JP7153262B2 - moving device - Google Patents

Description

The present invention can be used in narrow spaces formed by closely spaced walls, such as inside various pipes, between flanges of H-beams, between lips of I-beams and channel steels, or inside rubble. It relates to moving mobile devices.

2. Description of the Related Art Conventionally, various mobile devices for moving in narrow spaces have been proposed and put into practical use for the purpose of inspecting and maintaining the interiors of various buildings and machines, or searching in the event of a disaster.

For example, Patent Document 1 discloses an elastic tube whose cross-sectional shape can be elastically deformed by the pressure of fluids separately supplied from the distal end side and the proximal end side, and a longitudinal extension of the elastic tube according to the change in the cross-sectional shape of the elastic tube. and a brake provided on the slider unit that is deformable in the radial direction of the elastic tube to allow sliding contact with an object. Disclosed are moving devices arranged side by side on the distal end side of the .

In such a moving device, the first drive unit moves the slider unit with respect to the elastic tube and brakes the elastic tube in the radial direction by controlling the fluid supplied to the distal end side and the proximal end side of the elastic tube. Transformation is possible. Similarly, the second drive unit realizes movement of the slider unit with respect to the elastic tube and deformation of the brake in the radial direction of the elastic tube through control of the fluid supplied to the distal end and the proximal end of the elastic tube. It is possible. By appropriately combining these operations, the guide tube or the like can be moved back and forth in the pipe or the like by self-propelled movement.

WO2016/136511

However, in the technique disclosed in Patent Document 1, the slider unit provided on the outer circumference of the guide tube is structurally rigid and has a larger diameter than the guide tube. Therefore, for example, it may be difficult to pass the slider unit accurately through an L-shaped bent pipeline portion. In particular, when there is a step in the bent pipeline, the end of the slider unit collides with the step in the curved pipeline, making it more difficult to quickly pass through the curved pipeline. .

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned circumstances, and provides a moving device capable of accurately passing a slider unit through a bent pipe line portion or the like even when the bent pipe line portion or the like exists in a narrow space. intended to provide

A moving device according to an aspect of the present invention includes an elastic tube whose cross-sectional shape can be elastically deformed according to internal pressure applied by a fluid, and advances and retreats in a longitudinal direction of the elastic tube according to a change in cross-sectional shape of the elastic tube. a movable slider unit; a leading member having a sliding surface and connected to an end of the slider unit; and a connecting member displaceably connecting the leading member to the slider unit. , the sliding surface has a tapered shape that is set so that the outer diameter thereof becomes smaller on the side away from the slider unit .
A moving device according to another aspect of the present invention includes an elastic tube whose cross-sectional shape can be elastically deformed according to internal pressure applied by a fluid, and an elastic tube that advances and retreats in a longitudinal direction according to a change in cross-sectional shape of the elastic tube. a movable slider unit; a leading member having a sliding surface and connected to an end of the slider unit; and a connecting member displaceably connecting the leading member to the slider unit. , the sliding surface has an outer diameter that varies along the longitudinal direction.
A moving device according to another aspect of the present invention includes an elastic tube whose cross-sectional shape can be elastically deformed according to internal pressure applied by a fluid, and an elastic tube that advances and retreats in a longitudinal direction according to a change in cross-sectional shape of the elastic tube. a movable slider unit; a leading member having a sliding surface and connected to an end of the slider unit; and a connecting member displaceably connecting the leading member to the slider unit. , the connecting member has an adjusting mechanism for adjusting the longitudinal position of the leading member relative to the slider unit.

According to the moving device of the present invention, the slider unit can be caused to pass through the curved pipeline portion or the like even when the curved pipeline portion or the like exists in the narrow space.

Schematic diagram of moving device The perspective view which shows the principal part of a moving apparatus Perspective view of the first drive unit Exploded perspective view of the first drive unit Cross-sectional view along line VV in FIG. Perspective view of roller FIG. 2 is a perspective view of the first drive unit when the first brake is in an activated state; FIG. 2 is an exploded perspective view showing the essential parts of the brake member; FIG. 4 is a cross-sectional view of a main part schematically showing the first drive unit when the first brake is in a non-operating state inside the pipe; FIG. 4 is a cross-sectional view of a main part schematically showing the first drive unit when the first brake is activated in the pipe; FIG. 4 is a cross-sectional view of a main part schematically showing the state of the first slider unit when passing through the bent pipeline portion of the pipe; Fig. 4 is a cross-sectional view of the main part schematically showing the auxiliary brake unit when the auxiliary brake is in operation inside the pipe; Explanatory drawing schematically showing the state of the moving device when the second drive unit passes through the bent pipeline of the pipe. Explanatory drawing schematically showing the state of the moving device when the second drive unit passes through the bent pipeline of the pipe. Flowchart showing a procedure for moving a mobile device in a normal state Explanatory drawing schematically showing the state of the moving device when the second drive unit passes through the bent pipeline portion of the pipe. Explanatory drawing schematically showing the state of the moving device when the second drive unit passes through the bent pipeline portion of the pipe. Flowchart showing a procedure for moving the moving device that can be executed when passing through the curved pipeline section A side view schematically showing a first drive unit according to a first modification. Perspective view of a first drive unit according to a second modification Perspective view of a first drive unit according to a third modification Perspective view of a first drive unit according to a fourth modification Perspective view of a first drive unit according to a fifth modification Ditto, cross-sectional perspective view showing the main part of the leading mechanism Sectional perspective view showing a main part of the leading mechanism according to the sixth modification Perspective view of the leading mechanism according to the seventh modification Perspective view of the leading mechanism according to the eighth modification Perspective view of the leading mechanism according to the ninth modification Perspective view of the leading mechanism according to the tenth modification Perspective view of the leading mechanism according to the eleventh modification A plan view showing a leaf spring ring according to a twelfth modification

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings relate to one embodiment of the present invention, FIG. 1 is a schematic configuration diagram of a moving device, FIG. 2 is a perspective view showing a main part of the moving device, FIG. 5 is a cross-sectional view along line VV in FIG. 4, FIG. 6 is a perspective view of the rollers, and FIG. 7 is the first drive when the first brake is activated. A perspective view of the unit, FIG. 8 is an exploded perspective view showing the main part of the brake member, and FIG. 9 is a cross section of the main part schematically showing the first drive unit when the first brake is in a non-operating state in the pipe. FIG. 10 is a cross-sectional view of the main part schematically showing the first drive unit when the first brake is activated in the pipe; FIG. FIG. 12 is a cross-sectional view of the essential parts schematically showing the state of the slider unit of FIG. Explanatory diagrams schematically showing the state of the moving device when the second drive unit passes through the curved pipeline, FIG. 15 is a flow chart showing the moving procedure of the moving device in normal time, FIGS. An explanatory view schematically showing the state of the moving device when the second drive unit passes through the pipeline, and FIG. 18 is a flow chart showing a procedure for moving the moving device that can be executed when passing through the bent pipeline. .

The moving device 1 shown in FIG. 1 is applied to a guide tube 5 for guiding an endoscope 7 (see FIGS. 2 and 3) in a pipe 100 (see FIGS. 9 to 14) provided in a building or the like, for example. It is The moving device 1 includes a first drive unit 2A, a second drive unit 2B connected to the base end side of the first drive unit 2A, and a drive unit 2B connected to the base end side of the second drive unit 2B. A guide tube 5 is provided with a connected auxiliary brake unit 3 . Further, the moving device 1 has a fluid adjusting section 4 capable of supplying or discharging air as a fluid to the first and second drive units 2A, 2B and the auxiliary brake unit 3. As shown in FIG.

