JP4667314B2 - Pipe transportation vehicle - Google Patents

Description

  The present invention relates to a pipe transporting vehicle for inserting a new pipe into an existing pipe line.

  Conventionally, when existing pipelines such as water and sewage pipelines and agricultural water pipelines have become obsolete, new pipes are inserted into the existing pipelines one after another to form a new pipeline. I am trying to update the pipeline.

  Inserting a new pipe in the pipe-in tunnel method involves connecting a vehicle that can be driven by driving to a carriage that supports the new pipe (traveling vehicle for pipe conveyance), and then installing the new pipe supported by the carriage. It is carried out by running the pipe transporting traveling vehicle toward the inside of the pipe line at the head.

  And as the said pipe conveyance traveling vehicle, it is comprised so that it can drive | work without a track | truck by comprising a rail-type piping traveling vehicle comprised so that it may drive | work on the rail installed in the piping path, and a wheel so that steering is possible. In addition, there are provided rail-free travel vehicles for pipe conveyance (see, for example, Patent Documents 1, 2, and 3).

  The rail-type traveling vehicle for piping is provided with a pair of left and right front wheels and rear wheels that roll on rails, and supports new pipes that are inserted into existing piping paths. A coupling mechanism for coupling the carriage includes a vehicle main body provided in front of the front wheels, and can drive along the rails by driving at least one of the front wheels and the rear wheels. As a result, the rail-type piping traveling vehicle can stably travel without being operated by the driver, and can smoothly insert the new pipe into the piping path.

On the other hand, the rail-free travel vehicle for pipe transportation includes a pair of left and right front wheels and a connection mechanism for connecting a carriage that supports a new pipe inserted into an existing pipe line. A vehicle body provided in front of the front wheels and a riding section on which the driver gets on are provided. Such a rail-free transport vehicle is configured such that the riding part is provided between the front wheel and the rear wheel, the front wheel is driven, and at least one of the front wheel and the rear wheel is steerable from the riding part. ing. As a result, the driver can insert the new pipe into the pipeline while correcting the posture of the carriage (new pipe) by correcting the traveling direction of the pipe transfer traveling vehicle.
No. 3-31658 JP 2000-232702 A JP-A-10-218591

  However, since the rail-type traveling vehicle for pipe conveyance requires a rail for renewal of the pipeline, the installation and removal of the rail is complicated, and as a result, the cost for renewal of the pipeline increases. There is a problem.

  On the other hand, since the conventional rail-free traveling vehicle for pipe conveyance does not need to lay rails, it can suppress an increase in the cost of renewing the pipeline, but it is easy to operate (steerability) and to the driver. There is a problem in ensuring safety.

  In other words, the pipe transportation traveling vehicle is provided with a riding portion between the front wheel and the rear wheel, so that a wheel base (a distance between the front wheel and the rear wheel) is widened. There is a problem that the minimum turning radius when steering is increased and the operability is poor.

  Further, in the configuration in which the rear wheel is steered, when the wheel base becomes wider as described above, the piping is changed when changing the traveling direction of the pipe-conveying traveling vehicle in order to correct the posture of the long new pipe traveling at the head. Even if the traveling direction of the traveling vehicle is slightly corrected, the traveling amount in the circumferential direction of the pipe line of the rear wheel to be steered increases, and the state is a state in which the traveling vehicle is pushed up against the peripheral wall. Therefore, the traveling vehicle for pipe conveyance travels in a twisted state in the pipe line (a state rolled around the center of the pipe line), and stable travel may not be possible. In particular, when the existing piping path has a small diameter, the curvature radius of the inner peripheral wall is small, so that there is a possibility that the roll will not roll but roll over.

  Further, as described above, when the riding section is provided between the front wheel and the rear wheel, when an accident occurs in the pipeline (for example, when the vehicle falls down), the driver moves to the entrance side of the pipeline. There is a problem that a certain rear wheel (region where the rear wheel is installed) must be overcome, and the vehicle cannot escape or rescue smoothly. In particular, when the piping path has a small diameter, there are many cases in which it is not possible to secure a region allowing the driver to pass between the inner wall surface of the piping path, which is extremely problematic in terms of ensuring the driver's safety.

  Therefore, in view of such circumstances, the present invention provides a traveling vehicle for transporting a pipe that can stably travel without laying rails that cause a rise in cost, and can ensure the safety of the driver. The task is to do.

In the pipe transport traveling vehicle according to the present invention, each of the front wheels and the rear wheels is provided on both the left and right sides, and a connecting mechanism for connecting a carriage supporting a new pipe to be inserted into an existing pipe line is provided on the front wheels. a vehicle body provided in front, a tube conveying traveling vehicle having a riding section the driver rides the vehicle body is provided with a steering unit for steering the front Symbol rear wheels, the front wheels and At least one of the rear wheels is configured to be driven, and the riding portion is provided at the rear of the vehicle main body and has a seat portion on which the driver sits, and the seat portion is A seat body on which a driver's collar is placed is disposed at a position lower than the axles of the front wheels and the rear wheels, and the steering section is fixed at a steering section mounting position set on a chassis frame of the vehicle body. A support seat and a support seat The rear wheel axle for mounting the rear wheel is mounted so as to be rotatable about an axis extending in the vertical direction, and a shaft support portion provided orthogonal to the axis, and the shaft support portion is rotated about the axis. A steering mechanism for steering the rear wheels, the steering mechanism includes a worm speed reducer, a main shaft penetrating the worm wheel of the worm speed reducer, and a pair of arm members fixed to both ends of the main shaft, A pair of steering rods that connect each of a pair of rod brackets extending to the left and right sides of the shaft support and each of the arm members, and are concentric from a worm shaft that meshes with a worm wheel in the worm reducer A handle is attached to a shaft portion extending toward the riding portion .

  According to the pipe conveyance traveling vehicle having the above-described configuration, since the riding section is provided at the rear of the vehicle main body, the distance (foil base) between the front wheel and the rear wheel can be reduced. As a result, the minimum turning radius when steering one of the front wheels or the rear wheels is reduced, and the operability (steerability) can be improved, so that stable running is possible. Further, as described above, since the wheel base can be narrowed, when changing the traveling direction of the pipe transporting traveling vehicle to correct the attitude of the new pipe traveling at the head, either the front wheel or the rear wheel is steered. However, the travel amount of the wheel in the circumferential direction of the pipeline is reduced, and rolling or rollover around the center of the pipeline can be prevented. In addition, by providing the riding part behind the rear wheel, there is no configuration of wheels, etc. behind the riding part, and it is possible to secure the driver's movement path to the rear and smoothly escape in an emergency. Or you can rescue.

