JPH079991A - In-pipe traveling device - Google Patents
In-pipe traveling deviceInfo
- Publication number
- JPH079991A JPH079991A JP14482593A JP14482593A JPH079991A JP H079991 A JPH079991 A JP H079991A JP 14482593 A JP14482593 A JP 14482593A JP 14482593 A JP14482593 A JP 14482593A JP H079991 A JPH079991 A JP H079991A
- Authority
- JP
- Japan
- Prior art keywords
- pipe
- carriage
- wheels
- wheel
- vehicle body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/18—Appliances for use in repairing pipes
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Electric Cable Installation (AREA)
Abstract
(57)【要約】
【目的】 管内の溶接部の状態を効率よく検知する。
【構成】 駆動台車１６の前方に連結具１７でカメラ１
２を搭載した連結台車１８を連結する。連結台車１８は
車体２０に前後にそれぞれ周方向を３等分した位置に３
輪からなる前輪、後輪を接続する。同位置にある前輪２
１ａ、後輪２１ｂを固定軸２３に、その他の前輪２１
ｂ、後輪２２ｂをそれぞれバネ２４ａ、２４ｂを介して
車体２０に接続する。バネ２４ｂはバネ２４ａより強い
ものとする。曲管１１ｂを通過する際、連結台車１８の
重心Ｇは曲管の曲率に添って移動する。
【効果】 カメラ１２を１回転させることにより管径を
含んだ全円周を撮影できる。連結台車１８は後輪が管壁
を強く押圧するため安定して走行できる。
(57) [Summary] [Purpose] Efficiently detect the condition of welds in pipes. [Structure] The camera 1 is connected to the front of the drive carriage 16 with a connector 17.
The connecting carriage 18 equipped with 2 is connected. The connecting carriage 18 is divided into three parts in the car body 20 in the front and rear directions.
Connect the front and rear wheels. Front wheel 2 in the same position
1a, rear wheel 21b on the fixed shaft 23, other front wheels 21
b and the rear wheel 22b are connected to the vehicle body 20 via springs 24a and 24b, respectively. The spring 24b is stronger than the spring 24a. When passing through the curved pipe 11b, the center of gravity G of the connecting carriage 18 moves along the curvature of the curved pipe. [Effect] By rotating the camera 12 once, the entire circumference including the pipe diameter can be photographed. The connecting carriage 18 can travel stably because the rear wheels strongly press the pipe wall.
Description
【０００１】[0001]
【産業上の利用分野】本発明は、あらゆるプラントの管
構造物のメンテナンス検査及び管内補修作業等に適用さ
れる管内走行装置に関し、特に湾曲した管内を走行する
のに適した管内走行装置係わる。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe traveling device applied to maintenance inspections and in-pipe repair work of pipe structures of all plants, and more particularly to an in-pipe traveling device suitable for traveling in a curved pipe.
【０００２】[0002]
【従来の技術】従来から、電力、ガス、化学等のプラン
トに使用されている管のメンテナンスにおいては、内壁
の亀裂、損傷、材質の劣化等の検査のためカメラ等を搭
載した管内走行装置を管外から遠隔操作することにより
管内を走行させ、目視による検査が実施されている。こ
の種の管内走行装置として、図３に示すようなハサミ機
構を利用し３輪で構成されたもの（特開昭５９−１０４
７０号公報、特開昭５９−１０９４７０号公報）等があ
った。このような走行装置は中心の車輪１を駆動輪と
し、車輪１とリンク１ａ、１ｂと連結される他の２輪２
はバネ３により駆動輪と対向する円管４の母線上を管壁
を押圧して走行するものである。2. Description of the Related Art Conventionally, in the maintenance of pipes used in plants for electric power, gas, chemicals, etc., an in-pipe traveling device equipped with a camera or the like is inspected for inspection of inner wall cracks, damage, deterioration of material, etc. Visual inspection is carried out by running the inside of the pipe by remote control from outside the pipe. As this type of in-pipe traveling device, one having three wheels utilizing a scissors mechanism as shown in FIG. 3 (Japanese Patent Laid-Open No. 59-104).
70, JP-A-59-109470) and the like. In such a traveling device, the center wheel 1 is used as a driving wheel, and the other two wheels 2 connected to the wheel 1 and the links 1a and 1b are used.