Here, the guide tube 5 is mainly composed of, for example, a long flexible tube made of polyurethane or the like. there is

As shown in FIGS. 1 to 4 and 9 to 11, the cross-sectional shape of the first drive unit 2A is elastically deformed (expanded and contracted) according to the internal pressure applied by the fluid supplied from the fluid adjustment section 4. ) a first elastic tube 10A as a possible first tube body, and a first elastic tube 10A capable of longitudinally moving back and forth on the first elastic tube 10A according to a change in the cross-sectional shape of the first elastic tube 10A. 1 slider unit 20A and a first brake 30A provided on the first slider unit 20A.

The first elastic tube 10A is composed of an elastic member such as a rubber tube. The first elastic tube 10A has a first flexible tube 11A as a first tube body inserted through the inner surface thereof, and a first mesh tube 12A covering the outer surface thereof.

The first flexible tube 11A is composed of, for example, a tube made of polyurethane or the like having rigidity that prevents deformation against the internal pressure of the first elastic tube 10A. The outer diameter of the first flexible tube 11A is equal to the inner diameter of the first elastic tube 10A or slightly larger than the inner diameter of the first elastic tube 10A. As a result, the inner peripheral surface of the first elastic tube 10A in the natural state is brought into surface contact with the outer peripheral surface of the first flexible tube 11A, and the first flexible tube 11A has a predetermined flexibility. to support the first elastic tube 10A. Also, the inner diameter of the first flexible tube 11A is formed to be the same as the inner diameter of the guide tube 5, so that the interior of the first flexible tube 11A is formed as a series of channels 11a with the channel 5a of the guide tube 5. is set.

The first mesh tube 12A is composed of a tube in which non-stretchable PET (polyethylene terephthalate) fibers, stainless steel wires, or the like are woven into a mesh. The first mesh tube 12A can be deformed in the outer diameter direction within the deformable range of the mesh. As a result, the first mesh tube 12A prevents the first elastic tube 10A from locally expanding, while allowing the first elastic tube 10A to expand with a substantially uniform predetermined outer diameter in the longitudinal direction. allow.

A ring-shaped distal end end member 13 is provided on the distal end side of the first elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A. The proximal end side of the first flexible tube 11A is adhesively fixed to the inner peripheral side of the distal end side terminating member 13, and the proximal end sides of the first elastic tube 10A and the first mesh tube 12A are attached to the outer peripheral side. It is glued and fixed. By bonding with the distal end terminating member 13, the distal end of the first elastic tube 10A is airtightly connected to the distal end of the first flexible tube 11A.

The distal end member 13 holds the distal end of the first front fluid supply pipe 15A through which air as a fluid can flow. It communicates with the inside of the elastic tube 10A on the distal end side (more specifically, between the inner peripheral surface of the first elastic tube 10A and the outer peripheral surface of the first flexible tube 11A).

In addition, in order to improve insertability into the pipe 100 and the like, a tapered surface 13a having a tapered shape is formed on the outer peripheral surface of the tip end member 13. As shown in FIG.

Similarly, a ring-shaped terminating member 14 is provided on the proximal end side of the first elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A. Here, the terminating member 14 of this embodiment has a function as a proximal side terminating member of the first drive unit 2A and a function as a distal side terminating member of a second drive unit 2B described later.

The proximal end side of the first flexible tube 11A is adhesively fixed to the inner peripheral side of the termination member 14, and the proximal end sides of the first elastic tube 10A and the first mesh tube 12A are adhesively fixed to the outer peripheral side. It is By bonding with the terminating member 14, the proximal end of the first elastic tube 10A is airtightly connected to the proximal end of the first flexible tube 11A.

In addition, the end member 14 holds the distal end side of the first rear fluid supply pipe 16A capable of supplying air as fluid, and the distal end opening of the first rear fluid supply pipe 16A is the first fluid supply pipe. It communicates with the inside of the proximal end of the elastic tube 10A (more specifically, between the inner peripheral surface of the first elastic tube 10A and the outer peripheral surface of the first flexible tube 11A).

The first slider unit 20A includes a first front slider 21A as a slider attached to the outer peripheral side of the first elastic tube 10A via a first mesh tube 12A, and a front slider 21A. On the base end side, a first rear slider 22A as a slider attached to the outer peripheral side of the first elastic tube 10A via the first mesh tube 12A, and the first front slider 21A and the first slider 22A. and a first coil spring 23A as a biasing member that biases the rear slider 22A in the separating direction.

As shown in FIGS. 1 to 4, the first front slider 21A and the first rear slider 22A include a ring-shaped slider body 25, a plurality of rollers 26 pivotally supported by the slider body 25, is configured with

As shown in FIGS. 5 and 6, each roller 26 is configured to have a rolling surface 26a having a partially arcuate cross-sectional shape. Each roller 26 is Rolling surfaces 26a of the rollers 26 are arranged in a ring on the inner peripheral surface of the slider body 25, and the inner peripheral surfaces of the first front slider 21A and the first rear slider 22A are provided with rolling surfaces 26a. An annular series of pressure surfaces are formed.

With the pressing surface thus formed, the first front slider 21A presses the inner peripheral surface of the first elastic tube 10A to the outer peripheral surface of the first flexible tube 11A via the first mesh tube 12A. It is possible to move while pressing against the surface. As a result, the deformation of the cross-sectional shape of the first elastic tube 10A is partially restricted at an arbitrary position according to the movement state of the first front slider 21A, and the first front slider 21A is located at the tip side of the first front slider 21A. A first front pressure chamber 17A communicating with one front fluid supply pipe 15A is formed.

Similarly, the first rear slider 22A moves while pressing the inner peripheral surface of the first elastic tube 10A against the outer peripheral surface of the first flexible tube 11A via the first mesh tube 12A. is possible. As a result, the deformation of the cross-sectional shape of the first elastic tube 10A is partially restricted at an arbitrary position according to the movement state of the first rear slider 22A, and the deformation of the first elastic tube 10A is restricted to the proximal side of the first rear slider 22A. is formed with a first rear pressure chamber 18A communicating with the first rear fluid supply pipe 16A.

The first coil spring 23A is arranged between the first front slider 21A and the first rear slider 22A on the outer peripheral side of the first mesh tube 12A (that is, on the outer peripheral side of the first elastic tube 10A). intervened.

As shown in FIGS. 1 to 4 and 7 to 11, a first brake is provided between the first front slider 21A and the first rear slider 22A of the first slider unit 20A. A plurality of brake members 31 constituting 30A are installed.

Each brake member 31 has, for example, a plurality of front rocking bodies 32 supported by the first front slider 21A and a plurality of rear rocking bodies 33 supported by the first rear slider 22A. It is configured.

More specifically, the first front slider 21A has a plurality of guide guides extending toward the base end (toward the first rear slider 22A) along the axial direction of the first front slider 21A. A protrusion 21a is provided. These guide protrusions 21a are arranged in a ring at predetermined intervals on the outer peripheral side of the first coil spring 23A. Guide grooves 21b extending along the axial direction of the first front slider 21A are provided on both sides of each guide projection 21a.

Further, the first rear slider 22A is provided with a plurality of guide projections 22a extending toward the tip side (toward the first front slider 21A) along the axial direction of the first rear slider 22A. It is These guide projections 22a are annularly arranged at predetermined intervals so as to face the guide projections 21a of the first front slider 21A on the outer peripheral side of the first coil spring 23A. Guide grooves 22b extending along the axial direction of the first rear slider 22A are provided on both sides of each guide projection 22a.

