JPH0621012Y2 - In-pipe traveling device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to an in-pipe traveling device in which adjacent ones of a plurality of in-pipe traveling machines are connected to each other so as to easily travel even in a bent portion of the pipe. Regarding

[Conventional technology]

In the above-described conventional in-pipe traveling device, all the connecting portions of the machine bodies are formed biaxially via a universal joint.

[Problems to be solved by the device]

However, as the pipe runs sideways, as shown in FIG. 8, of the branch pipes connected to the pipe (1), the connection portion (1A) with the downward-facing drop pipe (21). The aircraft as it passes through
There was a risk that (2) would fall into the drop pipe (21).

An object of the present invention is to enable the vehicle to travel in a lateral pipe without dropping the airframe into the drop pipe.

[Means for Solving the Problems]

The characteristic configuration of the in-pipe traveling device of the present invention is that all the connecting portions of the machine bodies are formed so as to be swingable around a uniaxial core in the same direction, and all the machine bodies are swung around the pipe axis core as they travel. For this purpose, a plurality of rotatable steering bodies are provided in the circumferential direction of the machine body, and a drive device for driving and rotating each of the rotating bodies is provided.
An interlocking device that tunes and steers all of the rotating bodies at an equal angle is provided, and the effects thereof are as follows.

[Action]

In other words, while running the traveling aircraft in the sideways pipe,
If there is a drop pipe in the front, steer the rotating body,
By orienting the swing axis of the connecting portion of all the aircraft bodies in the vertical direction, the aircraft body adjacent to the front side can pass through without swinging downward and falling into the drop pipe. Moreover, when there is a bent portion, the swing axis cores of all the communicating portions of the plurality of aircraft are
By manipulating the rotating body to turn it so that it is oriented in a direction orthogonal to the bending direction, it is possible to easily run the entire body in the bending pipe. In addition, for example, steering operation is performed. When the second rotating body different from the first rotating body is driven and rotated by the drive device, the direction in which the vehicle body is swung by the first rotating body and the direction in which the vehicle body is propelled by the second rotating body are used. However, since the aircraft often turn in the direction of the first rotating body, the efficiency is poor and the rotating bodies easily slip with each other.
According to the present invention, by driving and rotating a plurality of rotatable bodies that can be steered by a drive device, the direction in which the machine body is swung and the direction in which the machine body is propelled are equal, and when the machine body is swung, the rotary body is directed. The aircraft can be positively turned in any direction, and all of the multiple rotors provided in the circumferential direction of the aircraft by the interlocking device are synchronously steered at equal angles to propel all rotors. Since the directions match, there is no slip between the inner surface of the pipe and each of the rotating bodies,
The aircraft can be swung quickly.

[Effect of device]

Therefore, while being able to easily travel along the bent portion of the pipe, it is possible to avoid the fall into the falling pipe, to perform good traveling work inside the pipe, and to further improve the responsiveness to the turning operation of the airframe, The handling operation for the drop pipe could be efficiently performed in a short time, and as a result, the operability and workability could be surely improved.

〔Example〕

 Next, an embodiment of the present invention will be described with reference to the drawings.

As shown in FIG. 1 to FIG. 3, by connecting adjacent ones of five traveling machines (2) that are traveling in the pipe (1) for oil supply, which are piped in a ship etc., respectively, The camera (3) for monitoring inside the pipe (1) and the pipe on the tip side of the machine body (2) in the traveling direction
(1) A light (4) for internal illumination, and a detector (5) for detecting the corrosion state of the pipe (1), etc. are provided, and for those (3), (4) and (5), the pipe ( 1) Connect an external remote display monitor (7) and a means for supplying power, signals, etc. (8) with a cable (9), move the machine body (2), and monitor the inside of the pipe (1) for the entire length. A self-propelled in-pipe inspection device is constructed so that it can be monitored in (7).