Is driven by the spring 3 pressing the pipe wall on the generatrix of the circular pipe 4 facing the drive wheel.
【０００３】ところでこのような走行装置においては鉛
直管内を走行する場合、重力に対抗して、あるいは重力
により落下せずに走行するためには、管壁を押圧する力
及び管壁との摩擦力が自重より大きくなければならな
い。しかしながら、このような駆動輪を１輪としたもの
は軽量であるため、車体を保持する点で有利ではある
が、メンテナンスのためのカメラ、検査装置、あるいは
清掃具等を搭載した場合、これらの重さが加わると、安
定性に欠いてしまうという欠点があった。By the way, in such a traveling device, when traveling in a vertical pipe, in order to travel against gravity or without falling due to gravity, the force for pressing the pipe wall and the frictional force with the pipe wall are required. Must be greater than its own weight. However, such a drive wheel as one wheel is lightweight and therefore advantageous in terms of holding the vehicle body. However, when a camera, an inspection device, a cleaning tool or the like for maintenance is installed, these It has the drawback of lacking stability when added with weight.
【０００４】[0004]
【発明が解決しようとする課題】そのため、前後輪各３
輪で構成されたもの、重量を軽減するため前輪を３輪、
後輪を２輪で構成するもの（実開昭６２−１７０３７１
号公報）もあった。図４に示すように、前輪５、後輪６
はそれぞれ円周方向を３等分した位置に設けられ（図で
は表記上２輪で示す）、車体７にバネ８を介して接続さ
れるものである。前輪５は駆動用モータ９に、後輪２は
操舵用モータ１０の軸にそれぞれ接続され、管外からの
遠隔操作により管内を走行させていた。Therefore, each of the front and rear wheels 3
One composed of wheels, three front wheels to reduce weight,
The rear wheel is composed of two wheels (Shokai 62-170371)
There was also a gazette). As shown in FIG. 4, front wheels 5 and rear wheels 6
Are respectively provided at positions that divide the circumferential direction into three equal parts (indicated by two wheels in the drawing), and are connected to the vehicle body 7 via springs 8. The front wheels 5 are connected to the drive motor 9 and the rear wheels 2 are connected to the shafts of the steering motor 10, respectively, and are run inside the pipe by remote control from outside the pipe.
【０００５】しかしながら、このような走行装置を遠隔
操作により円管内を走行させる際、いわゆるエルボと呼
ばれる曲管を通過させる際、図５に示すように、内輪５
ｂ、６ｂより外輪５ａ、６ａ側に重力がかかり車体７が
管１１の中心軸１１ａから傾いてしまった。この状態で
車体７の進行を停止させ、光軸１２ａを車体の方向と同
一にして搭載するカメラ１２を光軸を中心にして回転さ
せて内壁の周方向を撮影すると、カメラの撮影範囲は管
軸に垂直の周方向とはならず、傾きを持った周方向、即
ち破線で示す範囲１３となってしまった。そのため、エ
ルボの溶接部１４を検出する場合、溶接部１４全周（管
軸に垂直の周方向）を観察するためには、走行装置を前
進、後退させ、回転させることを反復しなければなら
ず、煩雑な操作を行わなければならなかった。そのた
め、作業効率も低下し、しかも完全に観察できたか判断
がむずかしかった。However, when the traveling device as described above is traveled in a circular pipe by remote control, and when passing through a curved pipe called a so-called elbow, as shown in FIG.
Gravity was applied to the outer rings 5a, 6a from b, 6b, and the vehicle body 7 was tilted from the central axis 11a of the pipe 11. In this state, the vehicle body 7 is stopped from moving, the optical axis 12a is aligned with the direction of the vehicle body, and the camera 12 mounted is rotated about the optical axis to photograph the inner wall in the circumferential direction. It is not the circumferential direction perpendicular to the axis, but the inclined circumferential direction, that is, the range 13 shown by the broken line. Therefore, when the welded portion 14 of the elbow is detected, in order to observe the entire circumference of the welded portion 14 (circumferential direction perpendicular to the pipe axis), it is necessary to repeatedly move the traveling device forward, backward, and rotate. Instead, it had to perform complicated operations. Therefore, the work efficiency was lowered, and it was difficult to judge whether the observation could be completed completely.