The front swinging body 32 is arranged between the adjacent guide projections 21a, 21a in the first front slider 21A (see FIGS. 3, 4, and 7). A shaft portion 34 is provided on the front end side (fixed end side) of the front swinging body 32 (see FIG. 8), and both ends of the shaft portion 34 are inserted into the guide grooves 21b, 21b provided in the guide projections 21a, 21a, respectively. is locked up. As a result, the front rocking member 32 can move back and forth along the guide grooves 21b, 21b in the axial direction of the first front slider 21A, and can rock in the radial direction of the first front slider 21A. Thus, it is supported between the guide projections 21a, 21a.

A locking claw portion 36 as a contact member is provided on the base end side (free end side) of the front swinging body 32 . The locking claw portion 36 is capable of swinging integrally with the front side swinging body 32, and when the front side swinging body 32 is displaced in the diameter expanding direction by swinging, the inner peripheral surface of the pipe or the like is displaced. It is possible to make sliding contact with the A claw cover 32a for partially covering the locking claw portion 36 is formed integrally with the front swinging body 32. As shown in FIG.

The rear swinging body 33 is arranged between the adjacent guide projections 22a, 22a in the first rear slider 22A (see FIGS. 3, 4, and 7). A shaft portion 35 is provided on the base end side (fixed end side) of the rear swinging body 33 (see FIG. 8). , 22b respectively. As a result, the rear oscillating body 33 can move back and forth in the axial direction of the first rear slider 22A along the guide grooves 22b, 22b at a position facing the front oscillating body 32. It is supported between the guide projections 22a, 22a so that the side slider 22A can swing in the radially expanding direction.

A locking claw portion 37 as a contact member is provided on the tip side (free end side) of the rear swinging body 33 . The locking claw portion 37 is capable of swinging integrally with the rear-side swinging body 33, and when the rear-side swinging body 33 is displaced in the diameter-expanding direction due to the swinging motion, the inside of the pipe or the like can be displaced. It is possible to make sliding contact with the peripheral surface. A claw cover 33 a for partially covering the locking claw portion 37 is formed integrally with the rear swinging body 33 .

Furthermore, between the front side rocking body 32 and the rear side rocking body 33, there is a connection for connecting the free end sides thereof (that is, the base end side of the front side rocking body 32 and the tip side of the rear side rocking body 33). A member 38 is provided. In this embodiment, the connecting member 38 is configured by a strip-shaped rubber plate having a predetermined elasticity. Note that the connecting member 38 may be configured by a metal member.

Here, as shown in FIGS. 1 to 4 and 9 to 12, the front and rear ends of the first slider unit 20A are provided so that the posture of the first slider unit 12A is in an appropriate direction with respect to the wall surface of the pipe or the like. A first front side guiding mechanism 71A and a first rear side guiding mechanism 72A are provided for appropriately guiding to.

The first front side guiding mechanism 71A includes a cylindrical guiding member 73 that is shorter than the first slider unit 20A, and a guiding member 73 that can be displaced with respect to the tip end of the first slider unit 20A. and a connection member 74 made of an elastic member for connection.

The leading member 73 is a tubular member having an inner peripheral surface slightly larger in diameter than the outer diameter of the first mesh tube 12A when the first elastic tube 10A is in its natural state. Thereby, the leading member 73 can move on the first mesh tube 12A (that is, the first elastic tube 10A) integrally with the first front slider 21A.

Further, the outer peripheral surface of the leading member 73 has, for example, a maximum diameter on the side of the first slider unit 20A that is substantially the same as the end portion of the first slider unit 20A (that is, the first front slider 21A). A sliding surface 73a is formed as a tapered surface tapered to a point where the diameter of the sliding surface 73a decreases with increasing distance from the first slider unit 20A.

The connection member 74 is configured by, for example, a coil spring. The connecting member 74 connects the leading member 73 to the first front slider 21A so as to be rotatable around the longitudinal axis of the first front slider 21A. That is, the connecting member 74 is rotatably fitted to, for example, a bearing portion 73b (see FIG. 4) projecting from the leading member 73, so that the leading member 73 is connected to the first front slider 21A. rotatably connected to the

Further, the connection member 74 is configured by a coil spring, so that the leading member 73 can be elastically tilted with respect to the longitudinal axis of the first front slider 21A, and the longitudinal axis of the first front slider 21A can be tilted. It is elastically movable in the eccentric direction (perpendicular to the axis).

In this way, the leading member 73 of the present embodiment is connected via the connecting member 74 made of a coil spring, so that the first front-side slider 21A rotates around the longitudinal axis, in the tilting direction of the longitudinal axis, and in the longitudinal axis. can be displaced in the eccentric direction of

Similarly, the first rear-side guide mechanism 72A includes a guide member 73 having a cylindrical shape shorter than the first slider unit 20A and a guide member that extends toward the end of the first slider unit 20A on the base end side. and a connection member 74 that movably connects 73 .

The inner peripheral surface of the leading member 73 is formed to have a larger diameter than the outer diameter of the first mesh tube 12A when the first elastic tube 10A is in its natural state. This allows the leading member 73 to move on the first mesh tube 12A (that is, the first elastic tube 10A) integrally with the first rear slider 22A.

Further, the outer peripheral surface of the leading member 73 has, for example, a maximum diameter on the side of the first slider unit 20A that is substantially the same as the end portion of the first slider unit 20A (that is, the first front slider 21A). A sliding surface 73a is formed as a tapered surface tapered to a point where the diameter of the sliding surface 73a decreases with increasing distance from the first slider unit 20A.

The connection member 74 is configured by, for example, a coil spring. The connecting member 74 connects the leading member 73 to the first rear slider 22A so as to be rotatable around the longitudinal axis of the first rear slider 22A. Furthermore, the connecting member 74 is configured by a coil spring, so that the leading member 73 can tilt elastically with respect to the longitudinal axis of the first rear slider 22A and the longitudinal direction of the first rear slider 22A. It is elastically movable in the eccentric direction of the shaft (perpendicular to the shaft).

In this way, the leading member 73 of the present embodiment is connected via the connecting member 74 made of a coil spring, so that it can rotate around the longitudinal axis of the first rear slider 22A, in the tilting direction of the longitudinal axis, and in the longitudinal direction. It is displaceable in the eccentric direction of the shaft.

Here, when the first front side pressure chamber 17A and the rear side pressure chamber 18A are repeatedly expanded and contracted by the supply and discharge of air, the relative positions of the first elastic tube 10A and the first flexible tube 11A are changed. In order to prevent such a phenomenon that the first elastic tube 10A is partially overlapped and supported on the first flexible tube 11A due to deviation or the like, the first flexible tube 11A and the It is desirable to interpose a stopper ring 40 for preventing displacement between the first elastic tube 10A. In this case, it is desirable that the stopper ring 40 also serve as a stopper for defining the movement range of the first slider unit 20A in the longitudinal direction of the first elastic tube 10A.

Also, for example, residual air in the first front pressure chamber 17A and the first rear pressure chamber 18A when the first front fluid supply pipe 15A and the first rear fluid supply pipe 16A are opened to the atmosphere. or air leaked from the first front side pressure chamber 17A and the first rear side pressure chamber 18A into between the first front side slider 21A and the first rear side slider 22A is removed by the first elastic tube. It is desirable to provide a leak hole 41 in the first flexible tube 11A in order to discharge to the outside of 10A. In this case, the leak hole 41 has a hole diameter that allows air to leak at a leak amount sufficiently smaller than the flow rate of air flowing through the first front fluid supply pipe 15A and the first rear fluid supply pipe 16A. preferably set. Moreover, it is desirable that the leak holes 41 are provided at predetermined intervals along the longitudinal direction of the first flexible tube 11A. It is desirable that the distance is set shorter than the distance when the first rear slider 22A is closest. By setting in this way, regardless of the distance between the first front slider 21A and the first rear slider 22A, no leakage occurs between the first front pressure chamber 17A and the first rear pressure chamber 18A. The trapped air can be discharged to the outside of the first elastic tube 10A.