All of the connecting portions (10) of the machine bodies (2) are formed so as to be swingable around a uniaxial core (X) in the same direction, and the first, third, and fifth from the front of the five machine bodies (2), In each of the fifth body (2), all the bodies (2) were moved along with the pipe (1) axis core.
To rotate around (Y), the tension arms (13) are attached to the upper and lower sides respectively so as to extend forward and swing up and down, and the free ends of the tension arms (13) can be rotated left and right. A pair of free steering wheels (12), (12) are attached respectively, and an electric drive motor (19) for driving and rotating the steering wheels (12).
Is installed in the fuselage (2).

Then, in the second and fourth machine bodies (2) from the front of the machine body (2), the vertically swingable tension arms (13) are attached to the upper and lower surface sides thereof, respectively. At the free end of (13), a pair of rolling wheels that can rotate left and right
(15) is attached so that it can rotate freely.

The steering wheels (12) arranged on the upper and lower sides of the airframe (2) are
One steering operation motor (11) installed inside (2) and the first
The first interlocking device (23) rotates the steering wheel (12) left and right as shown in FIGS. 4, 5, and 7 by interlocking connection through the interlocking device (23). Freely moveable tension arm (13)
The support frame (24) attached to the gear is rotated around the axis (Z), the bevel gear device (26) interlocked with the gear device (25), and the bevel gear device (26) are steered. Motor (1
The first interlocking device for the steering wheels (12) on the upper and lower sides, which is formed from the chain type transmission (27) interlocking with 1).
(23) and (23) are interlocked so that the upper and lower steering wheels (12) are steered at the same angle.

That is, in plan view, if the upper steering wheel (12) is rotated, for example, 10 degrees to the right with respect to the straight traveling direction, the lower steering wheel (12) is
Interlocks so as to rotate 10 degrees to the left and advances the entire body (2) while making a right turn.

Further, steering wheels (12) arranged on both upper and lower sides of the airframe (2).
The second interlocking device (28) that interlocks each with one drive motor (19) attached to the machine body (2) is a chain interlocking device (29) interlocking with the drive motor (19) and its chain interlocking device. apparatus
Bevel gear type interlocking device (30) that transmits driving force to steering wheel (12) by interlocking with (29).
The rotary shaft (31) is arranged concentrically with the shaft core (Z).

In addition, between the machine body (2) and the tension arm (13),
As shown in FIG. 6, springs (20) are provided for urging the steering wheel (12), the rolling wheel (15) and the like so as to press the inner surface (A) of the pipe (1).

That is, as shown in FIG. 8, the information on the inner surface of the pipe (1) from the camera (3) is changed as the airframe (2) is moved inside the pipe (1).
While monitoring the condition inside the pipe (1) by visualizing it on the monitor (7), for example, the connection part (1A) with the falling pipe (21) with the flow path facing downward with respect to the lateral pipe (1). ) Exists in the front, with the axis (X) of the connecting part (10) all oriented in the up-down direction, the aircraft (2) can be turned sideways without falling into the drop pipes (21). If there is a curved pipe part (1B) that has passed through the pipe (1) and then changed its direction upward, if it exists in the front, remote control means for remotely operating the steering operation motor (11) from outside the pipe. The steering wheel (12) is directed to either the left or right by the (22) and is driven and rotated by the drive motor (19) to pull the entire body (2) in the steering direction while the pipe (1) axis core (Y ) Pivot around and
Orient all (X) in the horizontal direction and connect the adjacent aircraft (2) to the connecting part (1
It is configured to pass through the curved pipe section (1B) while bending upward at (0), and therefore the length of each airframe (2) is shortened and bent at the same radius as the pipe (1) diameter (R). While easily traveling the curved pipe portion (1B), the structure of the connecting portion (10) can be simplified so that the lateral pipe (1) can be traveling without falling into the drop pipe (21).

Incidentally, the body (2), along with turning the pipe (1) around the axis (Y) based on the steering operation of the upper and lower steering wheels (12), the rolling wheels (15), Tension arm (13) that can be rotated left and right respectively
Since it is mounted on the pipe, it can freely rotate in the turning direction to change the direction and reduce the frictional resistance during turning between the inner surface of the pipe (1) and the rolling wheels (15) to enable smooth turning. Become.

In addition, the attitude of the airframe (2) in the tube (1), the axis of the tube (1) (Y)
Even if the operation is changed to the surroundings, water is accumulated at the bottom of the inner surface (A) of the pipe (1), and in most cases there are groove-like corroded parts, so the image is displayed on the monitor (7). Internalized tube (1)
While looking at (A), the relative attitude of the fuselage (2) with respect to the tube (1)
It can be easily identified.

Steering wheels (12) and rolling wheels provided on the aircraft (2) adjacent to the front and rear
The distance between the drop pipe (21) and the distance (that is, the length of the fuselage (2) or the distance between the front and rear adjacent tension arms (13) to the fuselage (2)). ) Diameter is set larger than that of the two adjacent wheels at the same time and the drop pipe (21)
It is possible to maintain the running property in the pipe without falling into the pipe.

All the tension arms (13) are extended toward the traveling direction side of the machine body (2), and when the drive device such as the motor (19) in the pipe (1) fails, the machine body (2) Insert the tube (1)
Even if you pull it out to the C) side or drive the steering wheel (12) of the rear end side body (2) to move backward, the drop pipe (21), other branch pipes,
The rolling wheels (15) and the steering wheels (12) are configured so as not to get caught easily.

[Another embodiment]

The number of machine bodies (2) to be connected is not limited to five, and may be changed as necessary for the convenience of the driving force and the mounting device, that is, a plurality of machine bodies may be used.

Instead of the steering wheel (12), a crawler type traveling device is used as a machine body (2).
They may be provided in the above, and they are collectively referred to as the rotating body (B).

The steering wheels (12) are provided in pairs in upper and lower positions in the circumferential direction of the machine body (2), and in addition, they are arranged at equal intervals in the circumferential direction of the machine body (2).
It may be provided in some places, or in a plurality of places.

Each of the motors (11) and (19) may be an electric type or an air type, and they are collectively referred to as a drive device.

The present invention may be a traveling device in a pipe for water or gas, other than the pipe for oil supply (1).

It should be noted that reference numerals are added to the claims of the utility model for convenience of comparison with the drawings, but the present invention is not limited to the structure of the accompanying drawings by the entry.

[Brief description of drawings]

The drawings show an embodiment of a traveling device in a pipe according to the present invention.
The figure is an overall side view, FIG. 2 is a bottom view of the front body, FIG. 3 is a view taken along the line III-III in FIG. 1, FIG. 4 is a longitudinal side view of an essential part, and FIG. FIG. 6 is a vertical cross-sectional view of a main part, FIG. 7 is a schematic view showing an interlocking structure, and FIG. 8 is an explanatory view showing a traveling state in a pipe. (1) …… pipe, (2) …… machine, (10) …… connecting part, (19) …… driving device, (23) …… interlocking device, (X), (Y) …… axis core, (B) ……
Rotating body.

Claims (1)

[Scope of utility model registration request] 1. An in-pipe traveling apparatus in which adjacent ones of a plurality of traveling bodies (2) in the pipes (1) are connected to each other, and all the connecting portions (10) of the traveling bodies (2) are connected. Is formed so as to be swingable around a uniaxial core (X) in the same direction, and all the aircraft bodies (2) are steered in order to rotate around the pipe (1) axial core (Y) as the aircraft travels. A drive device in which a plurality of rotatably operable bodies (B) are provided in the circumferential direction of the machine body (2) and each of the rotative bodies (B) is driven and rotated.
An in-pipe traveling device provided with (19) and provided with an interlocking device (23) for tuning and steering all of the rotating body (B) at an equal angle.