【０００６】本発明は上記欠点を解消するためになされ
たものであって、曲管であってもほぼ曲率半径に添って
方向転換できるため、車体が円管中心から大きく傾こと
がなく、このため搭載したカメラで周方向の溶接部の撮
影をすると、１度で行うことができる管内走行装置を提
供することを目的とする。The present invention has been made to solve the above-mentioned drawbacks, and even a curved pipe can change its direction substantially along the radius of curvature, so that the vehicle body is not greatly inclined from the center of the circular pipe. Therefore, it is an object of the present invention to provide an in-pipe traveling device that can perform a single image of a welded portion in the circumferential direction with a built-in camera.
【０００７】[0007]
【課題を解決するための手段】上記目的を達成するた
め、本発明の管内走行装置は、円管内を走行する駆動機
構を備えた駆動台車と、駆動台車の前方に連結具により
駆動台車に連結された連結台車とを備え、連結台車は車
体と、車体にそれぞれ円管の円周方向を３等分した位置
に前後同位置に設けられた前輪及び後輪とを有し、同位
置の前輪及び後輪の１輪または２輪は車体に固定軸によ
り連結されてなり、残りの前輪及び後輪は連結台車の受
ける重力に対抗して連結台車の位置を保持する円管の内
壁を押圧する力を有するバネを介して車体に連結されて
なるものである。In order to achieve the above object, the in-pipe traveling device of the present invention is a drive carriage provided with a drive mechanism for traveling in a circular pipe, and is connected to the drive carriage by a connecting tool in front of the drive carriage. And a front wheel and a rear wheel provided at the same position in the front and rear at the position where the circumferential direction of the circular pipe is divided into three equal parts, respectively. And one or two of the rear wheels are connected to the vehicle body by a fixed shaft, and the remaining front wheels and rear wheels press the inner wall of the circular pipe that holds the position of the connecting carriage against the gravity received by the connecting carriage. It is connected to the vehicle body via a spring having a force.
【０００８】更に、後輪に接続されるバネは、前輪に接
続されるバネより大きなバネ力を備えたものである。Further, the spring connected to the rear wheel has a larger spring force than the spring connected to the front wheel.
【０００９】[0009]
【作用】連結台車は連結される駆動機構を備えた駆動台
車により後方から押されることにより前進する。連結台
車の車体には前輪、後輪が連結される。前輪、後輪はそ
れぞれ円周方向を３等分した位置に同位置に設けられ
る。前輪、後輪それぞれ３輪のうち１輪または２輪は長
さが一定の固定軸により車体に連結される。残りの車輪
はバネを介して車体に連結される。固定軸、あるいはバ
ネに接続される車輪は前輪、後輪の車輪の同位置に配置
されるものとする。この時、後輪に接続されるバネを前
輪に接続されるバネより強いものとする。このような管
内走行装置を円管内を走行させ車体が湾曲部に差掛かる
時、固定軸に連結される車輪が内輪となるように、予め
走行装置の位置を変更する。走行装置は重力により外輪
に過剰な重力がかからず、ほぼ曲率半径に添って方向を
転換できる。このため、溶接部等管軸に垂直の周方向を
１回転することで撮影でき、作業効率を著しく向上させ
ることができる。The connecting carriage is moved forward by being pushed from the rear by the driving carriage having the drive mechanism to be connected. A front wheel and a rear wheel are connected to the body of the connecting carriage. The front wheels and the rear wheels are provided at the same position in the circumferential direction divided into three equal parts. One or two of the three wheels, each of the front and rear wheels, is connected to the vehicle body by a fixed shaft having a constant length. The remaining wheels are connected to the vehicle body via springs. The wheels connected to the fixed shaft or the springs are arranged at the same positions as the front wheels and the rear wheels. At this time, the spring connected to the rear wheel is stronger than the spring connected to the front wheel. The position of the traveling device is changed in advance so that the wheel connected to the fixed shaft becomes the inner ring when the vehicle travels inside the circular pipe and the vehicle body approaches the curved portion. Due to gravity, the traveling device does not exert excessive gravity on the outer ring, and can change its direction substantially along the radius of curvature. Therefore, it is possible to take an image by making one rotation in the circumferential direction perpendicular to the tube axis such as the welded portion, and the working efficiency can be significantly improved.