In the first drive unit 2A configured as described above, when the first front side pressure chamber 17A and the first rear side pressure chamber 18A are open to the atmosphere, the biasing force of the first coil spring 23A , the first front slider 21A and the first rear slider 22A are biased away from each other. 1 to 3 and 9, the front oscillating member 32 and the rear oscillating member 33 move toward the axial centers of the first front slider 21A and the first rear slider 22A. It is lodged along the direction.

That is, when the first front side slider 21A and the first rear side slider 22A are biased in the direction of separating from each other, the fixed end side (shaft portion 34) of the front side swinging body 32 is positioned at the base end of the guide groove 21b. , and the fixed end side (shaft portion 35) of the rear swinging body 33 is relatively moved to the tip side of the guide groove 22b. Further, the traction force from the first front slider 21A and the first rear slider 22A is transmitted to the fixed end sides of the front rocking body 32 and the rear rocking body 33, thereby causing the front rocking body 32 and the rear rocking body to move. The free end sides of 33 are pulled together via connecting member 38 . As a result, the front rocking body 32 and the rear rocking body 33 fall down along the axial direction of the first front slider 21A and the first rear slider 22A.

When the first front side rocking body 32 and the first rear side rocking body 33 are laid down in this way, the respective locking claws 36 and 37 are moved to the first front side slider 21A and the first rear side rocking body 21A. It is housed between the sliders 22A.

On the other hand, for example, air is supplied into the first front side pressure chamber 17A and the first rear side pressure chamber 18A, and the first front side slider 21A and the first front side slider 21A move against the biasing force of the first coil spring 23A. When the rear slider 22A is moved toward each other, the front rocking body 32 and the rear rocking body 33 are erected in the diameter expanding direction, as shown in FIGS.

That is, when the first front slider 21A and the first rear slider 22A are biased toward each other, the fixed end side (shaft portion 34) of the front swinging body 32 moves to the tip side of the guide groove 21b. Then, the fixed end side (shaft portion 35) of the rear swinging body 33 is moved to the base end side of the guide groove 22b. Then, when the first front slider 21A and the first rear slider 22A approach each other further, the first front slider 21A and the first rear slider 21A and the first rear slider 21A are arranged on the fixed end sides of the front rocking member 32 and the rear rocking member 33. The pressing force from 22A is transmitted. As a result, the connecting member 38 is elastically deformed in a bow shape, and the repulsive force due to the elastic deformation of the connecting member 38 causes the front swinging body 32 and the rear swinging body 33 to stand up in the diameter-expanding direction. The first front slider 21A and the first rear slider 22A can be brought close to a position where the ends of the guide projections 21a and 22a facing each other abut against each other. When the slider 21A and the first rear slider 22A are closest to each other, the front oscillating body 32 and the rear oscillating body 33 are erected with their diameters expanded to the maximum.

As the front side rocking body 32 and the rear side rocking body 33 are displaced in the radially expanding direction, the locking claws 36 and 37 are displaced in the radially expanding direction, and come into sliding contact with an object such as the inner wall of the pipe 100. . The sliding contact of these locking claws 36 and 37 limits the movement of the first slider unit 20A inside the pipe 100 or the like.

More specifically, the locking claw portion 36 of the first brake 30A, which is inclined toward the base end side of the first slider unit 20A at a predetermined elevation angle, is brought into sliding contact with the inner wall of the pipe 100 or the like. As a result, the movement of the first slider unit 20A to the base end side (retreat side) is restricted. On the other hand, the first slider unit 20A can be Movement to the tip side (advance side) is restricted.

The fixed end sides (shaft portions 34 and 35) of the front swinging member 32 and the rear swinging member 33 are supported by the first slider unit 20A via the guide grooves 21b and 22b. Even when the slider 21A and the first rear slider 22A start moving toward each other, the pressing forces from the first front slider 21A and the first rear slider 22A are applied to the front rocking body 32 and the rear slider 22A. It is not immediately transmitted to the side rocker 33 . In other words, play is provided between the first front slider 21A and first rear slider 22A and the front rocker 32 and rear rocker 33 by the guide grooves 21b and 22b. Therefore, for example, as shown in FIG. 11, even when the drive unit 2A of the present embodiment advances and retreats in the bent pipe 100, the guide grooves 21b and 22b allow the shaft portions 34 and 35 to move. Within an allowable range, the first front slider 21A and the first rear slider 22A can be displaced relative to each other without causing the front rocker 32 and the rear rocker 33 to expand.

The second drive unit 2B has substantially the same configuration as the first drive unit 2A described above. For this reason, the constituent members of the second drive unit 2B corresponding to the first drive unit 2A are denoted by the same reference numerals, or the suffixes of "A" are replaced with "B" in the drawings. , and the detailed description thereof will be omitted.

In the second drive unit 2B, the distal ends of the second elastic tube 10B, the second flexible tube 11B, and the second mesh tube 12B as the second tube body are adhered to the terminal member 14. Fixed.

A ring-shaped proximal end member 19 is adhesively fixed to the proximal sides of the second elastic tube 10B, the second flexible tube 11B, and the second mesh tube 12B.

Furthermore, the distal end side of the guide tube 5 is adhesively fixed to the inner peripheral side of the proximal end member 19 . In this embodiment, the configuration in which the first and second flexible tubes 11A and 11B are connected to the distal end side of the guide tube 5 via the termination member 14 and the proximal end member 19 is illustrated. However, it is also possible to construct them by an integral tube.

As shown in FIGS. 1 and 12, the auxiliary brake unit 3 is interposed in the middle of the guide tube 5 on the base end side of the second drive unit 2B.

The auxiliary brake unit 3 includes an inner tube 45 interposed in the middle of the guide tube 5, an outer tube 46 as an auxiliary brake covering the outer circumference of the inner tube 45, and the inner tube 45 and the outer tube 46. It has a front connection cap 47 and a rear connection cap 48 that connect the distal end and the proximal end to the middle of the guide tube 5 .

The inner tube 45 is mainly composed of a flexible tube made of polyurethane or the like, for example. The inner diameter of this inner tube 45 is formed to be the same as the inner diameter of the guide tube 5 , so that the interior of the inner tube 45 is set as a series of channels 45 a with the channel 5 a of the guide tube 5 .

The outer tube 46 is made of an elastic member such as a rubber tube. The outer tube 46 is elastically deformable (expansion and contraction) according to the internal pressure applied by the fluid supplied from the fluid adjustment section 4 . That is, when the fluid (air) is supplied from the fluid adjustment unit 4 between the inner tube 45 and the outer tube 46, the inner tube 45 cannot be deformed against the internal pressure applied by the fluid. In contrast, the outer tube 46 is elastically deformable.

The front coupling mouthpiece 47 is composed of a substantially cylindrical stepped member. The middle portion of the guide tube 5 is adhesively fixed to the inner circumference of the tip end side of the front coupling mouthpiece 47 .

Further, the distal end side of the inner tube 45 is adhesively fixed to the outer circumference of the proximal end side of the front coupling cap 47 . In addition, on the base end side of the front coupling mouthpiece 47, the distal end side of the outer tube 46 is adhered and fixed to the outer periphery of the inner tube 45 via a spacer 50, and furthermore, the outer tube 49 is attached to the outer periphery of the outer tube 46 on the distal end side. is adhesively fixed. The spacer 50 of the present embodiment functions as a sealing member, and the distal end sides of the inner tube 45 and the outer tube 46 are airtightly sealed by adhesion via the spacer 50 .

