JPS62166166A - Self-propelled running device in duct passage - Google Patents

Abstract

PURPOSE:To perform relatively small-sized, economical, accurate self-propelled running with a large amount of thrust force which is not reduced by arranging a polarity control means for reversing polarity of magnets provided on a first and a second moving bodies. CONSTITUTION:A first moving body 1 has in its inside a permanent magnet 2 with a first metallic part 4a attached to a polar surface 2a of the magnet 2 for increasing the magnetic charge of the magnet 2. And a second moving body 6 has in its inside an electromagnet 7 with a second metallic part 4b attached to a polar surface 7b of the electromagnet 7 for increasing the magnetic charge of the electromagnet 7. The metallic parts 4a and 4b are arranged in a dust passage 16 in series separated from and opposed to each other. Polarity of the electromagnet 7 is changed by controlling the current applied to the electromagnet 7 so that attractive forces work when the first and second moving bodies are separated farther from each other and repulsive forces work when the two moving bodies come nearer to each other.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an in-pipe self-propelled device that is self-propelled to draw a cable into a small-diameter pipe, such as an underground pipe for wiring communication cables.

[Technical background of the invention and its problems 1] In order to draw communication cables etc. into underground conduits which have a relatively small diameter, it is difficult to draw the communication cables directly into underground conduits because the diameter of the conduits is small. Conventionally, wires or lobes, etc. that can be easily passed through the conduit independently are drawn into the conduit in advance, a communication cable is connected to the tip of the drawn lobe, and the communication cable is drawn through the conduit by pulling out the lobe. That's what I was doing.

FIGS. 12 and 13 illustrate an example of the conventional method of pulling in a communication cable as described above. In this method, as shown in FIG.
An operator 21 pulls out the polyethylene rope 19 from the polyethylene rope drum 20 from the side and feeds it to the manball 18 while extending it into the pipe line 16, and draws the polyethylene row 119 between the manholes 17 and 18.

After the polyethylene lobes 19 are drawn through the pipe line 16 in this way, as shown in FIG.
Connect the tip of wire 0-723, which is a desired communication cable, to the tip of the polyethylene lobe 19 that has extended up to the point where the wire lobe 23 is inserted from the manhole 18 side to the manhole 17 by pulling the polyethylene rope 119 back to the manhole 17 side after the connection. It is pulled all the way to the side. In this case, in order to inspect the inside of the pipe line 16, a mandrel 22 having a diameter slightly smaller than the inner diameter of the pipe line 16 is used.
is inserted into the conduit 16.

FIG. 14 illustrates a conventional method of directly drawing wire loaf 25 using compressed air. In this method, a wire 〇-725, which is a desired communication cable or the like, wound around a wire drum 26 is let out, and the tip of the wire lobe 25 is inserted into the inner surface of the conduit 16 in close contact with a wire carrying body. 24, and then insert the wire passing body 24 into the conduit 16. On the other hand, an airtight retainer 29 is attached to the duct opening 16a on the manball 17 side of the conduit 16 so as to maintain the airtightness in the conduit 16, and the airtightness is maintained with the wire passage body 24 in the conduit 16. The space between the container 29 and the container 29 is sealed. A conduit 16 which is sealed between the wire passage body 24 and the airtight holder 29 and into which the wire loaf 25 is inserted
A compressed air supply vibe 28 and a compressor 27 are connected to this sealed part in order to increase the pressure inside. after that,
When compressed air is sent into the pipe line 16 from the compressor 27 via the vibrator 28, the pressure increases in the sealed part, and the wire passage body 24 moves inside the pipe line 16 to the manhole 18 side, so that it is spaced between the manballs 17 and 18. There is a wire in the conduit 16 of
125 can be pulled through. In this case, the wire loaf 25 can be taken in and out while the airtight holder 29 maintains airtightness between the wire loaf 24 and the wire passage body 24.

