagram showing a configuration on the near side of the pipeline traveling device.

13 to 19 are diagrams illustrating a fourth aspect of the present invention.
13 is a view showing an applicator attached to a gas pipe according to an embodiment.

FIG. 14 is a sectional view showing the structure of an applicator.

FIG. 15 is a diagram showing an operation when the pipe traveling device is pulled out from the applicator.

FIG. 16 is a diagram showing an image captured by a camera provided at the tip of the in-pipe traveling device in the gas pipe.

FIG. 17 is a view showing a state in which the in-pipe traveling device has reached the first shutter of the applicator.

FIG. 18 is a view showing a state in which the in-pipe traveling device passes through the first shutter of the applicator.

FIG. 19 is a view showing a state in which the in-pipe traveling device is taken out through the second shutter of the applicator.

20 to 25 relate to a fifth embodiment of the present invention, and FIG. 20 is a diagram showing a configuration of a drive unit of a self-propelled robot.

FIG. 21 is a diagram showing a configuration of a connecting portion between a first connecting member and a drive unit.

FIG. 22 is a diagram showing a configuration of a connecting portion between the first connecting member and the second connecting member.

FIG. 23 is a diagram showing a configuration of a connecting portion between a second connecting member and a third connecting member.

FIG. 24 is a diagram showing a schematic configuration of a drive shaft of a drive unit.

FIG. 25 is a block diagram schematically showing a self-propelled robot control circuit.

[Explanation of symbols]

 2 ... In-pipe traveling device 47 ... Connection member 51 ... Connection pin (first rotation shaft) 48 ... Connection member fixing pin (second rotation shaft)

Claims (1)

[Claims] 1. At least three drive units having two or more axles are connected in series to a pipe shaft via connecting members so that the positions of the axles are staggered.
In the in-pipe travel device, wherein the drive unit is provided with a biasing unit so that the drive units are close to each other to form a drive unit, a connecting member that connects the drive units includes a first rotating shaft that is parallel to the axle. The in-pipe traveling device is rotatable about the first rotation shaft and a second rotation shaft orthogonal to the pipe shaft.