【００１０】[0010]
【実施例】本発明の管内走行装置を適用した一実施例を
図面を参照して説明する。図１に示すように、管内走行
装置１５は、駆動機構を装着した駆動台車１６及び駆動
台車１６にバネまたはユニバーサルジョイント等の連結
具１７により駆動台車１６の進行方向前方に接続される
連結台車１８とから構成される。駆動台車１６は駆動機
構である可変速モータの軸にそれぞれ接続される３輪の
駆動輪１９を備える。駆動機構は可撓性のあるケーブル
管１９ａ内のケーブルを介して管外の操作部からの信号
により制御可能となっている。駆動輪１９の２輪は同一
母線上を走行し、他の１輪は、２輪と対向する母線上に
位置するものであり、図示しないバネにより円管１１の
内壁を押圧するようになっている。バネは、駆動台車１
６が駆動輪１９が操作されることにより管内を走行する
際、垂直管であっても駆動台車１６を管１１の中心軸に
安定して保持する反発力を有するものである。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment to which the in-pipe traveling device of the present invention is applied will be described with reference to the drawings. As shown in FIG. 1, the in-pipe traveling device 15 includes a drive carriage 16 equipped with a drive mechanism, and a connecting carriage 18 connected to the drive carriage 16 in front of the traveling direction of the drive carriage 16 by a connecting tool 17 such as a spring or a universal joint. Composed of and. The drive carriage 16 includes three drive wheels 19 each connected to the shaft of a variable speed motor that is a drive mechanism. The drive mechanism can be controlled by a signal from an operation unit outside the pipe via a cable in the flexible cable pipe 19a. Two of the drive wheels 19 run on the same busbar, and the other one wheel is located on the busbar opposite to the two wheels. A spring (not shown) presses the inner wall of the circular pipe 11. There is. The spring is the drive cart 1
6 has a repulsive force that stably holds the drive carriage 16 on the central axis of the pipe 11 even when the pipe 6 is a vertical pipe when traveling in the pipe by operating the drive wheels 19.
【００１１】連結台車１８はカメラ１２を搭載する車体
２０を備え、車体２０の前後には前輪２１ａ、２１ｂ及
び後輪２２ａ、２２ｂが接続され、前輪２１及び後輪２
２は、図２の正面図に示すように、それぞれ円管１１の
周方向を３等分する同位置に設けられる。前輪２１ａ、
２１ｂまたは後輪２２ａ、２２ｂのうちそれぞれ同位置
の１輪の車輪２１ａ、２２ａは固定軸２３で車体２０に
接続される。固定軸２３は車体２０の中心軸２０ａから
車輪２１ａ、車輪２２ａがそれぞれ管内壁に接する点ま
での距離が管径の半径に相当する長さになるような長さ
を有する。The connecting carriage 18 is provided with a vehicle body 20 on which the camera 12 is mounted. Front and rear wheels 21a and 21b and rear wheels 22a and 22b are connected to the front and rear of the vehicle body 20 to connect the front and rear wheels 21 and 2 to each other.
As shown in the front view of FIG. 2, 2 are provided at the same position which divides the circumferential direction of the circular pipe 11 into three equal parts. Front wheel 21a,
One wheel 21a, 22a at the same position of 21b or rear wheels 22a, 22b is connected to the vehicle body 20 by a fixed shaft 23. The fixed shaft 23 has a length such that the distance from the central axis 20a of the vehicle body 20 to the points where the wheels 21a and 22a contact the inner wall of the pipe is a length corresponding to the radius of the pipe diameter.
【００１２】また、残りの車輪２１ｂ、２２ｂはバネ２
４ａ、２４ｂを介して車体２０に接続される。バネ２４
ａ、２４ｂは車体２０と車輪２１ｂ、２２ｂが管内壁に
接する点までの距離を調整すると共に、車輪２１ｂ、２
２ｂが管内壁を押圧し連結台車１８の受ける重力に対抗
して連結台車１８の位置の保持を可能とする円管１１の
内壁を押圧する力を有するものである。後輪２２ｂに連
結されるバネ２４ｂは前輪２１ｂに連結されるバネ２４
ａより強い押圧力を有し、前輪２１ｂが連結台車１８の
位置を保持する力で管内壁を押圧すればよいのに対し、
連結台車１８の位置を保持するために管内壁を押圧する
と共に、駆動台車１６により後方から押されたり、引戻
されたりする力に対抗し、連結台車１８を進退可能とな
らしめるものである。The remaining wheels 21b and 22b are springs 2
It is connected to the vehicle body 20 via 4a and 24b. Spring 24
a and 24b adjust the distance to the point where the vehicle body 20 and the wheels 21b and 22b contact the inner wall of the pipe, and the wheels 21b and 2b
2b has a force to press the inner wall of the pipe 11 against the gravity received by the connecting carriage 18 and to hold the position of the connecting carriage 18 against the gravity. The spring 24b connected to the rear wheel 22b is the spring 24b connected to the front wheel 21b.