In addition, a wiring body 2 is provided at the duct opening 16b on the manhole 18 side.
A pop-out preventer 30 is installed to prevent the battery 4 from popping out due to pressure increase.

In the conventional method described above, the method shown in FIG. 12 and FIG.
After pulling in the polyethylene lobe 19, the wire 0-723 is pulled through, so the pulling operation and time are doubled, and the operation of pulling the polyethylene lobe 19 into the pipe line 16 in advance is simply Manhole 17
Since the polyethylene lobes 19 are only pushed out from the side, there is a problem in that it is difficult to smoothly pull the polyethylene lobes 19 through, which is inefficient. In addition, the method shown in FIG. 14 requires a long preparation time due to its complicated configuration, and the cost of the device is relatively high.Also, even if a blowout preventer is used to create back pressure inside the pipe line 16, it is dangerous. There is a problem.

In addition, as another method of passing a communication cable etc. into the conduit 16, it is described in Japanese Patent Application No. 60-143359,
There is a method using an in-pipe self-propelled device as shown in FIG. FIG. 15(a) is a cross-sectional view of the conduit 16 in a direction perpendicular to the tube axis, and FIG. 15(bL) is a cross-sectional view of the conduit 16 in a direction parallel to the tube axis. It has a cylindrical propelling body 31 having an outer wall parallel to the inner wall of the conduit 16, and a plurality of springs 33 are attached radially to the outer peripheral surface of the propelling body 31 while being inclined in one direction. The free end is in contact with the inner wall of the conduit 16. As a result, the propellant 31
is easy to move in the first direction shown by arrow 35 in FIG. 15(b) because the frictional resistance between the tip of spring 33 and the inner wall of conduit 16 is low; In the opposite second direction, the tip of the spring 33 exhibits high frictional resistance against the inner wall of the conduit 16, making it difficult for the propelling body 31 to move in the second direction. For such a configuration of the spring 33, a motor 37 is provided inside the propelling body 31, and the motor 37 rotates the unbalanced mass 39 to vary the center of gravity of the propelling body 31. transmits the displacement of the center of gravity to the spring 33 attached to the
The deflection force generated in the spring 33 due to this displacement of the center of gravity is used as a propulsive force for the propelling body 31 to move the propelling body 31 in the first direction.

By the way, in the conventional 8-position system configured in this way, the sagging force of the spring 33 is used to obtain propulsive force, but as the spring 33 is repeatedly traveled, it becomes fatigued and the elastic force is reduced. As a result, there is a problem in that as it is used, it becomes unable to obtain sufficient propulsive force and stops operating. Further, when a spring with a large spring constant is used, even if the center of gravity shifts due to the rotation of the unbalanced mass 39, no deflection force is generated in the spring, so there is a problem that the propulsive force is not q.

[Objective of the Invention] This invention was made in view of the above, and its purpose is to be able to always obtain a strong propulsive force that does not decrease, to move at a relatively high speed, and to be able to move at a relatively high speed. It is an object of the present invention to provide a self-propelled device within a conduit that is small in size, economical, self-propelled appropriately, and can easily lead cables, etc., into the conduit.

SUMMARY OF THE INVENTION 1 In order to achieve the above object, the present invention provides an in-pipe self-propelled device that travels in a pipe, and when installed in a pipe,
A first member that is in contact with the inner wall of the conduit, has low movement resistance against movement in a first direction within the conduit, and has high movement resistance against movement in a second direction opposite to the first direction. a first movable body comprising a movement direction control means and a first magnet; when installed in a conduit, the first movable body is in contact with an inner wall of the conduit, and is configured to move in a first direction in the conduit; The movement resistance is low, and the first
A second movement direction control means having a high movement resistance against movement in a second direction opposite to the direction of
A second movable body, which is equipped with a second magnet having an Iif & pole face opposite to the n-pole face, and is inserted into the conduit in series and close to the first movable body in the axial direction of the conduit. When the first and second moving bodies are separated by a first predetermined distance or more, the first and second magnets attract each other, and the first and second moving bodies are separated by a second predetermined distance or less. The first and second magnets repel each other when brought close to each other.
The gist is that at least one of the second magnets has a polarity control means for inverting the polarity of one of the magnets.