The rear coupling mouthpiece 48 is composed of a substantially cylindrical stepped member. The middle of the guide tube 5 is adhesively fixed to the inner circumference of the proximal end side of the rear coupling mouthpiece 48 .

In addition, the proximal end side of the inner tube 45 is adhesively fixed to the distal end side outer circumference of the rear coupling cap 48 . In addition, on the distal end side of the rear coupling mouthpiece 48, the proximal end side of the outer tube 46 is adhered and fixed to the outer periphery of the inner tube 45 via a spacer 50, and furthermore, the outer periphery of the proximal end side of the outer tube 46 is covered with an armor. A tube 51 is adhesively fixed. The spacer 50 of the present embodiment functions as a sealing member, and the proximal end sides of the inner tube 45 and the outer tube 46 are airtightly sealed by adhesion via the spacer 50 .

A pressure chamber 53 is formed between the inner tube 45 and the outer tube 46 held by the front coupling mouthpiece 47 and the rear coupling mouthpiece 48 . A joint 52 is provided in the spacer 50 in order to supply fluid into the pressure chamber 53, and the joint 52 is connected to the distal end of a fluid supply pipe 55 capable of supplying air as a fluid.

In the auxiliary brake unit 3 configured as described above, when the pressure chamber 53 is open to the atmosphere, the outer tube 46 is in a contracted state and extends along the longitudinal direction together with the inner tube 45 ( 1 and 2).

On the other hand, when air is supplied into the pressure chamber 53, the outer tube 46 starts to expand and is displaced in the radially expanding direction. A portion of the outer tube 46 displaced in the expanding direction is brought into sliding contact with an object such as the inner wall of the pipe 100, so that the movement of the auxiliary brake unit 3 within the pipe 100 or the like is restricted. That is, the auxiliary brake unit 3 restricts the movement of the guide tube 5 with respect to the object such as the pipe 100 on the base end side of the second drive unit 2B.

Here, since the auxiliary brake unit 3 does not have a slider or the like, its outer diameter is sufficiently small compared to the first and second drive units 2A and 2B.

As shown in FIG. 1, the fluid adjustment unit 4 includes a compressor 65 for compressing air, which is a working fluid, and a regulator 66 for adjusting the air pressure of the air compressed by the compressor 65 to a preset reference pressure. , an electropneumatic proportional valve 67 for regulating the air pressure adjusted to the reference pressure by the regulator 66 to an arbitrary control pressure P, a control computer 68 for driving and controlling the electropneumatic proportional valve 67, is configured with

In this embodiment, the electro-pneumatic proportional valve 67 includes a first front fluid supply pipe 15A, a first rear fluid supply pipe 16A, a second front fluid supply pipe 15B, and a second rear fluid supply pipe 16B. , and a fluid supply pipe 55 are connected.

The electro-pneumatic proportional valve 67 is individually connected to the first front pressure chamber 17A and the first rear pressure chamber 18A via the first front fluid supply pipe 15A and the first rear fluid supply pipe 16A. It is possible to supply air pressure-regulated to the control pressure P of .

In addition, the electro-pneumatic proportional valve 67 is connected to the second front pressure chamber 17B and the second rear pressure chamber 18B via the second front fluid supply pipe 15B and the second rear fluid supply pipe 16B. It is possible to supply air pressure-regulated to individual control pressures P, respectively.

Furthermore, the electro-pneumatic proportional valve 67 can supply air adjusted to the control pressure P to the pressure chamber 53 via the fluid supply pipe 55 .

In this case, the electro-pneumatic proportional valve 67 adjusts, for example, a first control pressure P1 and a second control pressure P2 higher than the first control pressure P1 by a predetermined pressure as the air control pressure P. is possible.

On the other hand, the electro-pneumatic proportional valve 67 individually opens the first front side fluid supply pipe 15A and the first rear side fluid supply pipe 16A to the atmosphere so that the first front side pressure chamber 17A and the first rear side pressure chamber 17A and the first rear side pressure chamber 17A are opened. It is possible to discharge the air supplied to the chamber 18A.

Further, the electro-pneumatic proportional valve 67 individually opens the second front fluid supply pipe 15B and the second rear fluid supply pipe 16B to the atmosphere, thereby opening the second front pressure chamber 17B and the second rear pressure chamber. It is possible to discharge the air supplied to 18B.

Furthermore, the electro-pneumatic proportional valve 67 can discharge the air supplied to the pressure chamber 53 by opening the fluid supply pipe 55 to the atmosphere.

Next, an example of a procedure for moving the mobile device 1 configured as described above in a normal state will be described with reference to the flowchart of FIG. 15 . In the following description, an example of advancing and moving the inside of the pipe 100 by a user or the like performing an operation input will be described. It is also possible to In the following description, to simplify the description, the first and second elastic tubes 10A and 10B and the first and second flexible tubes 11A that constitute the first and second drive units 2A and 2B will be described. , 11B, and the first and second mesh tubes 12A, 12B are collectively referred to as a "guide tube unit 5A" as appropriate.

The moving device 1 moves forward or backward by moving, gripping, and releasing the first brake 30A and the second brake 30B of the first and second drive units 2A and 2B in the pipe 100 .

In this movement procedure, first, in a state where the first and second drive units 2A and 2B of the movement device 1 are inserted into the pipe 100, a user or the like performs an operation input to the fluid adjustment section 4, The second brake 30B is actuated in the second elastic tube 10B (step S101).

That is, the fluid adjustment unit 4 causes the control computer 68 to control the electro-pneumatic proportional valve 67 so that the air adjusted to the first control pressure P1 is passed through the second front fluid supply pipe 15B to the second front pressure P1. Supply to chamber 17B. As a result, the second slider unit 20B moves from the distal end side to the proximal end side on the second elastic tube 10B. Then, before reaching the stopper ring 40 located on the proximal side, the air adjusted to the first control pressure P1 is supplied to the second rear pressure chamber 18B through the second rear fluid supply pipe 16B. . In this case, since the control pressures supplied to the second front pressure chamber 17B and the second rear pressure chamber 18B are both P1, the second rear pressure chamber 18B resists the biasing force of the second coil spring 23B. Approach the slider 22B. As a result, the front-side rocking body 32 and the rear-side rocking body 33 of the second brake 30B provided in the second slider unit 20B are displaced in the diameter-expanding direction of the second elastic tube 10B, and the locking claw portion 37 is displaced. It is in sliding contact with the inner peripheral surface of the pipe 100 .

Thereafter, the operation of the first brake 30A is released by the operation input to the fluid adjustment unit 4 by the user or the like (step S102).

That is, the fluid adjustment unit 4 causes the control computer 68 to control the electropneumatic proportional valve 67 to open the first front pressure chamber 17A and the first rear pressure chamber 18A to the atmosphere. As a result, the first front slider 21A and the first rear slider 22A are relatively moved away from each other by the biasing force of the first coil spring 23A. This relative movement causes the front side rocking body 32 and the rear side rocking body 33 to fall down, so that the operation of the first brake 30A is released.

Next, the first slider unit 20A is moved to the distal end side of the first elastic tube 10A (step S103), and furthermore, the first slider unit 20A is moved to the distal end side of the first elastic tube 10A (step S103). The first brake 30A is operated on the distal end side of the elastic tube 10A (step S104).

That is, the fluid adjustment unit 4 causes the control computer 68 to control the electro-pneumatic proportional valve 67 to supply air adjusted to the first control pressure P1 through the first rear fluid supply pipe 16A to the first rear fluid supply pipe 16A. It is supplied to the side pressure chamber 18A. As a result, the first slider unit 20A moves on the first elastic tube 10A from the proximal side to the distal side.