It has a stronger pressing force than a, and the front wheel 21b may press the inner wall of the pipe with a force that holds the position of the connecting carriage 18, whereas
The inner wall of the pipe is pressed to hold the position of the connecting carriage 18, and the connecting carriage 18 can be moved forward and backward against the force of being pushed or pulled back from the rear by the drive carriage 16.
【００１３】連結台車１８に搭載されるカメラ１２はケ
ーブル管１９ａ内のケーブルに接続される図示しない焦
点距離調整するギヤードモータ、カメラ軸を傾斜させる
ギヤードモータを有するものである。また、カメラ１２
が映像を捉えるのに必要な光量が確保できるような構成
になっている。このような構成の管内走行装置１５を用
いて、管内壁を検出するには、駆動台車１６の前方に連
結具１７でカメラ１２を搭載した連結台車１８を連結
し、円管１１内に挿入する。ケーブル管１９ａ内のケー
ブルを介して駆動台車１６の可変速モータ及び操舵用モ
ータを操作し、駆動台車１６の駆動輪１９を管内壁を所
望の押圧力で押圧し、管中心に駆動台車１６を保持する
と共に、駆動機構の推進力が走行装置を進行させ得るよ
うに押圧する。連結台車１８は駆動台車１６に押され、
固定軸２３に連結された車輪２１ａ、２２ａと、バネ２
４ａ、２４ｂにそれぞれ連結された前輪２１ｂ、後輪２
２ｂが管内壁を押圧することにより、管中心に車体を保
持されて管内を進行する。The camera 12 mounted on the connecting carriage 18 has a geared motor for adjusting the focal length and a geared motor for tilting the camera shaft, which are connected to the cable in the cable tube 19a. Also, the camera 12
Is configured so that the amount of light necessary for capturing an image can be secured. In order to detect the inner wall of the pipe using the in-pipe traveling device 15 having such a configuration, the connecting carriage 18 having the camera 12 mounted thereon is connected to the front of the drive carriage 16 by the connecting tool 17 and inserted into the circular pipe 11. . The variable speed motor and the steering motor of the drive carriage 16 are operated via the cable in the cable pipe 19a, the drive wheels 19 of the drive carriage 16 are pressed against the inner wall of the pipe with a desired pressing force, and the drive carriage 16 is moved to the center of the pipe. It is held and pressed so that the propulsive force of the drive mechanism can advance the traveling device. The connecting carriage 18 is pushed by the driving carriage 16,
Wheels 21a and 22a connected to the fixed shaft 23 and the spring 2
Front wheel 21b and rear wheel 2 respectively connected to 4a and 24b
When 2b presses the inner wall of the pipe, the vehicle body is held at the center of the pipe and travels in the pipe.