[Embodiments of the invention] Hereinafter, the present invention will be explained in detail using the drawings.

FIG. 1 is a side view of an in-pipe self-propelled device according to an embodiment of the present invention moving within a conduit 16, and FIG. 2 is a side view of the in-pipe self-propelled device in FIG. , is a cross-sectional view of the conduit in a direction perpendicular to the tube axis direction. In both figures, an intra-pipe self-propelled device that moves within a pipe 16 has a first moving body 1 and a second moving IJ+ body 6, and both moving bodies are connected by a connecting pipe 5.

The first moving body 1 has a permanent magnet 2 inside, and a first metal part 4a for increasing the magnetic charge of the permanent magnet 2 is attached to one magnetic pole surface 2a of the permanent magnet 2. . The second moving body 6 has an electromagnet 7 inside, and a second metal part 4b for increasing the magnetic charge of the electromagnet 7 is attached to one magnetic pole surface 7b of the electromagnet 7. The first metal part 4a of the first moving body 1 and the second metal part 4b of the second moving body 6 are opposed to each other, and in the state shown in FIG. It has been inserted.

Further, a plurality of wheels 9 are arranged on the outer peripheral surfaces of the first moving body 1 and the second moving body 6, thereby making it easier for each moving body to move within the conduit 16, and Conduit 16
It is maintained so that it is located approximately in the center of the interior. Furthermore, a plurality of springs 3 are attached to the outer circumferential surfaces of the first moving body 1 and the second moving body 6, respectively, in a radial manner and inclined in one direction with respect to the tube axis direction of the conduit 16, with one end thereof attached. The other free end of each spring 3 contacts the inner wall of the conduit 16 at an angle. As a result, each movable body is easy to move in the first direction shown by arrow 35 in FIG. 1 because the am resistance between the tip of spring 3 and the inner wall of conduit 16 is low; Spring 3 for a second direction opposite to the direction of
Since the tips of the movable bodies exhibit high frictional resistance against the inner wall of the conduit 16, it becomes difficult for each movable body to move in the second direction.

In this structure, the first magnetic pole formed on the first metal part 4a attached to one magnetic pole surface of the permanent magnet 2 of the first moving body 1 and the second moving body 6 are connected to each other. A second metal part 4b attached to one magnetic pole surface of the electromagnet 7
When the first movable body 1 and the second movable body 6 are separated from each other, an attractive force acts on them, and when they are close to each other, a repulsive force acts between them. The polarity of the electromagnet 7 is controlled so as to change the polarity of the electromagnet 7 by controlling the current flowing through the electromagnet 7 so that the polarity of the magnetic poles is different or the same polarity.

Therefore, this control mechanism will now be described with reference to FIGS. 6-8.

6 is a sectional view when the first moving body 1 and the second moving body 6 are close to each other, FIG. 7 is a sectional view of each part in FIG. 6,
FIG. 8 is a sectional view when the first moving body 1 and the second moving body 6 are separated. One end of the connecting pipe 5 is fixed to the first moving body 1, and the other end is loosely inserted into a hole 5a formed in the second moving body 6. The connecting pipe 5 has conductor portions 10a and 10b arranged at a predetermined interval in the middle thereof. Further, the second movable body 6 has a plurality of contact portions 11, 12, 13°, 14.15 on the inner wall of the hole 5a facing the connecting pipe 5 and capable of contacting the conductor portion 108.10b. The contacts 14,15 are arranged on one side with a relatively large width and are in each case connected to the ends of the coils 7a of the electromagnets 7.