Then, the tube conveying traveling vehicle according to the present invention, since the rear wheel is configured to be steered, Ri position near ring is close to the boarding section after steering, easy steering state is confirmed in the rear wheels, Operability can be improved. In addition, the distance from the connecting position with the carriage to the rear wheel to be steered can be secured, and the conversion of the running direction of the pipe transfer running vehicle is ensured as a lateral pushing action against the new pipe (cart). Thus, the direction of travel of the new pipe can be corrected accurately and quickly. In other words, when the rear wheels can be steered, it is easy to bend the carriage and the pipe transportation traveling vehicle from the connecting position as in the case where the trailer is traveling backward (the respective traveling directions are angled). Easy), and the steerability can be improved. As described above, since the wheel base is narrow, even when the rear wheel is steered, the travel amount of the rear wheel in the circumferential direction of the pipe line is reduced, and rolling or rollover in the pipe line can be prevented. .

As one aspect of the present invention, it is preferable that the seat portion has a backrest that can be tilted backward at least. In this way, by tilting the backrest backward, there is nothing behind the driver that obstructs the movement of the driver, so it is possible to escape very quickly in an emergency.

As another aspect of the present invention, the vehicle body is provided with at least a pair of guide rollers on both the left and right sides, and each guide roller can roll on the inner peripheral wall surface of the pipeway when traveling to guide the vehicle body. It is preferable to be provided. In this way, as a result of being supported by the guide rollers on both the left and right sides of the vehicle main body, it is possible to more reliably prevent rollover in the piping. Moreover, since the structure which supports a vehicle main-body part is a guide roller, driving | running | working is not impaired.

  According to the pipe conveyance traveling vehicle of the present invention, it is possible to perform stable traveling in the pipeline without laying rails that cause cost increases, and to ensure the safety of the driver. An excellent effect can be achieved.

  Hereinafter, a tube transportation traveling vehicle according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  As shown in FIGS. 1 to 3, the traveling vehicle for transporting pipes according to the present embodiment has one front wheel Ft, Ft and one rear wheel Rt, Rt, one on each of the left and right sides, and an existing pipe line A. A connecting mechanism 10 for connecting the carriage 5 that supports the new pipe B to be inserted is provided in front of the front wheels Ft and Ft, and is provided in the rear of the vehicle body 1 so that the driver gets on the vehicle. A riding section 2 is provided.

  The vehicle body 1 is configured such that at least one of the front wheels Ft, Ft and the rear wheels Rt, Rt (only the rear wheels Rt, Rt in this embodiment) can be steered, and the front wheels Ft, Ft and rear It is configured to drive at least one of the wheels Rt and Rt (only the front wheels Ft and Ft in this embodiment). In the present embodiment, tubeless tires are employed for the front wheels Ft, Ft and the rear wheels Rt, Rt.

  The vehicle body 1 will be described more specifically. The vehicle body 1 includes a chassis frame 11, a power supply unit 12 having a rechargeable battery, a control unit 13 having a control board, a drive board, and the like, and the front wheels. A drive unit 14 for driving Ft and Ft and a steering unit 15 for steering the rear wheels Rt and Rt are provided. The vehicle body 1 according to the present embodiment includes a pair of guide rollers 16 and 16 that roll on the inner peripheral surface of the pipe line A on both the left and right sides.

  The chassis frame 11 includes a frame main body 110 for installing the power supply unit 12 and the control unit 13, a base plate 111 for fixing the driving unit 14 and the steering unit 15 to the frame main body 110, and the coupling mechanism 10. A connection mechanism attachment portion 112 is provided for attachment.

  The frame main body 110 includes a pair of vertical frame portions 110a and 110a that are disposed substantially parallel to each other at a distance from each other, and a pair of frames that are disposed substantially parallel at a narrower interval than the pair of vertical frame portions 110a and 110a. Vertical subframe portions 110b and 110b, a plurality of horizontal frame portions 110c that connect the pair of vertical frame portions 110a and 110a, and a plurality of horizontal subframe portions that connect the pair of vertical subframe portions 110b and 110b. 110d... Each of the frame portions 110a, 110b, 110c, and 110d is made of a steel material such as a shape steel, and a square tube is employed in this embodiment.

  In the chassis frame 11, the vertical frame portions 110a, 110a are set to be longer than the horizontal frame portions 110c, and the vertical subframe portions 110b, 110b are longer than the horizontal subframe portions 110d. The scale is set.

  Each of the pair of vertical sub-frame portions 110b and 110b is disposed between the pair of vertical frame portions 110a and 110a so that one end side thereof overlaps the other end side of the pair of vertical frames. In the present embodiment, the vertical subframes are connected to the mutually opposing surfaces of the pair of vertical frame portions 110a and 110a so that the side surfaces are in close contact with each other, and the vertical subframe portions 110b and 110b are connected to the vertical frame portion. 110a and 110a are extended. And one horizontal frame part 110c ... connects the end parts of the vertical frame parts 110a, 110a, and the other horizontal frame part 110c ... is arranged at intervals in the longitudinal direction of the vertical frame parts 110a, 110a. The horizontal subframe portions 110d are arranged at intervals in the longitudinal direction of the vertical subframe portions 110b and 110b. Thereby, the frame main body 110 has a ladder shape in plan view.

  The frame main body 110 has a power supply unit 12 (battery housing case 120 described later) in an area approximately half of one end side of the vertical frame portions 110a and 110a (the leading side in the traveling direction when entering the pipe A). ) And the control unit 13 (a control box 130 to be described later) can be installed in a substantially half region on the other end side (the rear side in the traveling direction) of the vertical subframe portions 110b and 110b.

  The base plate 111 is made of a plate material (steel plate) having a substantially rectangular shape in plan view, and the vertical frame portions 110a and 110a are closed so as to close the openings defined by the vertical frame portions 110a and 110a and the horizontal frame portions 110c. It is fixed to the lower surface of the frame body 110 over substantially the entire length. In the base plate 111, a drive unit mounting position X for mounting the drive unit 14 is set at a predetermined position on one end side of the vertical frame units 110a and 110a, and the base plate 111 is set at a predetermined position on the other end side of the vertical frame units 110a and 110a. The steering unit mounting position Y for mounting the steering unit 15 (support seat 150 described later) is set. A pedestal 113 for fixing a worm reducer 140b (described later) of the drive unit 14 is attached to the drive unit attachment position X.