【００１４】管内走行装置１５が曲管１１ｂを通過する
場合、予め連結台車１８の固定軸２３に連結される車輪
２１ａ、２２ａが内輪側になるように、駆動台車１６の
駆動輪１９を操作する。固定軸２３に連結される車輪２
１ａ、２２ａが内輪側に設定されると、連結台車１８の
重量Ｗは前輪２１ａ及び後輪２２ａから等距離ｌ0の重
心Ｇに負荷される。この時、車体２０の中心軸２０ａは
曲管１１ｂの中心軸１１ａの接線と同一方向になり、連
結台車１８の重心Ｇは常に曲管１１ｂの中心軸１１ａを
通過する。このため、走行装置が曲管１１ｂを通過する
時であっても、管の中心軸から車体が外れてしまうこと
がない。このため、走行装置を停止させ、所望の角度に
カメラ１２を傾斜させ、溶接部１４の目視したい部分を
カメラで捉え合焦し、映像を捉えることができる光を照
射させて、カメラ１２を回転させる。カメラ１２を１回
転させることにより、管径方向１２ｂの全周に亘った映
像を１回転で捉えることができる。そのため、カメラ１
２を搭載した連結台車１８を進退させその度に、カメラ
１２を回転させる煩雑な動作を操作する必要がない。管
壁からの受信信号はケーブル管１９ａ内のケーブルを経
由して送出され、外部においてモニタ処理できるように
なっている。When the in-pipe traveling device 15 passes through the curved pipe 11b, the drive wheels 19 of the drive carriage 16 are operated so that the wheels 21a, 22a connected to the fixed shaft 23 of the connecting carriage 18 in advance are on the inner ring side. . Wheel 2 connected to fixed shaft 23
When 1a and 22a are set to the inner ring side, the weight W of the connecting carriage 18 is applied to the center of gravity G of the front wheel 21a and the rear wheel 22a at an equal distance l 0 . At this time, the central axis 20a of the vehicle body 20 is in the same direction as the tangent line of the central axis 11a of the curved tube 11b, and the center of gravity G of the connecting carriage 18 always passes through the central axis 11a of the curved tube 11b. Therefore, even when the traveling device passes through the curved pipe 11b, the vehicle body does not come off from the central axis of the pipe. For this reason, the traveling device is stopped, the camera 12 is tilted at a desired angle, the portion of the welded portion 14 to be viewed is captured and focused by the camera, and light is emitted so that an image can be captured, and the camera 12 is rotated. Let By rotating the camera 12 once, it is possible to capture an image over the entire circumference in the tube radial direction 12b with one rotation. Therefore, camera 1
There is no need to operate a complicated operation of rotating the camera 12 every time the connecting carriage 18 equipped with 2 is moved back and forth. The received signal from the tube wall is sent out via the cable in the cable tube 19a and can be externally monitored.
【００１５】また、固定軸に連結された車輪が管壁に接
する点と車体の中心軸までの距離が管径の半分の長さで
なくとも、連結台車の重心が曲管の曲率に添って移動す
ることは変りないため、カメラが捉える映像範囲は曲管
の径方向に垂直な周方向の管内壁となる。そのため、固
定軸に連結された車輪が管壁に接する点と車体の軸まで
の距離が管径の半分の長さと比較して長短があっても、
カメラを１回転させることにより、１度で全周方向を捉
えることができる。Even if the distance between the point where the wheel connected to the fixed shaft contacts the pipe wall and the center axis of the vehicle body is not half the pipe diameter, the center of gravity of the connecting carriage follows the curvature of the curved pipe. Since the movement is the same, the image range captured by the camera is the inner wall of the pipe in the circumferential direction perpendicular to the radial direction of the curved pipe. Therefore, even if the distance between the point where the wheel connected to the fixed shaft contacts the tube wall and the axis of the vehicle body is longer than half the tube diameter,
By rotating the camera once, it is possible to capture the entire circumferential direction at one time.
【００１６】以上の説明は本発明の一実施例の説明であ
って、本発明はこれに限定されない。即ち、固定軸に連
結される車輪は前後輪それぞれ１輪に限らず、２輪とし
てもよい。また、駆動台車は３輪のものに限定されるも
のではなく、管内を走行できるものならば、何れのもの
であってもよい。また、管内壁の状態を検知するものに
限らず、清掃等を行う場合であっても、曲管の中心軸を
走行できるため、好適に用いられる。The above description is for one embodiment of the present invention, and the present invention is not limited to this. That is, the number of wheels connected to the fixed shaft is not limited to one for each of the front and rear wheels, but may be two. Further, the driving carriage is not limited to the three-wheeled one, and may be any one as long as it can travel in the pipe. Further, it is not limited to detecting the state of the inner wall of the pipe, and can be suitably used because it can travel on the central axis of the curved pipe even when cleaning or the like.