The contact parts 11, 12.13 are arranged on the other side opposite the contact parts 14.15. Contact part 11.13 therein
have a relatively small width and are disposed on both sides of the relatively wide contact portion 12, and are commonly connected by a lead wire 41 to the negative electrode side of a DC power source (not shown). Contact part 12
is similarly connected to the positive electrode side of a DC power supply (not shown) via a lead wire 43. Further, a slit 45 is formed along the axial direction in a part of the connecting pipe 5, and a protrusion 6a is formed on the inner wall of the hole 5a of the second movable body 6 corresponding to the slit 45. The protrusion 6a engages with the slit 45 to prevent the first moving body 1 and the second moving body 6 from being separated by more than a certain distance. In addition, in FIGS. 6 and 8, the metal parts 4a,
4b is omitted.

In this structure, when the first moving body 1 and the second moving body 6 are close to each other as shown in FIG. 12 and 15, and the conductor portion 10b contacts the contact portions 13 and 14.
is in contact with.

Therefore, in this state, the positive pole side of the DC power supply (not shown) is connected from the lead wire 43 to one end of the coil 7a of the electromagnet 7 via the contact part 12, the conductor part 10a, and the contact part 15, and the negative pole side of the DC power supply is connected to one end of the coil 7a of the electromagnet 7. From the lead wire 41 to the contact part 13
, the conductor portion 10b, and the contact portion 14 are connected to the other end of the coil 7a. As a result, the coil 7a of the electromagnet 7 moves in the direction from one end to the other end, that is, in the direction indicated by the arrow 4 in the figure.
A current flows in the first direction indicated by 7, and the polarity of the second metal part 4b of the second moving body 6 and the first metal part 4a of the first moving body 1, which are adjacent to each other, becomes the same. The electromagnets 7 are magnetized to the first state so that they repel each other.

Further, as shown in FIG. 8, when the first moving body 1 and the second moving body 6 are separated, the conductor portion 10a of the connecting pipe 5 does not contact the contact portions 11 and 15. , and conductor part 1
0b is in contact with the contact portions 12 and 14. Therefore, in this state, the positive electrode side of the DC power source (not shown) is connected from the lead wire 43 to the other end of the coil 7a via the contact portion 12, the conductor portion 10b, and the contact portion 14, and the negative electrode side of the DC power source is connected to the lead wire 43 via the contact portion 12, the conductor portion 10b, and the contact portion 14. 41 is connected to one end of the coil 7a via the contact portion 11 and the lead wire 15 of the conductor portion 10a. As a result, a current flows through the coil 7a of the electromagnet 7 from the other end to the one end, that is, in a second direction opposite to the first direction, and the current flows between the first metal part 4a and the second metal part which are separated from each other. The electromagnets 7 are arranged so that the polarities of the parts 4b are different and they attract each other.
is magnetized to a second state.

The in-pipe self-propelled device according to one embodiment of the present invention is configured as described above. Next, its operation will be explained with reference to FIGS. 3 to 5.

First, as shown in FIG. 3, when the first moving body 1 and the second moving body 6 are separated, the conductor parts 10a, 10b and each contact part 11 are separated from each other as shown in FIG. -15, so that the first electromagnet 7 is magnetized to the second state as described above. As a result, the first metal part 4a of the first movable body 1 and the second metal part 4b of the second movable body 6 are magnetized to different polarities and therefore attract each other. The spring 3 of the moving body 1 moves in the first moving direction indicated by the arrow 35,
The spring 3 of the second movable body 6 has a high frictional resistance in the second direction of movement opposite to PIJr! in the first direction of movement. A resistance is low (because the second moving body 6 moves closer to the first moving body 1, and the fourth moving body 6 moves closer to the first moving body 1).
As shown in the figure, it approaches the first moving body 1.