In this case, the sliding contact of the second brake 30B in the pipe 100 restricts the longitudinal movement of the guide tube unit 5A, so the first slider unit 20A moves through the pipe 100 from the base end side. Move to the tip.

Then, the air adjusted to the first control pressure P1 is supplied to the first front pressure chamber 17A through the first front fluid supply pipe 15A before reaching the stopper ring 40 located on the distal end side. In this case, since the control pressures supplied to the first front pressure chamber 17A and the first rear pressure chamber 18B are both P1, the first front slider is pushed against the urging force of the first coil spring 23A. Approach 21A. As a result, the front side rocking body 32 and the rear side rocking body 33 of the first brake 30A provided in the first slider unit 20A are displaced in the diameter expanding direction of the first elastic tube 10A, and the locking claw portion 37 is displaced. It is in sliding contact with the inner peripheral surface of the pipe 100 .

After that, the operation of the second brake 30B is released by the operation input to the fluid adjustment unit 4 by the user or the like (step S105).

That is, the fluid adjustment unit 4 opens the second front pressure chamber 17B and the second rear pressure chamber 18B to the atmosphere by controlling the electropneumatic proportional valve 67 of the control computer 68 . As a result, the second front slider 21B and the second rear slider 22B are relatively moved away from each other by the biasing force of the second coil spring 23B. This relative movement causes the front side rocking body 32 and the rear side rocking body 33 to fall down, so that the operation of the second brake 30B is released.

Next, the second slider unit 20B is moved to the distal end side of the second elastic tube 10B (step S106), and furthermore, the second slider unit 20B is moved to the distal end side of the second elastic tube 10B (step S106). The second brake 30B is operated on the distal end side of the elastic tube 10B (step S107).

That is, the fluid adjustment unit 4 controls the electro-pneumatic proportional valve 67 of the control computer 68 to supply the air adjusted to the first control pressure P1 through the second rear fluid supply pipe 16B to the second rear fluid supply pipe 16B. It is supplied to the side pressure chamber 18B. As a result, the second slider unit 20B moves on the second elastic tube 10B from the proximal side to the distal side.

In this case, since the sliding contact of the first brake 30A in the pipe 100 restricts the longitudinal movement of the guide tube unit 5A, the second slider unit 20B moves through the pipe 100 from the base end side. Move to the tip.

Then, the air adjusted to the first control pressure P1 is supplied to the second front pressure chamber 17B through the second front fluid supply pipe 15B before reaching the stopper ring 40 located on the distal end side. In this case, since the control pressures supplied to the second front pressure chamber 17B and the second rear pressure chamber 18B are both P1, the second front slider is pushed against the biasing force of the second coil spring 23B. Approach 21B. As a result, the front-side rocking body 32 and the rear-side rocking body 33 of the second brake 30B provided in the second slider unit 20B are displaced in the diameter-expanding direction of the first elastic tube 10A, and the locking claw portion 37 is displaced. It is in sliding contact with the inner peripheral surface of the pipe 100 .

After that, the guide tube unit 5A is moved to the distal end side by an operation input to the fluid adjustment unit 4 by the user or the like (step S108).

That is, the fluid adjustment unit 4 controls the electro-pneumatic proportional valve 67 of the control computer 68 to supply the air adjusted to the second control pressure P2 through the first front fluid supply pipe 15A and the second front fluid supply pipe 15A. It is supplied to the first front pressure chamber 17A and the second front pressure chamber 17B through the supply pipe 15B. As a result, the first front pressure chamber 17A and the second front pressure chamber 17B start to expand, and the first front slider 21A and the second front slider 21B receive pressure due to this expansion, thereby The second slider units 20A and 20B maintain the close state between the first front slider 21A and the first rear slider 22A and the close state between the second front slider 21B and the second rear slider 22B. In this state, a force acts on the first and second elastic tubes 10A and 10B in the direction of moving from the distal end side to the proximal end side. That is, the second control pressure P2 supplied to the first front pressure chamber 17A and the second front pressure chamber 17B is supplied to the first rear pressure chamber 18A and the second rear pressure chamber 18B. Therefore, the first and second rear pressure chambers 18A and 18B of the first and second slider units 20A and 20B extend toward the proximal side. A force in the pushing back direction acts. In this case, since the first and second brakes 30A and 30B provided on the first and second slider units 20A and 20B are in sliding contact with the inner wall of the pipe 100, While the positions of the two slider units 20A and 20B remain unchanged, the guide tube unit 5A (that is, the first and second elastic tubes 10A and 10B, the first and second flexible tubes 11A and 11B, and the first , second mesh tubes 12A, 12B) advance in the pipe 100 integrally. The guide tube 5 advances in the pipe 100 by being pulled by these movements.

By repeating the steps S101 to S108, the moving device 1 can move the guide tube 5 forward. That is, after gripping the pipe with the second brake 30B of the slider unit 20B, the first slider unit 20A is moved to the tip side to grip the pipe, and then the second slider unit 20B is moved to the tip side. The moving device 1 is sent forward by moving the guide tube unit 5A to the distal end side by gripping the upper pipe and moving relative to the first and second slider units 20A and 20B. Further, by performing the above-described procedure in reverse, the moving device 1 can also retract the guide tube 5 with the same performance as when moving forward.

Here, when the first slider unit 20A is moved in step S105 and when the second slider unit 20B is moved in step S108, the first and second slider units 20A and 20B are positioned at the ends of the first slider unit 20A and 20B. , By having the second front side guiding mechanisms 71A and 71B (and the first and second rear side guiding mechanisms 72A and 72B), when passing through a narrow curved pipeline portion having obstacles such as steps However, it is possible to accurately pass through without being hindered by steps or the like.

For example, as shown in FIG. 13, when the second slider unit 20B moves forward along the curved pipe line portion 101 in the pipe 100, if there is a step 102 on the movement path of the second slider unit 20B, Also, the second slider unit 20B can avoid the step 102 accurately by being guided by the second front side guiding mechanism 71B.

That is, when the second slider unit 20B reaches the step 102, first, the leading member 73 constituting the second front side guiding mechanism 71B is brought into contact with the step 102. As shown in FIG. By sliding the tapered sliding surface 73a against the step 102, the guiding member 73 moves over the step 102 while moving the central axis in a direction away from the step 102 (FIG. 14). reference).

At this time, the second slider unit 20B rotates, tilts, and moves eccentrically with respect to the longitudinal axis of the leading member 73 according to the stress received from the step 102 due to elastic deformation of the connecting member 74 made of a coil spring. While allowing movement (displacement), the restoring force of the connection member 74 follows the displaced leading member 73 .

As a result, the direction of travel of the second slider unit 20B is appropriately corrected by the second front guide mechanism 71B, and the travel of the second slider unit 20B is not hindered by the step 102 or the like, and can pass through the bent pipeline portion 101. Become.

Although the explanation is omitted, even when the first slider unit 20A moves forward, the first front side guide mechanism 71A has the same effect, so that it can easily pass through the curved pipeline portion and the like. Further, even when the first and second slider units 20A and 20B are retracted, the same action by the first and second rear side guide mechanisms 72A and 72B enables them to easily pass through bent pipeline portions and the like. It becomes possible.

By the way, when the guide tube 5 is moved by such a moving device 1, the tube bodies (the first elastic tube 10A, the first flexible tube 11A, and the first mesh Since the tip side of the tube 12A) is not restrained, the first slider unit 20A can move relatively freely in the pipe 100, and even if there is a step 102 or the like in the curved pipe line portion 101, it can relatively pass through. becomes easier.

On the other hand, the tube body (the second elastic tube 10B, the second flexible tube 11B, and the second mesh tube 12B) that constitutes the second drive unit 2B is constrained in the front and rear by a conduit or the like. Therefore, the displacement of the second slider unit 20B within the pipe 100 is restricted as compared with the first slider unit 20A. Therefore, when the second slider unit 20B is passed through the curved pipeline portion 101, for example, the following cases can be assumed.

That is, when the second slider unit 20B is advanced with respect to the bent pipeline portion 101, the first brake 30A is operated to prevent the first elastic tube 10A and the like from advancing and retreating with respect to the curved pipeline portion 101. need to work. Therefore, fluid is supplied to the first front pressure chamber 17A and the first rear pressure chamber 18A. By supplying these fluids, the hardness of the tube body (the first elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A) constituting the first drive unit 2A is increased as a whole. (flexibility is reduced), and particularly in such a state, the displacement of the distal end side of the second drive unit 2B with respect to the bent pipeline section 101 is restricted. Therefore, when the second slider unit 20B is locked on the step 102 or the like, it is difficult to release the second slider unit 20B from the locked state simply by advancing the second slider unit 20B. becomes. In addition, when the second slider unit 20B is advanced from the stepped portion 102 or the like in a locked state, the second elastic tube 10B or the like is relatively moved toward the base end side. The drive unit 2B is displaced so as to be pressed inward in the bending direction of the bent pipe line portion 101, and the second slider unit 20B is immovably locked in the bent pipe line portion 101, and is removed from the bent pipe line portion 101. It is also assumed that the escape itself will be difficult.

Therefore, when it is confirmed that the first drive unit 2A has passed through the curved pipeline section 101 in the pipe 100, for example, by operating the moving device 1 according to the moving procedure shown in FIG. It is also possible to more easily realize the passage of the second drive unit 2B through the curved pipe line portion 101 .

Whether or not the first drive unit 2A has passed through the bent pipe line portion 101 in the pipe 100 can be determined, for example, by observation using an endoscope 7 projecting from the distal end end member 13 through the channel 5a or the like. can be confirmed by

In this moving procedure, when the second slider unit 20B has entered the curved pipeline portion 101 (see FIG. 16), first, the user or the like performs an operation input to the fluid adjustment portion 4, thereby causing the auxiliary brake unit to move. 3 is activated (step S201).

That is, the fluid adjustment unit 4 supplies the pressure chamber 53 through the fluid supply pipe 55 with air whose pressure is adjusted to the second control pressure P1, for example, by the control of the electro-pneumatic proportional valve 67 by the control computer 68 . As a result, the outer tube 46 is displaced in the diameter-expanding direction by elastic deformation, and comes into sliding contact with the inner peripheral surface of the pipe 100 (see FIGS. 12 and 17).

Thereafter, the operation of the second brake 30B is released by the operation input to the fluid adjustment unit 4 by the user or the like (step S202).

That is, the fluid adjustment unit 4 opens the second front pressure chamber 17B and the second rear pressure chamber 18B to the atmosphere by controlling the electropneumatic proportional valve 67 of the control computer 68 . As a result, the second front slider 21B and the second rear slider 22B are relatively moved away from each other by the biasing force of the second coil spring 23B. This relative movement causes the front side rocking body 32 and the rear side rocking body 33 to fall down, so that the operation of the second brake 30B is released.

Next, the first slider unit 20A is moved to the distal end side of the first elastic tube 10A by the operation input to the fluid adjustment unit 4 by the user or the like (step S203).

That is, the fluid adjustment unit 4 reduces the pressure of the air supplied to the first front pressure chamber 17A to the first control pressure P1 by controlling the electro-pneumatic proportional valve 67 of the control computer 68, and reduces the pressure to the second control pressure P1. Air adjusted to the control pressure P2 is supplied to the first rear pressure chamber 18A through the first rear fluid supply pipe 16A. As a result, the first rear pressure chamber 18A begins to expand, and the first rear slider 22A receives pressure due to this expansion. A force acts on the first elastic tube 10A in the direction of moving from the proximal side to the distal side while maintaining the state of being close to the first rear slider 22A. That is, the second control pressure P2 supplied to the first rear pressure chamber 18A is higher than the first control pressure P1 supplied to the first front pressure chamber 17A. A force acts on the slider unit 20A in a direction to push back the first front side pressure chamber 17A toward the distal end side. In this case, since the first brake 30A provided on the first slider unit 20A is in sliding contact with the inner wall of the pipe 100, the position of the first slider unit 20A in the pipe 100 remains unchanged. The one elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A are retracted in the pipe 100 integrally. At this time, the auxiliary brake unit 3 is in operation, the position of the hand side of the self-propelled device is held, the second brake 30B is released, and the intermediate portion is movable. , the positions of the first elastic tubes 10A and the like are held in the pipe, and the retraction of the first elastic tubes 10A and the like bends the second elastic tubes 10B and the like to the outside in the bending direction of the bent pipeline portion 101. As shown in FIG. Note that the procedure of step S203 can be omitted as appropriate.

Next, the second slider unit 20B is moved to the distal end side of the second elastic tube 10B (step S204), and furthermore, the second slider unit 20B is moved to the distal end side of the second elastic tube 10B (step S204). The second brake 30B is operated on the distal end side of the elastic tube 10B (step S205).

That is, the fluid adjustment unit 4 controls the electro-pneumatic proportional valve 67 of the control computer 68 to supply the air adjusted to the first control pressure P1 through the second rear fluid supply pipe 16B to the second rear fluid supply pipe 16B. It is supplied to the side pressure chamber 18B. As a result, the second slider unit 20B moves on the second elastic tube 10B from the proximal side to the distal side.

In this case, since the auxiliary brake unit 3 restricts the movement of the base end side of the second drive unit 2B, even if the second slider unit 20B is locked on the step 102 or the like, , the second elastic tube 10B and the like are prevented from being displaced inward in the bending direction of the bent pipeline portion 101 . Therefore, the second slider unit 20B is released from the locked state with the step 102 and the like in the process of advancing the second elastic tube 10B toward the distal end side, and moves toward the distal end side in the curved pipe passage portion 101. is continued. In particular, when the second elastic tube 10B or the like is bent outward in the bending direction of the bent pipeline portion 101 by the procedure of step S203 described above, the second slider unit 20B is not aligned with the step 102 or the like. It becomes possible to release the locked state more easily (see FIG. 17).

Then, the air adjusted to the first control pressure P1 is supplied to the second front pressure chamber 17B through the second front fluid supply pipe 15B before reaching the stopper ring 40 located on the distal end side. In this case, since the control pressures supplied to the second front pressure chamber 17B and the second rear pressure chamber 18B are both P1, the second front slider is pushed against the biasing force of the second coil spring 23B. Approach 21B. As a result, the front-side rocking body 32 and the rear-side rocking body 33 of the second brake 30B provided in the second slider unit 20B are displaced in the diameter-expanding direction of the first elastic tube 10A, and the locking claw portion 37 is displaced. It is in sliding contact with the inner peripheral surface of the pipe 100 or the bent pipe line portion 101 .

Thereafter, the operation of the first brake 30A is released by the operation input to the fluid adjustment unit 4 by the user or the like (step S206).

That is, the fluid adjustment unit 4 causes the control computer 68 to control the electropneumatic proportional valve 67 to open the first front pressure chamber 17A and the first rear pressure chamber 18A to the atmosphere. As a result, the first front slider 21A and the first rear slider 22A are relatively moved away from each other by the biasing force of the first coil spring 23A. This relative movement causes the front side rocking body 32 and the rear side rocking body 33 to fall down, so that the operation of the first brake 30A is released.