  On the other hand, a support seat insertion hole 117 for attaching the support seat 150 is formed in the steering portion mounting position Y. Each of the drive unit mounting position X (base 113) and the steering unit mounting position Y (support seat insertion hole 117) is centered on the center line of the chassis frame 11 (center line extending in the longitudinal direction). Is provided. The base plate 111 according to the present embodiment is provided so as to extend forward from one end in the longitudinal direction of the frame body 110, and a rotating lamp 119a and a headlamp 119b are installed in the extended portion. Yes.

  The connection mechanism attaching portion 112 is suspended from a substantially central portion at one end portion in the longitudinal direction of the frame main body 110. The connecting mechanism attaching portion 112 includes a frame plate 114a suspended from the horizontal frame portion 110c, and a horizontal frame portion 110c along the horizontal frame portion 110c that connects one end of the vertical frame portions 110a and 110a. ... and a reinforcing plate 114b that is suspended from the rear side of the frame plate 114a from the rear side of the frame plate 114a to the horizontal frame portion 110c, and is connected to the frame plate 114a. The frame plate 114a is formed with a through hole (not numbered) for insertion of a screw for fixing the connection base 100 of the connection mechanism 10 at a predetermined position on the lower end side.

  The connection mechanism 10 according to the present embodiment is extended on the connection base 100 so as to face the connection base 100 made of a plate material fixed to the frame plate 114a via screws and spaced in the vertical direction. The pair of connection arm portions 101 and 101 and the connection pin 102 inserted through the pair of connection arm portions 101 and 101 are configured. The connection mechanism 10 is configured such that a connection pin 102 is connected to the connection arm portions 101, 101 in a state where a connection portion 512 (a connection portion 512 of the connection vehicle 51 described later) of the carriage 5 is interposed between a pair of connection arm portions 101, 101. Further, the cart 5 is inserted into the connecting portion 512 so as to be connected to the cart 5 so as to be rotatable around the connecting pin 102.

  In the present embodiment, a sensor bracket 116 is attached to the lower end of the reinforcing plate 114b for attaching the sensor S for forcibly stopping the pipe transport traveling vehicle. As described above, since the vehicle body 1 includes the pair of guide rollers 16 and 16, the chassis frame 11 includes the roller support brackets 118 and 118 for supporting the pair of guide rollers 16 and 16. It extends on both sides. The roller support brackets 118 and 118 are fixed to the pair of vertical frame portions 110a and 110a so as to extend from the frame body 110 to the side.

  The power supply unit 12 includes a battery (not shown) as a rechargeable power supply source and a box-shaped battery storage case 120 that stores the battery. In the present embodiment, a commonly used automobile battery is adopted as the battery, and is directly or indirectly electrically connected to the electric motor M of the drive unit 14. That is, the battery is electrically connected so as to be able to supply electric power to the electric motor M according to the control of the control unit 13 and is accommodated in the battery accommodating case 120. In the present embodiment, a plurality of batteries are mounted in order to ensure an electric capacity for running (working) for a long time.

  The battery housing case 120 has a rectangular shape in plan view, the short side direction is set to a dimension greater than or equal to the short side dimension of the chassis frame 11, and the long side direction is approximately half the long side dimension of the frame body 110. Set to dimensions. The battery housing case 120 is fixed on the chassis frame 11 (the frame main body 110) so that the longitudinal center line thereof coincides with the longitudinal center line of the chassis frame 11, and a lid provided on the top thereof. The battery accommodated can be accessed by opening 120a.

  The control unit 13 includes substrates (not shown) such as a control substrate and a drive substrate, and a box-shaped control box 130 that accommodates the substrates.

  The boards include operating means (accelerator pedal (switch) AP, accelerator lever AL, button switch on the operation panel OP, lever switch (not shown), etc.) provided in the riding unit 2, and a drive unit 14. It is electrically connected to an electric motor M or the like. The control unit 13 (boards) according to the present embodiment adopts a chopper control method as a control method of the drive unit 14 (electric motor M described later), and operates the electric motor M (front wheel Ft) of the drive unit 14 by operating a lever switch. , Ft drive) is shifted (5-speed shifting in this embodiment).

  The control box 130 has a rectangular shape in plan view, and the short side direction is the short side direction dimension of the chassis frame 11, and is substantially the same as the dimension between the outer surfaces of the pair of vertical subframes arranged at intervals. The dimension is set to a dimension, and the longitudinal direction is set to approximately half the dimension of the frame body 110 in the longitudinal direction. Thereby, the control box 130 is set to have a shorter dimension in the short direction than the battery housing case 120. The control box 130 is fixed on the chassis frame 11 (frame main body 110) so that the longitudinal center line thereof coincides with the longitudinal center line of the chassis frame 11, and a lid 130a provided on the upper portion. It is possible to access the stored substrates by opening the door.

  In addition, the control box 130 has switches and warnings connected to the internal boards on the wall surface (the wall surface on one end side in the longitudinal direction of the control box 130) on the rear side with respect to the traveling direction during traveling. Lamps such as lights are installed. That is, switches and lamps are installed on the wall surface facing the driver of the riding unit 2, and the wall surface of the control box 130 is also used as the operation panel OP in the riding unit 2.

  The drive unit 14 includes an electric motor M, a speed reduction unit 140 to which the electric motor M is connected in a driving manner, and the front wheels Ft and Ft attached to an output shaft, and a brake unit that applies a braking force during traveling. 141. The electric motor M is a DC motor (DC series motor). The speed reduction means 140 includes a first speed reducer 140a that is drivingly connected to the output shaft of the electric motor M, and a second speed reducer 140b that is connected to the output shaft of the first speed reducer 140a. .

  A general reduction gear combining a plurality of spur gears is adopted as the first reduction gear 140a, and a worm reduction gear is adopted as the second reduction gear 140b.

  The second reducer 140b (worm reducer) includes a casing (not numbered), a worm wheel (not shown) rotatably mounted in the casing, and a worm wheel rotatably mounted in the casing. And a worm shaft (not shown) meshed with each other.