As shown in FIG. 4, the second moving body 6 is connected to the first moving body 1.
When approached, the conductor parts 10a, 10b and each contact part 11-
15, as shown in FIG. 6, so that the electromagnet 7 is magnetized to the first state. As a result, the first metal part 4a of the first moving body 1 and the second metal part 4b of the second moving body 6 are magnetized to the same polarity and repel each other, and at this time, the second movement The body 6 cannot move due to the high TI friction resistance of its own spring 3 with the inner wall of the conduit 16, and only the first moving body 1 moves in the first moving direction, as shown in FIG. As shown, it is separated from the second moving body 6.

Thereafter, by repeating the operations shown in FIGS. 3 to 5, the in-pipe self-propelled device consisting of the first moving body 1 and the second moving body 6 continuously moves inside the pipe 16 in the first direction. It can be moved.

Next, the relationship between the attractive force and repulsive force of the magnet, which is the motive force for movement of the self-propelled device in the conduit, and the frictional resistance of the spring 3 against the inner wall of the conduit 16 will be considered.

Now, if the mounting angle of each spring 3 of the first movable body 1 and the second movable body 6 is α, the spring 3 and the inner wall of the conduit 16 when the self-propelled device in the main conduit moves forward and backward. Letting the apparent coefficients of friction be μm and μ2, respectively, it will be as follows (Proceedings of the Japan Society of Mechanical Engineers No.

46, Vol. 407.740, July 1980, see [Basic research on vibrating sliders] by Sahara et al.)
.

μm=μ/(1+μ・tanα) μ2;μ/(1−μ・tanα) Here, μ is the true I between the spring 3 and the inner wall of the conduit 16.
L! It is a ring coefficient.

FIG. 9 shows the relationship between the mounting angle α of the spring 3 and the friction coefficients μm and μ2 for the cases of μm 0.2 and μm 0.4. As can be seen from this figure, μm>μ2 always, and especially at the installation angle where ℃aoα>1/μ, μm → ω, so that the self-propelled device in the pipeline does not retreat due to a self-locking state. Therefore, by setting the spring 3 at this angle, the device will move forward due to the attraction and repulsion of the magnet.

FIGS. 10 and 11 show other embodiments of the invention. In this embodiment, the spring 3 is moved from one place to two.
By controlling the inclination angle of this spring 3, the self-propelled device within the conduit can be moved not only in one direction but also in the opposite direction, so that it can move forward and backward by 1q.

Two springs 3a and 3b are respectively attached to one location on the outer peripheral surface of the movable body 1 (6) via a fan-shaped spring support member 51. The first spring 3a is inclined in a first direction, and the second spring 3b is inclined in a second direction opposite to the first direction. A ring 55 is attached to the tip of each spring support member 51 extending into the movable body 1 (6), and a pair of electromagnets 53a, 53 are adjacent to each side of the ring 55.
b are arranged respectively.

In a device configured in this way, for example, the electromagnet 53
When a is excited, the ring 55 is attracted to the electromagnet 53a, so each spring support member 51 connected to the ring 55 rotates around its support shaft. As a result, the first spring 3a is further inclined, and its tip is connected to the pipe line 16 (not shown).
The second spring 3b approaches the moving body 1 (6) and completely separates from the inner wall of the conduit 16. In this way, when the first spring 3a contacts the inner wall of the conduit 16,
The in-pipe self-propelled device is the first one indicated by the arrow 35 in FIG.
It moves in the second direction opposite to the direction of , and becomes 1q. Conversely, when the electromagnet 53b is excited, the ring 55
is attracted by this electromagnet, the spring support member 51 rotates in the opposite direction, the first spring 3a is separated from the inner wall of the conduit 16, and the second spring 3b comes into contact with the inner wall of the conduit 16. . As a result, the in-pipe self-propelled device can move in the first direction.

In this way, the inclination angle of each spring is changed using an electromagnet,
By controlling one of the pair of springs so that it comes into contact with the inner wall of the conduit, it is possible to freely move forward and backward. In addition, in FIG. 10 J3 and FIG. 11, only one of the first moving body 1 and the second moving body 6 shown in FIG. There is.