【００１７】[0017]
【発明の効果】以上の説明からも明らかなように、本発
明の管内走行装置によれば、前輪、後輪それぞれ３輪の
うち１輪または２輪を固定軸を介して、他の車輪のうち
後輪を前輪より強いバネを介して車体に接続した連結台
車を後方から駆動台車で進行、後退させるようにしたた
め、連結台車はスムースに従動させることができる。ま
た、曲管を走行する際、連結台車の重心は管中心軸を通
過させることができる。このため、連結台車に搭載され
たカメラで検知する際、連結台車を停止させカメラを１
回転させることで、溶接部等管内壁の管径を含んだ全周
の映像を的確に捉えることができ、作業効率を著しく向
上させることができる。As is clear from the above description, according to the in-pipe traveling device of the present invention, one or two of the three front wheels and the rear wheels are fixed to the other wheels through the fixed shaft. Since the rear carriage is connected to the vehicle body through the spring stronger than the front wheels, the joint carriage is moved forward and backward by the drive carriage, so that the joint carriage can be smoothly driven. Further, when traveling on a curved pipe, the center of gravity of the connecting carriage can pass through the pipe central axis. Therefore, when detecting with the camera mounted on the connecting carriage, the connecting carriage is stopped and the camera is
By rotating, it is possible to accurately capture an image of the entire circumference including the pipe diameter of the inner wall of the pipe such as the welded portion, and it is possible to significantly improve the work efficiency.
【図１】本発明の一実施例を示す構成図。FIG. 1 is a configuration diagram showing an embodiment of the present invention.
【図２】図１に示す一実施例の要部を示す構成図。FIG. 2 is a configuration diagram showing a main part of the embodiment shown in FIG.
【図３】従来例を示す構成図。FIG. 3 is a configuration diagram showing a conventional example.
【図４】従来例を示す構成図。FIG. 4 is a configuration diagram showing a conventional example.
【図５】従来例による管内走行状態を示す図。FIG. 5 is a diagram showing a traveling state in a pipe according to a conventional example.
１１‥‥‥円管 １５‥‥‥管内走行装置 １６‥‥‥駆動台車 １７‥‥‥連結具 １８‥‥‥連結台車 １９‥‥‥駆動輪（駆動機構） ２０‥‥‥車体 ２１、２１ａ、２１ｂ‥‥‥前輪 ２２、２２ａ、２２ｂ‥‥‥後輪 ２３‥‥‥固定軸 ２４ａ、２４ｂ‥‥‥バネ 11 ・ ・ ・ Circular pipe 15 ‥‥ Pipe running device 16 ‥‥ Drive truck 17 ・ ・ ・ Connection tool 18 ‥‥ Connection truck 19 ・ ・ ・ Drive wheel (drive mechanism) 20 ・ ・ ・ Car body 21, 21a, 21b ... front wheel 22, 22a, 22b ... rear wheel 23 ... fixed shaft 24a, 24b ... spring
───────────────────────────────────────────────────── フロントページの続き (72)発明者 藤原 茂 広島県呉市三条２丁目４番10号 株式会社 シーエックスアール内 (72)発明者 白石 時宜 広島県呉市三条２丁目４番10号 株式会社 シーエックスアール内 (72)発明者 友部 茂信 広島県呉市三条２丁目４番10号 株式会社 シーエックスアール内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shigeru Fujiwara 2-4-10 Sanjo, Kure-shi, Hiroshima CXR Co., Ltd. (72) Tokuni Shiraishi 2-4-10 Sanjo, Kure-shi, Hiroshima Shares Company CXR (72) Inventor Shigenobu Tomobe 2-4-10 Sanjo, Kure, Hiroshima Prefecture CXR Co., Ltd.
Claims (2)
車と、前記駆動台車の前方に連結具により連結された連
結台車とを備え、前記連結台車は車体と、前記車体にそ
れぞれ前記円管の円周方向を３等分した位置に前後同位
置に設けられた前輪及び後輪とを有し、同位置の前記前
輪及び前記後輪の１輪または２輪は前記車体に固定軸に
より連結されてなり、残りの前記前輪及び前記後輪は前
記連結台車の受ける重力に対抗して前記連結台車の位置
を保持する前記円管の内壁を押圧する力を有するバネを
介して前記車体に連結されてなることを特徴とする管内
走行装置。1. A drive carriage having a drive mechanism that travels in a circular pipe, and a connecting carriage connected to the front of the drive carriage by a connecting tool, wherein the connecting carriage is a vehicle body and the vehicle body is provided with the circle. It has a front wheel and a rear wheel provided at the same position in the front and rear at a position that divides the circumferential direction of the pipe into three equal parts, and one or two wheels of the front wheel and the rear wheel at the same position are fixed to the vehicle body by a fixed shaft. The remaining front and rear wheels are connected to the vehicle body via a spring having a force that presses the inner wall of the circular pipe that holds the position of the connecting carriage against the gravity received by the connecting carriage. An in-pipe traveling device characterized by being connected.
輪に接続される前記バネより大きなバネ力を備えたこと
を特徴とする請求項第１項記載の管内走行装置。2. The in-pipe traveling device according to claim 1, wherein the spring connected to the rear wheel has a larger spring force than the spring connected to the front wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14482593A JPH079991A (en) | 1993-06-16 | 1993-06-16 | In-pipe traveling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP14482593A JPH079991A (en) | 1993-06-16 | 1993-06-16 | In-pipe traveling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH079991A true JPH079991A (en) | 1995-01-13 |
Family
ID=15371335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP14482593A Pending JPH079991A (en) | 1993-06-16 | 1993-06-16 | In-pipe traveling device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH079991A (en) |
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|---|---|---|---|---|
| CN102645244A (en) * | 2012-04-17 | 2012-08-22 | 中铁十三局集团第一工程有限公司 | Prestressed duct detector |
| CN104901233A (en) * | 2015-05-29 | 2015-09-09 | 中国五冶集团有限公司 | Debris removal device for cleaning underground pipeline |
| CN105235761A (en) * | 2015-10-22 | 2016-01-13 | 重庆市地质矿产勘查开发局208水文地质工程地质队 | Four-wheel drive oblique hole camera system |
| CN106253152A (en) * | 2016-09-05 | 2016-12-21 | 青岛智享专利技术开发有限公司 | A kind of automatic wire threader for electric wire wall wire pipe |
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| CN109458517A (en) * | 2018-12-25 | 2019-03-12 | 南昌大学 | A kind of sectional type transfer of pipe robot |
| CN110282486A (en) * | 2019-06-14 | 2019-09-27 | 国网山东省电力公司临沂供电公司 | Pay-off device for electric power construction |
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| CN110649513A (en) * | 2019-10-10 | 2020-01-03 | 国网辽宁省电力有限公司盘锦供电公司 | cable duct with rope remote control car |
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-
1993
- 1993-06-16 JP JP14482593A patent/JPH079991A/en active Pending
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|---|---|---|---|---|
| CN102645244A (en) * | 2012-04-17 | 2012-08-22 | 中铁十三局集团第一工程有限公司 | Prestressed duct detector |
| CN104901233A (en) * | 2015-05-29 | 2015-09-09 | 中国五冶集团有限公司 | Debris removal device for cleaning underground pipeline |
| CN105235761A (en) * | 2015-10-22 | 2016-01-13 | 重庆市地质矿产勘查开发局208水文地质工程地质队 | Four-wheel drive oblique hole camera system |
| CN106253152A (en) * | 2016-09-05 | 2016-12-21 | 青岛智享专利技术开发有限公司 | A kind of automatic wire threader for electric wire wall wire pipe |
| CN107039926A (en) * | 2017-06-13 | 2017-08-11 | 国网辽宁省电力有限公司盘锦供电公司 | It is electronic to climb pipe device |
| CN108044068A (en) * | 2018-01-10 | 2018-05-18 | 南京钢铁股份有限公司 | The device of positioning Gauss instrument in cogged ingot continuous casting crystallizer |
| JPWO2019216033A1 (en) * | 2018-05-07 | 2021-07-01 | 株式会社湘南合成樹脂製作所 | Robot in the jurisdiction |
| US11821566B2 (en) | 2018-05-07 | 2023-11-21 | Shonan Gosei-Jushi Seisakusho K.K. | Pipe robot |
| WO2019216033A1 (en) * | 2018-05-07 | 2019-11-14 | 株式会社湘南合成樹脂製作所 | Pipe robot |
| CN109458517A (en) * | 2018-12-25 | 2019-03-12 | 南昌大学 | A kind of sectional type transfer of pipe robot |
| CN110282486A (en) * | 2019-06-14 | 2019-09-27 | 国网山东省电力公司临沂供电公司 | Pay-off device for electric power construction |
| CN110649513A (en) * | 2019-10-10 | 2020-01-03 | 国网辽宁省电力有限公司盘锦供电公司 | cable duct with rope remote control car |
| CN111262189A (en) * | 2020-02-22 | 2020-06-09 | 张强 | Easy-to-dismount rolling type auxiliary traction head for power cable threading device |
| CN111262189B (en) * | 2020-02-22 | 2021-04-06 | 湖南光远电力科技有限公司 | Easy-to-dismount rolling type auxiliary traction head for power cable threading device |
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