  The casing is fixed to the base 113 of the chassis frame 11 so that the axis of the worm shaft is substantially parallel to the longitudinal center line of the chassis frame 11. A front wheel axle 142 is attached to the worm wheel in a penetrating state so as to be non-rotatable so that the axis line coincides with the rotation center. The front wheel axle 142 extends to both sides of the worm wheel, and is provided with flanges (not shown) for attaching front wheels Ft and Ft (tire wheels) to both ends. Thus, the pair of left and right front wheels Ft and Ft are driven to rotate about the axis of the front wheel axle 142 when driven by the electric motor M.

  The worm shaft includes a worm portion that meshes with a worm wheel, and a shaft portion that extends concentrically from both ends of the worm portion. The worm shaft has a worm portion meshing with a worm wheel in the casing, and both shaft portions extend from the casing to the outside. One shaft portion is connected to the output shaft of the first speed reducer 140a, and the other shaft portion is attached with a brake disc 145 of a hydraulic brake 144 described later of the brake means 141.

  The brake means 141 employs an electromagnetic brake 143 attached to the electric motor M and a hydraulic brake 144 that applies physical braking to the worm shaft (the other shaft portion). The electromagnetic brake 143 employs a general configuration that brakes by exciting the output shaft of the electric motor M. On the other hand, the hydraulic brake 144 includes the brake disc 145 attached to the shaft portion of the worm shaft, and a pair of calipers 146 and 146 that sandwich the brake disc 145 by hydraulic operation. By operating the foot pedal FP, the pair of calipers 146 and 146 relatively approach each other to sandwich the brake disc 145 and brake the front wheels Ft and Ft via the worm speed reducer 140b. .

  The steering portion 15 is attached to a support seat 150 fixed to the steering portion attachment position Y of the base plate 111 and is rotatably attached to an axis (hereinafter referred to as a vertical axis) extending in the vertical direction with respect to the support seat 150. A rear wheel axle 151 for attaching the rear wheels Rt, Rt is provided with a shaft support 152 provided orthogonal to the vertical axis, and the shaft support 152 is rotated about the vertical axis to steer the rear wheels Rt, Rt. And a steering mechanism 17 for this purpose.

  The support seat 150 includes a cylindrical portion 150a that is inserted into a support seat insertion hole 117 formed in the base plate 111, and a flange portion 150b that extends around the entire circumference of the cylindrical portion 150a. By fixing 150b to the base plate 111, the axis of the hole of the cylindrical portion 150a is positioned in the vertical direction.

  The shaft support portion 152 includes a pin portion 152a inserted into the support seat 150 (cylindrical portion 150a), a large diameter portion 152b that is coaxial with the pin portion 152a and has a larger diameter than the pin portion 152a, A pair of rear wheel axles 151 are provided which extend to both sides of the large diameter portion 152b so as to be orthogonal to the large diameter portion 152b and to which the rear wheels Rt and Rt are attached.

  The pin portion 152a is inserted from below into the support seat 150 (cylindrical portion 150a), and a retaining plate (not numbered) is attached to the upper end. As a result, the pin portion 152a is prevented from coming off from the support seat 150 and can be rotated around the vertical axis.

  The large-diameter portion 152b is provided with a bracket 153 that extends forward along the vertical axis. A pair of dampers D are provided on both sides of the bracket 153 so that the axis extends in a direction substantially orthogonal to the bracket 153. Each damper D has a base end fixed to the chassis frame 11 and one end fixed to the bracket 153. Accordingly, the posture of the shaft support portion 152 is corrected by the biasing force of the damper D so that the axis of the rear wheel axle 151 is oriented in a direction orthogonal to the longitudinal direction (normal traveling direction) of the chassis frame 11. .

  Further, the large-diameter portion 152b has a pair of rod brackets 154 for connecting a pair of steering rods 173 and 173, which will be described later, to the upper end portion (below the pin portion 152a) and both left and right sides (rear wheels Rt, Rt and So as to face each other. Each of the pair of rear wheel axles 151 is fixed so as not to rotate with respect to the large-diameter portion 152b, and rear wheels Rt, Rt (tire wheels) via bearings (not shown) at respective front end portions. Is attached. Accordingly, the pair of rear wheels Rt and Rt are rotatable around the axis of the rear wheel axle 151.

  As shown in FIG. 4, the steering mechanism 17 includes a worm type speed reducer (hereinafter referred to as a steering worm speed reducer) 170, a main shaft 171 passing through a worm wheel 170a of the steering worm speed reducer 170, and the main shaft 171. And a pair of steering rods 173 and 173 for connecting the arm members 172 and 172 to the rod brackets 154 and 154, respectively.

  The steering worm speed reducer 170, like the worm speed reducer of the drive unit 14, is a casing 170b, a worm wheel 170a rotatably mounted in the casing 170b, and a casing 170b. A worm shaft 170c meshed with the worm wheel 170a.

  The casing 170b is disposed below the control unit 13 so that the axis of the worm shaft 170c is substantially parallel to the longitudinal center line of the chassis frame 11, and is fixed to the frame body 110. ing. A main shaft 171 that penetrates the worm wheel 170a so that its axis coincides with the center of rotation is non-rotatably attached. The worm shaft 170c includes a worm portion 174 that meshes with the worm wheel 170a, and a shaft portion 175 that extends concentrically from one end of the worm portion 174. The shaft 175 extends rearward from the casing 170b and has a handle H attached to the end thereof.

  The main shaft 171 inserted through the worm wheel 170a extends substantially equally to the left and right with respect to the worm wheel 170a, and the pair of arm members 172 and 172 are attached to each end. The pair of arm members 172 and 172 are attached to the main shaft 171 so as to be shifted from each other by 180 ° around the axis of the main shaft 171. Of the pair of steering rods 173 and 173, one steering rod 173 has one end pivoted to the tip of one arm member 172 and the other end to one rod bracket 154. It is pivotally attached. The other steering rod 173 has one end pivotally attached to the tip of the other arm member 172 and the other end pivotally attached to the other rod bracket 154.

  As a result, the steering mechanism 17 operates the steering worm speed reducer 170 via the handle H and rotates the pair of arm members 172 and 172 around the axis of the main shaft 171, whereby a pair of steering rods 173 and 173. 173 applies a rotational force in the same direction around the vertical axis to the shaft support 152, and the pair of rear wheels Rt and Rt can be steered by rotating (clockwise and counterclockwise) around the vertical axis.

  Returning to FIGS. 1 to 3, the steering mechanism 17 configured as described above is covered with a cover 180 except for a part of the steering wheel H and the steering worm speed reducer 170. The cover 180 hangs from the outer surface of the vertical sub-frame portions 110b and 110b of the chassis frame 11 so that the steering mechanism 17 is interposed, and a pair of cover walls extending rearward from the other end of the chassis frame 11. 181 and 181 and a rear cover wall 182 that connects rear ends of the pair of cover walls 181 and 181, and a steering worm speed reducer 170 from between upper ends of the pair of cover walls 181 and 181. A part (the upper part of the casing 170b in which the worm shaft 170c is housed) protrudes upward. In the pipe transport traveling vehicle according to the present embodiment, a shift switch unit SU for shifting (chopper controlling) the drive unit 14 is disposed on the casing 170b of the steering worm speed reducer 170. By operating the accelerator lever AL of the speed change switch unit SU, the speed can be changed between the first speed and the fifth speed.

  Each of the pair of guide rollers 16 and 16 is pivotally supported by roller support arm members 160 and 160 that are fixed to the roller support brackets 118 and 118 and extend outward. In the present embodiment, the pair of guide rollers 16 and 16 are arranged so that the grounding with respect to the inner peripheral surface of the pipe line A is at a position at substantially the same level as the front wheels Ft and Ft or the rear wheels Rt and Rt. ing. That is, in this embodiment, a pair of roller supporting arm members 160, 160 extending from both the left and right sides are extended obliquely downward (inclined at 90 ° or less with respect to the center line extending in the vertical direction). The guide rollers 16, 16 are pivotally supported at the tips of the roller supporting arm members 160, 160.

  The riding section 2 according to the present embodiment is provided at the tail end of the pipe transport traveling vehicle, and a step section for arranging the seat section 20 on which the driver is seated and the driver's legs seated on the seat section 20. 21 and an operation unit 22 that is operated by a driver seated on the seat unit 20.

  The seat unit 20 includes a seat body 200 on which the driver's buttocks are placed and a backrest 201 that causes the driver's back to bend.

  The seat body 200 is disposed at a position lower than the axles 142 and 151 of the front wheels Ft and Ft and the rear wheels Rt and Rt, and is provided to extend rearward from the rear cover wall 182 of the cover 180. It has been. The seat body 200 according to the present embodiment is provided so as to extend from the rear cover wall 182 to both sides of the pair of cover walls 181 and 181. That is, the seat body 200 according to the present embodiment is provided so as to surround the cover 180 (the pair of cover walls 181 and 181 and the rear cover wall 182). The sheet main body 200 is formed in a plate shape, and is provided with reinforcing ribs 202 that are erected on both the left and right sides. Further, a traction hook 203 is provided at the rear end portion of the seat body 200 so as to protrude rearward.

  The backrest 201 is provided so as to be at least tiltable to the rear side (can be reclined). That is, the backrest 201 is pivotally attached to the rear end portion of the seat body 200 so that the backrest 201 can be rotated around the pivot shaft. The seat portion 20 according to the present embodiment is configured so that the tilt angle of the backrest 201 can be adjusted.

  Specifically, the seat portion 20 is provided with a link body 204 that connects the reinforcing rib 202 of the seat body 200 and the side portion of the backrest 201. One end of the link body 204 is pivotally attached to the backrest 201, and a slide pin P that is fitted into a slide hole LH provided in the reinforcing rib 202 of the seat body 200 is provided at the other end. The link body 204 includes a first link body 204a whose one end is pivotally attached to the backrest 201 and a second link body 204b provided with the slide pin P at one end.

  The first link body 204a and the second link body 204b are set to have a length in which the other end portions are overlapped with each other, and a plurality of pins P1 for connecting them at intervals in the longitudinal direction are inserted into regions overlapping each other. Holes PH are formed. After adjusting the overlap amount of the other end side of the first link body 204a and the second link body 204b, the length of the link body 204 is adjusted by inserting the pin P1 through the overlapping holes PH. The tilt angle of the backrest 201 can be adjusted. Further, in an emergency, by pulling out the pin P1 that connects the first link body 204a and the second link body 204b, the connection is released, and the backrest 201 tilts backward. In addition, on the back surface of the backrest 201, a headlamp BL that illuminates the approach path side of the pipeline A is disposed.

  The step portion 21 is provided on both sides of the cover 180, is provided so as to be inclined downward from the chassis frame 11 toward the rear side, and has a seat portion 20 (a lower end extending to both sides of the cover walls 181, 181. Sheet body 200). Accordingly, the seat unit 20 according to the present embodiment allows the driver seated on the seat body 200 to put his / her feet on the front step parts 21 with the cover 180 (cover walls 181 and 181) sandwiched between both legs. It can be arranged. An accelerator pedal (switch) AP is provided in one step portion 21 (step portion 21 on the right side in the traveling direction in the drawing), and the other step portion 21 (step portion 21 on the left side in the traveling direction in the drawing) is provided. Is provided with a foot pedal FP for operating the brake means 141 (hydraulic brake 144).

  The operation unit 22 includes the handle H, an accelerator lever AL, an operation panel OP, and the like. As described above, the operation unit 22 is disposed so as to face the driver seated on the seat unit 20 (the seat body 200). Each can be operated by the driver.

  The traveling vehicle for pipe conveyance according to the present embodiment is as described above. Next, an example of the carriage 5 that supports the new pipe B to be inserted into the pipe line A will be described.

  As shown in FIG. 1, the carriage 5 employed in the present embodiment is attached to a leading carriage 50 that is attached to one end of the new pipe B that becomes the leading end when inserted, and to the other end of the new pipe B that becomes the trailing end when inserted. The connecting carriage 51 is connected to the pipe transporting vehicle.

  As shown in FIGS. 5A and 5B, the head carriage 50 according to the present embodiment is composed of a pair of separate carriages 50a and 50a attached to the new pipe B at intervals in the circumferential direction. Yes. Each of the separate carts 50 a and 50 a includes a clamp portion 500 that sandwiches the end portion of the new pipe B, and a caster portion 501 connected to the clamp portion 500. The clamp portion 500 is configured as a so-called vise and is configured to be fixed by sandwiching one end portion of the new tube B. The caster unit 501 includes a caster 502 formed of a free roller and a frame 503 that is pivotally supported by the caster 502 and connected to the clamp unit 500.

  The leading cart 50 (a pair of separate carts 50a and 50a) having the above-described configuration has two caster portions 501 by fixing the clamp portion 500 to the end portion of the new tube B so that the caster portion 501 is positioned on the outside. The one end part of the new pipe B can be supported via the.

  As shown in FIGS. 6A to 6C, the connecting cart 51 includes a pair of cart portions 510 and 510, a connecting frame 511 connecting the pair of cart portions 510 and 510, and a connecting frame 511. And a connecting portion 512 configured to be connectable to the connecting mechanism 10. The pair of cart portions 510 and 510 are configured in the same manner as the separate carts 50a and 50a, and include a clamp portion 500 ′ that sandwiches an end portion of the new pipe B, and a caster portion 501 ′ that is connected to the clamp portion 500 ′. And. The pair of cart portions 510 and 510 are connected by a connecting frame 511 after the clamp portion 500 ′ is arranged so as to fix the end portion of the new tube B with an interval in the circumferential direction of the new tube B. ing. The connecting portion 512 is provided so as to extend from the connecting frame 511 so as to be positioned at an intermediate position between the two caster portions 501 ′ and 501 ′. In this embodiment, since the connecting mechanism 10 is configured to be connected by pin coupling, the connecting portion 512 has a connecting hole (not numbered) for inserting the connecting pin 102 in the vertical direction. It is drilled through in the direction.

  The pipe transport traveling vehicle according to the present embodiment and the cart 5 as an example connected thereto are configured as described above. Next, the new pipe B is connected to the existing pipe line A (by the pipe transport vehicle and the cart 5 ( The operation at the time of insertion into a small-diameter pipe A) having an inner diameter of approximately 1 m will be described. In addition, since it is normal that an operator is waiting in the piping line A to connect the new pipes B sequentially inserted into the existing piping path A in the piping path A, respectively. The description will be made on the assumption of this state.

  First, as shown in FIG. 1, the leading carriage 50 and the connecting carriage 51 are attached to the new pipe B, and the connecting portion 512 of the connecting carriage 51 is connected to the connecting mechanism 10 of the pipe transfer traveling vehicle. Then, when the driver who gets on the riding part 2 depresses the accelerator pedal AP, the front wheels Ft and Ft are driven via the electric motor M of the driving part 14, and the traveling vehicle for transporting the pipe starts with the new pipe B as the head. Start running. At this time, the steering wheel H is operated to steer the rear wheels Rt and Rt, and the traveling direction (posture) of the new pipe B (cart 5) is corrected by correcting the traveling direction of the tube transport traveling vehicle. The new pipe B will be inserted into the pipe line A. As described above, the traveling vehicle for pipe transportation according to the present embodiment has a small turning radius because the wheel base is narrowed and the minimum turning radius is reduced. The traveling direction of the new pipe B (cart 5) can be corrected in a narrow space.

  Then, when the new pipe B and the pipe transportation traveling vehicle enter the piping path A, the driver operates the accelerator lever AL so that the pipe transportation traveling vehicle pushes the new pipe B (cart 5) to the piping path. Drive while shifting (acceleration) toward the back of A. Since the tube transportation traveling vehicle according to the present embodiment has the riding section 2 provided at the tail, the height of the vehicle body 1 is low, and the seat body 200 on which the driver is seated is at a low position. It is possible to smoothly travel on the small-diameter pipe line A.

  Then, when the new pipe B is inserted into the pipe A in this way, for example, because the arrangement of the carriages 5 (the leading carriage 50 and the connecting carriage 51) attached to the new pipe B is not appropriate. When B meanders in the pipeline A or pushes up (rolls) the inner peripheral surface of the pipeline A, the driver of the riding section 2 operates the handle H to steer the rear wheels Rt and Rt. This corrects the traveling direction (posture) of the new tube B. At this time, the steered rear wheels Rt and Rt travel in the inner circumferential direction of the pipe line A. However, the pipe transport traveling vehicle according to the present embodiment has the front wheels Ft and Ft and the rear wheels Rt as described above. , Rt (the wheel base) is short (the minimum turning radius of the pipe transporting vehicle itself is small), so that a small turn occurs and the pipe A does not roll greatly.

  In particular, in the present embodiment, since the rear wheels Rt and Rt are steered, the conversion of the travel direction of the tube transport traveling vehicle is ensured as a lateral pushing action on the new tube B (cart 5). The travel direction of the new tube B can be corrected accurately and promptly. That is, when the rear wheels Rt and Rt are steered, the distance from the connecting pin 102 to the steered wheels is longer than when the front wheels Ft and Ft are steered, and compared with the case where the front wheels Ft and Ft are steered. The direction of travel of the new pipe B is corrected quickly (rolling correction). Even if the travel amount of the rear wheels Rt, Rt in the circumferential direction of the pipe line A increases due to an erroneous operation or the like of the driving operation, the pipe transfer traveling vehicle is provided with guide rollers 16, 16 on both the left and right sides. Therefore, as a result of being supported by the guide rollers 16 and 16, rollover in the pipe line A is also prevented.

  Then, the pipe is transported to a position that is a predetermined distance away from the working position of the worker who is waiting or working in the pipe A on the entrance side of the pipe A (a position that is further than the full length of the new pipe B). An object to be detected (for example, a magnetic body when the sensor S is a magnetic sensor) that is a detection target of the sensor S of the vehicle traveling vehicle is arranged in advance, and the sensor S provided on the tube transportation traveling vehicle includes: When an object to be detected is detected, the supply of electricity to the electric motor M is stopped based on the detection result, and braking is applied by the brake means 141.

  Thereby, even if it is difficult to visually recognize the front in the traveling direction by providing the riding part 2 at the end, the new pipe B to be inserted and the traveling vehicle for pipe conveyance can be stopped at an appropriate position. Accidents such as the new pipe B being inserted coming into contact with workers or tools in the pipe A are prevented. Then, after the connection between the pipe transport traveling vehicle and the carriage 5 is released, the tube transport traveling vehicle is caused to travel backward to complete the insertion of the new pipe B. In addition, since the traction hook 203 is provided at the rear part of the pipe conveyance traveling vehicle, a roll or the like connected to the outside is connected to the traction hook 203, and the pipe conveyance vehicle is brought outside by pulling the rope. Needless to say, it may be pulled back.

  On the other hand, when stopping while transporting the new pipe B, the foot pedal FP is depressed to stop at an arbitrary position. And when some accident etc. occur in the piping line A, after stopping at an arbitrary position as mentioned above, the backrest 201 of the riding part 2 is tilted backward. That is, the coupling pin of the link body 204 is pulled out to release the connection between the first link body 204a and the second link body 204b, and the backrest 201 is tilted backward. Then, since the boarding part 2 is located at the tail end of the pipe transportation traveling vehicle, the escape route to the entrance side of the pipeline A is secured by tilting the backrest 201 backward. As a result, the driver can evacuate smoothly to the entrance side without having to get over the pipe transfer traveling vehicle itself.

  As described above, the pipe transport vehicle according to the present embodiment supports the new pipe B inserted into the existing pipe line A while the front wheels Ft and Ft and the rear wheels Rt and Rt are provided on both the left and right sides. A connecting mechanism 10 for connecting a cart 5 is provided with a vehicle main body 1 provided in front of the front wheels Ft and Ft, and a riding section 2 on which a driver gets, and the vehicle main body 1 includes the rear wheel Rt. , Rt are configured to be steerable, and the front wheels Ft, Ft are configured to be driven, so that stable running is performed in the pipeline A without laying rails that cause cost increases. be able to.

  Moreover, since the boarding part 2 is provided in the back of the vehicle main body 1, a driver | operator's safety can be ensured. That is, by narrowing the distance (foil base) between the front wheels Ft, Ft and the rear wheels Rt, Rt, it is possible to prevent rolling or rollover around the center in the pipe line A. Further, by providing the riding section 2 behind the rear wheels Rt, Rt, there is no axle or the like connected to the rear wheels Rt, Rt behind the rear wheel Rt, Rt, so that the driver can quickly You can escape to the entrance side.

  Further, since the pair of rear wheels Rt, Rt is configured to be steerable, the rear wheel Rt, Rt to be steered is located at a position close to the riding portion 2 in the rear transportation vehicle according to the present embodiment. The steering state of the wheels Rt and Rt can be easily confirmed, and the operability can be improved. Further, when steering is performed to correct the posture of the new pipe B being inserted, the front wheels Ft and Ft side (the coupling mechanism 10 side) are largely left and right even if the rear wheels Rt and Rt side move little in the circumferential direction of the pipe line A. The traveling direction of the new pipe B on the carriage 5 can be quickly corrected.

  Furthermore, since the said boarding part 2 is provided with the backrest 201 which can be tilted back at least while being provided in the tail, what inhibits a driver | operator's movement by tilting the backrest 201 back is provided. It is no longer behind the driver, and the driver can escape or rescue very quickly in an emergency. In this way, the driver can be escaped or rescued smoothly and quickly, so that the vehicle can be quickly removed by pulling the traveling vehicle for transporting the pipe through the rope hung on the tow hook 203. An escape route for workers on the road can be quickly secured.

  Further, in the traveling vehicle for pipe conveyance according to the present embodiment, the vehicle main body 1 includes at least a pair of guide rollers 16 and 16 on both the left and right sides, and each guide roller 16 and 16 is on the inner peripheral wall surface of the pipe line A during traveling. Since the vehicle main body 1 can be guided by rolling, rollover in the pipe line A can be more reliably prevented without impeding travel of the vehicle.

  In addition, the pipe conveyance vehicle of the present invention is not limited to the above embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

In the above embodiment, the rear wheels Rt and Rt are configured to be steerable while driving the front wheels Ft and Ft. However, the present invention is not limited to this. For example, the rear wheels Rt and Rt can be driven and steered. The configuration (RR 1 ) may be used. That is, the vehicle body 1, the rear wheels Rt, together with R t is configured to be steered, the front wheel Ft, Ft and the rear wheels Rt, may be at least one structure in which one is driven Rt.

Even in this case, the riding portion 2 is provided at the rear of the vehicle main body 1, so that the distance between the front wheels Ft, Ft and the rear wheels Rt, Rt can be reduced to reduce the minimum turning radius. The operability can be improved .

  In the above embodiment, the wheels (front wheels Ft, Ft) are driven by the electric motor M. However, the present invention is not limited to this, and the drive system that drives the wheels emits exhaust gas that is toxic to the human body. Various things can be adopted as long as they do not occur.

  In the above embodiment, the front wheels Ft, Ft and the rear wheels Rt, Rt are provided one by one on the left and right, but the present invention is not limited to this. For example, two wheels are provided on both the left and right. Of course, it may be a double tire. Further, the front wheels Ft, Ft and the rear wheels Rt, Rt are not limited to tubeless tires, but may be tube tires or the like.

  In the above-described embodiment, the backrest 201 that can be tilted backward is provided on the seat portion 20 of the riding portion 2. However, for example, the seat portion 20 may be configured so that the driver can ride in a substantially supine state. In this way, since there is no standing member like the backrest 201, it is possible to escape to the entrance side without performing an operation that tilts the backrest 201 in an emergency.

  In the above-described embodiment, the link body 204 that connects the seat body 200 and the backrest 201 is constituted by the separable first link body 204a and the second link body 204b, and the backrest is formed by separating them in an emergency. For example, as shown in FIG. 7, the slide pin P is engaged with the lower end portion of the slide hole LH provided in the reinforcing rib 202 extending in the longitudinal direction at an interval in the longitudinal direction. May be formed. In this case, if the slide pin P and the recesses 250 are engaged, the backrest 201 can be maintained at an inclination angle corresponding to the arrangement of the recesses 250, while the engagement between the slide pin P and the recesses 250. If the combined state is released, the backrest 201 can be tilted backward. Therefore, the link body 204 in this case may be a single one.

  In the above-described embodiment, the carriage 5 connected to the pipe transfer traveling vehicle is composed of the leading carriage 50 and the coupling carriage 51, and is composed of a pair of separate carriages 50a and 50a obtained by dividing the leading carriage, but is not limited thereto. For example, like the connecting cart 51, a pair of separate carts 50a and 50a may be connected to each other. Further, the carriage 5 connected to the pipe transfer traveling vehicle is not limited to the one constituted by the independent leading carriage 50 and the connecting carriage 51, and is disposed, for example, on the leading side of the new pipe B. The caster and the caster arranged on the rear end side may be connected via a frame, and the new pipe may be arranged on the frame. However, in consideration of taking down the new pipe from the carriage in the pipeline, it is preferable to perform the same as in the above embodiment.

It is the whole traveling vehicle for pipe conveyance concerning one embodiment of the present invention, and shows the state where a new pipe is inserted in an existing piping way (it runs in a piping way). It is a whole side view including the partial cross section of the pipe conveyance traveling vehicle which concerns on the embodiment, Comprising: A new pipe is inserted in the existing piping path (it drive | works in a piping path). BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall plan view including a partial cross section of a pipe transfer traveling vehicle according to an embodiment of the present invention, showing a state where a new pipe is inserted into an existing pipe line (travels in the pipe line). The schematic perspective view for demonstrating the steering mechanism of the pipe conveyance vehicle which concerns on the same embodiment is shown. It is explanatory drawing for demonstrating the trolley | bogie connected with the traveling vehicle for pipe conveyance which concerns on the embodiment, Comprising: (a) shows the side view of the separate trolley | bogie which comprises a head trolley | bogie, (b) is a head trolley | bogie. The front view of the separate trolley | bogie which comprises is shown. It is explanatory drawing for demonstrating the trolley | bogie connected with the traveling vehicle for pipe conveyance which concerns on the same embodiment, Comprising: (a) shows the side view of a connection trolley | bogie, (b) shows the front view of a connection trolley | bogie. , (C) shows a plan view of the connecting cart. The elements on larger scale of the sheet | seat part of the traveling vehicle for pipe conveyance which concerns on other embodiment are shown.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Vehicle main body, 2 ... Riding part, 5 ... Carriage, 10 ... Connection mechanism, 11 ... Chassis frame, 12 ... Power supply part, 13 ... Control part, 14 ... Drive part, 15 ... Steering part, 16 ... Guide roller, DESCRIPTION OF SYMBOLS 17 ... Steering mechanism, 20 ... Seat part, 21 ... Step part, 22 ... Operation part, 50 ... Leading car, 50a ... Separate car, 51 ... Connection car, 100 ... Connection base, 101 ... Connection arm part, 102 ... Connection pin 110 ... Frame body, 110a ... Vertical frame portion, 110b ... Vertical subframe portion, 110c ... Horizontal frame portion, 110d ... Horizontal subframe portion, 111 ... Base plate, 112 ... Connection mechanism mounting portion, 113 ... Base, 114a ... Frame Plate, 114b ... reinforcing plate, 116 ... sensor bracket, 117 ... support seat insertion hole, 118 ... roller support bracket, 19a ... Rotating light, 119b ... Headlight, 120 ... Battery housing case, 120a ... Lid, 130 ... Control box, 130a ... Lid, 140 ... Deceleration means, 140a ... First reduction gear, 140b ... Second reduction gear, 141 DESCRIPTION OF SYMBOLS ... Brake means, 142 ... Front wheel axle, 143 ... Electromagnetic brake, 144 ... Hydraulic brake, 145 ... Brake disk, 146 ... Caliper, 150 ... Support seat, 150a ... Cylindrical part, 150b ... Flange part, 151 ... Rear wheel axle , 152 ... shaft support part, 152a ... pin part, 152b ... large diameter part, 153 ... bracket, 154 ... rod bracket, 160 ... arm member for roller support, 170 ... worm reduction gear for steering, 170a ... worm wheel, 170b ... Casing, 170c ... Worm shaft, 171 ... Main shaft, 172 ... Arm member 173 ... Steering rod, 174 ... Worm part, 175 ... Shaft part, 180 ... Cover, 181 ... Cover wall, 182 ... Back cover wall, 200 ... Seat body, 201 ... Backrest, 202 ... Reinforcement rib, 203 ... Traction hook , 204, link body, 204 a, first link body, 204 b, second link body, 250, recessed portion, 500, 500 ′, clamp portion, 501, 501 ′, caster portion, 502, 502 ′, caster, 503, 503 '... Frame, 510 ... Carriage part, 511 ... Connection frame, 512 ... Connection part, Ft ... Front wheel, Rt ... Rear wheel, A ... Pipeway, B ... New pipe, AL ... Accelerator lever, AP ... Accelerator pedal, FP ... Foot pedal, OP ... Control panel, BL ... Backlight, D ... Damper, H ... Handle, LH ... Slide hole, M ... Electric motor, P ... Slide pin, P1 ... Pin , PH ... hole, S ... sensor, SU ... shift switch unit, X ... drive portion mounting position, Y ... steering portion mounting position

Claims (3)

A vehicle main body in which front wheels and rear wheels are provided on both the left and right sides, and a connecting mechanism for connecting a carriage supporting a new pipe inserted into an existing pipe line is provided in front of the front wheels, and a driver there a tube conveying traveling vehicle having a riding portion that rides, the vehicle body is provided with a steering unit for steering the front Symbol rear wheels, so that at least one of the front and rear wheels are driven The riding part is provided at the rear of the vehicle main body and has a seat part on which the driver sits, and the seat part is a seat main body on which the driver's buttocks rests. The steering unit is disposed at a position lower than the axles of the front and rear wheels, and the steering unit is fixed to a steering unit mounting position set on a chassis frame of the vehicle body, and is vertically Around the axis extending in the direction A shaft support portion that is mounted in such a manner that a rear wheel axle for mounting a rear wheel is provided orthogonal to the axis, and a steering mechanism for steering the rear wheel by rotating the shaft support around the axis The steering mechanism includes a worm speed reducer, a main shaft penetrating the worm wheel of the worm speed reducer, a pair of arm members fixed to both ends of the main shaft, and extending on the left and right sides of the shaft support portion. A pair of steering rods that connect each of the pair of brackets for the rod and each of the arm members, and concentrically extends from the worm shaft meshing with the worm wheel in the worm speed reducer toward the riding portion. A traveling vehicle for conveying a pipe , wherein a handle is attached to a shaft portion . The travel vehicle for transporting a pipe according to claim 1 , wherein the seat portion includes a backrest that can tilt at least rearward . The vehicle body includes at least a pair of guide rollers on both right and left sides, and each guide roller is provided so as to be able to guide the vehicle body by rolling on the inner peripheral wall surface of the piping path during traveling. A traveling vehicle for conveying a pipe according to 1.

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