In addition, in each of the above embodiments, a spring is shown as a movement direction control means, but it is not limited to this.
Various other methods are also possible.

[Effects of the Invention] As explained above, according to the present invention, a moving propulsive force is obtained by the repulsive force of a pair of magnets when they are close to each other and the attractive force of a pair of magnets that are separated, and this moving propulsive force is used to move Since the movement is made in the desired direction by the direction control means, the structure is extremely small and relatively economical, and since the attractive and repulsive forces of the magnet are used for movement, the motive force is low. It is possible to constantly obtain a large propulsion force without decreasing due to fatigue etc. as it is used, and the moving speed is relatively fast, and when used to pull the cable into the conduit, it is suitable and easy. The cable can be pulled into.

[Brief explanation of drawings]

FIG. 1 is a side view of an in-pipe self-propelled device according to an embodiment of the present invention, FIG. 2 is a sectional view of the device in FIG. 1 in a direction perpendicular to the pipe axis, and FIGS. 3 to 5 are Fig. 1 is a side view showing the operation of the device, Figs. 6 and 8 are views showing the structure of the connecting vibrator of the device in Fig. 1, and Fig. 7 is a side view showing the structure of the connecting vibrator in Fig. 6. 9 is a cross-sectional view, and FIG. 9 is a characteristic diagram showing the relationship between the spring installation angle and the coefficient of friction in the device shown in FIG.
11 are a cross-sectional view and a side view of a self-propelled device in a conduit showing another embodiment of the present invention, and FIGS. 12 to 14 are diagrams for explaining a conventional communication cable drawing method, and FIG. FIG. 15 is a diagram showing a conventional self-propelled device within a pipeline. 1... First moving body 2... Permanent magnet 3...
・Springs 4a, 4b...Metal part 5...
・Connection vibe 6...Second moving body 7...
Electromagnet 7a...Coil 10a, 10b
...Conductor part 11-15...Contact part 16...Pipeline Fig. 1 Fig. 2 Fig. 6 Fig./, 7 Fig. 8 Fig. 9 Spring mounting angle ■ Fig. 1O Fig. 11

Claims (4)

[Claims] (1) An in-pipe self-propelled device that travels within a conduit, and when installed in a conduit, it contacts the inner wall of the conduit and is protected against movement in the first direction within the conduit. The movement resistance is low and the first
When a first moving body is provided in a conduit, the first movable body includes a first movement direction control means and a first magnet that have high movement resistance against movement in a second direction opposite to the direction of A second layer that is in contact with the inner wall of the conduit, has low movement resistance against movement in the first direction within the conduit, and has high movement resistance against movement in a second direction opposite to the first direction. and a second magnet having a magnetic pole face opposite to the magnetic pole face of the first magnet, the magnet being disposed in the conduit in series with the first moving body in the pipe axis direction of the conduit. When the second movable body inserted close to the first and second movable bodies are separated by a first predetermined distance or more, the first and second magnets attract each other, and the first and second movable bodies controlling the polarity of at least one of the first and second magnets to be inverted so that the first and second magnets repel each other when the moving object approaches a second predetermined distance or less; 1. A self-propelled device in a conduit, comprising: polarity control means. (2) At least one of the first and second magnets is an electromagnet, and the polarity control means changes the direction of the current flowing through the coil of the electromagnet to the distance between the first and second moving bodies. The self-propelled device in a conduit according to claim 1, further comprising current control means for controlling the current in accordance with the current. (3) The first and second movement direction control means have a movement resistance such that movement resistance is high for movement in the first direction, and movement resistance is low for movement in the second direction. The in-duct self-propelled device according to claim 1 or 2, further comprising movement resistance control means for controlling the movement resistance. (4) The first and second movement direction control means have springs that are attached to the outer surfaces of the first and second moving bodies at an angle, and whose tips are inclined and contact the inner wall of the conduit. An in-pipe self-propelled device according to any one of claims 1 to 3, characterized in that: