JPH0339638A - In-tube observing device for drain pipe or the like - Google Patents

Abstract

PURPOSE:To obtain a high speed reduction rate and to make a travel smooth in the thin pipe by engaging a flexible planetary gear and sun gears which are equal and different in the number of teeth to and from the gear with planetary gears respectively by a driving means for a vehicle body travel. CONSTITUTION:A speed reducing mechanism 5 and a motor 6 are stored in the body 4 of an observation vehicle 2 and a travel belt 8 provided outside the vehicle body 4 is driven by a driven shaft 7. The mechanism 5 has the flexible planetary gear 9, the sun gear 10 which has as many teeth (e.g. 160) as the gear 9 and engages the gear 9 partially, and the sun gear 11 which has teeth (e.g. 162) different in number and engages the gear 9 partially. A flexible ball bearing 12 is fitted on the internal surface of the gear 9 and a boss 14 which is coupled with a motor shaft 13 is fitted in the bearing 12. The bearing 12 deforms continuously into an elliptic shape by the rotation of the boss 14 and the gear 9 flexes elliptically corresponding to the deformation. Thus, the small-sized, lightweight device is realized and the high speed reduction ratio (the rotation of an output shaft 18 is about 1/80 time one rotation of the shaft 13) by one stage because of the differential coupling between among the gears.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an apparatus that travels inside drain pipes, water supply and sewage pipes, and other pipes to investigate and observe water leaks, damaged locations, etc. within the pipes.

(Prior Art) Observation vehicles are known that travel inside sewer pipes and use television cameras to observe damaged locations, leakage locations, etc. within the pipes. The observation vehicle is equipped with a drive device such as a speed reducer on the outside of the observation vehicle in order to move within the tube.

(11 Problems to be Solved by the Invention) Conventional observation vehicles have a drive device attached to the outside, so if there is a difference in level due to misalignment of the joint of the sewer pipe, a gap in the connection part of the sewer pipe, or sagging, etc. If mortar adheres to the bottom of the pipe, or if the pipe is thin (Currently, 200wm diameter and 2J''O narrow diameter pipes are used) or if it is winding, the drive device may get in the way. The vehicle did not move smoothly through the area, and this reduction in armament made the overall weight balance of the observation vehicle unbalanced, sometimes causing the observation vehicle to tilt.

The present invention improves these points and provides an even better device.

(Means for Solving the Problems) The present invention houses a drive means for driving the vehicle body in a vehicle body for observing the inside of a pipe such as a drain pipe, and the drive means includes a flexible planetary gear, a A sun gear having the same number of teeth as the planet gear and a sun gear having a different number of teeth from the planet gear and engaging with the planet gear.

(Operations and Examples) In Fig. 7, an observation vehicle (2
) can travel inside the drain pipe (3). The body (4) of the observation vehicle houses drive means such as a deceleration mechanism (5) and a motor (6) for driving the mechanism (the one shown uses a DO servo motor). , a driven shaft (7) driven by the drive means as described below drives a traveling shaft (7) provided outside the vehicle body (4) of the observation vehicle.
8).

The speed reduction mechanism (5) has a flexible planetary gear (9).
A sun gear θq having the same number of teeth as the planetary gear and partially engaging with the planetary gear, and a sun gear θq having a different number of teeth from the planetary gear and partially engaging the planetary gear. Gear α1)
has. A flexible pole bearing OS4 is fitted into the inner surface of the planetary gear (9), and a motor shaft (boss Q4 connected to 13) is fitted into the pole bearing, and as the boss rotates, The pole bearing is continuously deformed into an elliptical shape, and the planetary float is accordingly deformed into an elliptical shape (Fig. 2).

The above sun gear/10. In the diagram, Qυ is the upper and lower λ
It engages with the planetary gear at several points. fiII number is, for example, if the number of teeth of the planetary gear is 740, the number of teeth of one sun gear Ql is /1,0, and the number of teeth of the other sun gear Ql)
The number of teeth is 762. Here, as shown in the figure, the sun gear (the number of teeth is different from that of the planetary gear) is fixed to the holder (2) fixed to the drive side case (2) with a rectangular inner surface with a pin 977, etc., and one of the sun gears is When the sun gear QO (same number of teeth as the planetary gear) is fixed to the end of the output shaft (T) with a bolt α, etc., the difference between the planetary gear and the sun gear causes the rotation of the motor shaft 0 to ′/d′Ω in the opposite direction
−/AO) /lω=sword] Rotate.

0, that is, the output shaft is decelerated to zero. The sun gear Q (1 degree rotation of the blade axis is in the same direction. In the illustrated example, the planetary gear is an external gear and the thick I gear is an internal gear, but this can be used in reverse. You can also do it.

The output shaft (l) is supported by a pole bearing Qυ mounted on a bearing holder, and a bevel gear @ fixed to the end of the output shaft engages with a bevel gear (e) of the driven shaft (7). The driven shaft is connected to the gear box (
It is supported by a pole bearing (e) attached to the shaft (e), and a drive pulley (e) is fixed to both ends of the driven shaft.

The pulley is divided into two parts, which are joined by a port ■, forming ■#I (goods) on its outer periphery.On the other hand, the driven pulley handle is supported by the TV camera side case ■, and the driven pulley is A belt 01) is placed between the pulley and the drive pulley. A driven pulley that functions as a wheel is provided between the driven pulley and the driving pulley.

FIGS. 1 to 7 show cases in which the driven pulley rods are moved depending on the inner diameter of the drain pipe. The driven pulley 0 force as a wheel is supported by a shaft □□□1) installed in the H joint plate (c). The adjustment plate is slidably inserted into the four parts 01 formed on the sides of the case (4) and CxJ, and the bolt 07 fixed to the case (3G) is inserted into the long groove (3G) formed on the adjustment plate. This is fixed by Natsuto (To). On the other hand, the driven boob IJ-Jl on the television camera side is movable in the axial direction of the vehicle body, thereby adjusting the winding of the belt around the pulley. That is, the stretcher main body C31) 3 is fixed to six of the four parts of the case (2), and a support member (40) is slidably guided in a groove (4G) formed in the main body. is the shaft (
4 is formed, and the other side is formed with an upright part (43, which engages with the support piece provided on the stretcher body) (the end face of 41 comes into contact with the above-mentioned The support body is moved.The bolt is fixed by a nut Gll.In addition, although the above-mentioned vehicle body is running in the running zone 1fffl beyond the pulley in the one shown, it is running by other endless belts, wheels, etc. You can do it like this.

The television camera is rotated by the following operation, and the television camera case (4?) is moved to various positions within the drain pipe.
A window formed around □ (can be seen from AgJ).

Inside the TV camera side case ■ is a support member 6 supported by a pole bearing 6G on the end plate of the drive side case.
A shaft (to) is installed between D and the six rotatable mounting plates of the TV camera case (4?), and a motor (to) is installed on the shaft.
b) The attached/reduced d machine 6'19 is supported. The speed reducer is an elliptical ball pair 6 attached to the output shaft of the motor. ), a flexible planetary gear (to) that fits on the outer periphery of the pole pin 7 ring and is deformed into an elliptical shape by the bearing, and a sun gear 51 having a number of teeth greater than the number of teeth of the planetary gear. ing. The above planetary gear (4
) The rotation of the output shaft formed at the end of the output shaft is controlled by a bevel gear fixed to the output shaft, a bevel gear fixed to the shaft guide supported by the case (1), and a gear provided on the shaft. The signal is transmitted through an internal gear that engages with the gear, and rotates the television camera in the forward and reverse directions.

The rotation angle of the television camera is measured by a potentiometer supported on the shaft via a gear (1) provided at the end of the shaft and a gear (IT) that engages with the gear. The television camera has a lens system, focus,
Iris, O, O, D, camera department.

It is equipped with lighting equipment, etc.

(Effects of the Invention) The present invention is constructed as described above, and can obtain a high reduction ratio in a single stage with a compressor/cutting device, making it suitable for narrow pipes.Moreover, it is lightweight and has a good overall weight balance, so it can easily reduce the inside of the pipe. It can run smoothly and in a well-balanced manner.

[Brief explanation of drawings]

The drawings show embodiments of the present invention, with FIG. 1 being a longitudinal sectional view and FIG.
The figure is a cross-sectional view schematically showing the deceleration mechanism, Figure 3 is a partial cross-sectional view of the output shaft, Figure φ is a cross-sectional view of a portion of the driven pulley, and Figure 1 is a front view showing how the stretcher and driven pulley are installed. 2 is a plan view of the adjustment plate, and FIG. 7 is a side view of the stretcher and the adjustment plate. l...TV camera, 2...observation vehicle, 3...drainage pipe. 5... Reduction mechanism, 7... Driven shaft, 9... Planetary gear.

Claims (1)

[Scope of Claims] 1. A driving means for driving the vehicle is housed in an observation vehicle equipped with a television camera and capable of traveling inside pipes such as drainage pipes, and the driving means is driven continuously in an elliptical shape by rotation of a motor. Observation inside a drain pipe, etc., which has a planetary gear that flexes, a pair of sun gears that have the same number of teeth as the planetary gear, and a pair of sun gears that have a different number of teeth than the planetary gear, and the speed is reduced by the differential between these gears. Device. 2. An externally toothed planetary gear, an internally toothed sun gear having the same number of teeth as the planetary gear, and an internally toothed sun gear having a different number of teeth than the planetary gear, which has the same number of teeth as the planetary gear. 2. The inside observation device for a drain pipe or the like according to claim 1, wherein an internally toothed sun gear is connected to the output side. 3. An externally toothed planetary gear, an internally toothed sun gear having the same number of teeth as the planetary gear, and an internally toothed sun gear having a number of teeth different from that of the planetary gear; 2. The inside observation device for a drain pipe or the like according to claim 1, further comprising an internally toothed sun gear connected to the output side.