Next, the first slider unit 20A is moved to the distal end side of the first elastic tube 10A (step S207), and furthermore, the first slider unit 20A is moved to the distal end side of the first elastic tube 10A (step S207). The first brake 30A is operated on the distal end side of the elastic tube 10A (step S208).

That is, the fluid adjustment unit 4 causes the control computer 68 to control the electro-pneumatic proportional valve 67 to supply air adjusted to the first control pressure P1 through the first rear fluid supply pipe 16A to the first rear fluid supply pipe 16A. It is supplied to the side pressure chamber 18A. As a result, the first slider unit 20A moves on the first elastic tube 10A from the proximal side to the distal side.

In this case, the sliding contact of the second brake 30B in the pipe 100 restricts the longitudinal movement of the guide tube unit 5A, so the first slider unit 20A moves through the pipe 100 from the base end side. Move to the tip.

Then, the air adjusted to the first control pressure P1 is supplied to the first front pressure chamber 17A through the first front fluid supply pipe 15A before reaching the stopper ring 40 located on the distal end side. In this case, since the control pressures supplied to the first front pressure chamber 17A and the first rear pressure chamber 18B are both P1, the first front slider is pushed against the urging force of the first coil spring 23A. Approach 21A. As a result, the front side rocking body 32 and the rear side rocking body 33 of the first brake 30A provided in the first slider unit 20A are displaced in the diameter expanding direction of the first elastic tube 10A, and the locking claw portion 37 is displaced. It is in sliding contact with the inner peripheral surface of the pipe 100 .

After that, the operation of the auxiliary brake unit 3 is released by the operation input to the fluid adjustment unit 4 by the user or the like (step S209).

That is, the fluid adjustment unit 4 opens the pressure chamber 53 to the atmosphere by controlling the electro-pneumatic proportional valve 67 of the control computer 68 . As a result, the outer tube 46 is displaced in the diameter contracting direction, and the operation of the auxiliary brake unit 3 is released.

After that, when the user or the like performs an operation input to the fluid adjustment section 4, the guide tube unit 5A is moved to the distal end side by relative movement with the first and second slider units 20A and 20B (step S210). .

That is, the fluid adjustment unit 4 controls the electro-pneumatic proportional valve 67 of the control computer 68 to supply the air adjusted to the second control pressure P2 through the first front fluid supply pipe 15A and the second front fluid supply pipe 15A. It is supplied to the first front pressure chamber 17A and the second front pressure chamber 17B through the supply pipe 15B. As a result, the first front pressure chamber 17A and the second front pressure chamber 17B start to expand, and the first front slider 21A and the second front slider 21B receive pressure due to this expansion, thereby The second slider units 20A and 20B maintain the close state between the first front slider 21A and the first rear slider 22A and the close state between the second front slider 21B and the second rear slider 22B. In this state, a force acts on the first and second elastic tubes 10A and 10B in the direction of moving from the distal end side to the proximal end side. That is, the second control pressure P2 supplied to the first front pressure chamber 17A and the second front pressure chamber 17B is supplied to the first rear pressure chamber 18A and the second rear pressure chamber 18B. Therefore, the first and second rear pressure chambers 18A and 18B of the first and second slider units 20A and 20B extend toward the proximal side. A force in the pushing back direction acts. In this case, since the first and second brakes 30A and 30B provided on the first and second slider units 20A and 20B are in sliding contact with the inner wall of the pipe 100, While the positions of the two slider units 20A and 20B remain unchanged, the first and second elastic tubes 10A and 10B, the first and second flexible tubes 11A and 11B, and the first and second mesh tubes 12A , 12B advance in the pipe 100 integrally. The guide tube 5 advances in the pipe 100 by being pulled by these movements.

Through the procedures of steps S201 to S210, the second slider unit 20B and the like can be passed through the bent pipeline portion 101 accurately. That is, when the second slider unit 20B is passed after the first slider unit 20A has passed through the curved pipe line portion 101 of the pipe, the auxiliary brake unit 3 on the base end side is operated to hold the pipe while the pipe is gripped. The first elastic tube 10A, the first flexible tube 11A, and the first mesh tube 12A are retracted toward the proximal end side to loosen them, and the second slider unit 20B is moved toward the distal end side to bend the bent portion of the pipe. Make it easier to pass by reducing the resistance on the inner peripheral surface. In addition to this, the action of the second front side guiding mechanism 71B as described above makes it possible to make the passage of the second slider unit 20B with respect to the bent pipeline portion 101 more accurate.

The procedure of steps S201 to S210 described above can be repeated a preset number of times. Alternatively, the second slider unit 20B is provided with a piezoelectric element or the like for determining whether or not the curved pipeline portion 101 has been passed. Until it is determined that 20B has passed through the curved pipe line section 101, the above steps S201 to S210 can be repeated.

According to such an embodiment, the first and second elastic tubes 10A and 10B whose cross-sectional shape is elastically deformable according to the internal pressure applied by the fluid, and the first and second elastic tubes 10A and 10B The first and second slider units 20A and 20B are movable forward and backward in the longitudinal direction of the first and second elastic tubes 10A and 10B according to the change in the cross-sectional shape of the elastic tubes 10A and 10B, and the outer diameter changes along the longitudinal direction. A leading member 73 having a sliding surface 73a which is connected to the ends of the first and second slider units 20A and 20B. By having the connection member 74 made of a coil spring that is displaceably connected to the bent pipe line portion 101 and the like, even when the bent pipe line portion 101 and the like exist in the narrow space as described above, the , the first and second slider units 20A and 20B can be accurately passed through.

In this case, the sliding surface 73a (outer peripheral surface) of each leading member 73 is the first. The leading member 73 is tapered so that the outer diameter on the side away from the first and second slider units 20A and 20B is smaller than that on the side of the second slider units 20A and 20B. It can be easily displaced with respect to 102 and the like.

Here, for example, as shown in FIG. 19, the maximum outer diameter D1 of the leading member 73 may be set larger than the maximum outer diameter d of the first front slider 21A (and the first rear slider 22A). is also possible.

With this configuration, even if the leading member 73 is displaced due to a step or the like, the ends of the first front slider 21A (and the first rear slider 22A) are kept within the projected plane of the leading member 73. This allows the first slider unit 20A to pass through the step 102 and the like more accurately.

Furthermore, the outer diameter D2 of the end portion is equal to or less than the outer diameter d of the first front slider 21A (and the first rear slider 22A) on the side of the first slider unit 20A from the maximum outer diameter portion of the leading member 73. It is also possible to provide a reverse tapered portion 73c.

With this configuration, the leading member 73 can be easily tilted with the maximum outer diameter portion of the leading member 73 as a fulcrum.

Further, for example, as shown in FIG. 20, it is possible to provide a leading member 75 made of a tapered coil at the end of the first slider unit 20A.

In this leading member 75, the outer peripheral surface of the tapered coil functions as a sliding surface 75a, and the leading member 75 itself functions as a connecting member, thereby providing the same effects as those of the above-described embodiment.

Further, for example, as shown in FIG. 21, a leading member 76 having a sphere 77 and a coil 78 is arranged at the end of the first slider unit 20A, and the sphere 77 of this leading member 76 is placed at the first slider unit 20A. It is also possible to connect to the slider unit 20A through a connecting member 79 formed of a tapered coil so as to be displaceable. In such a configuration, when the coil 78 at the tip collides with the step of the elbow, it deforms and climbs over the step, after which the ball 77 comes into contact with the step. Then, the ball 77 overcomes the step while elastically deforming the connecting member 79 .

With this configuration, the spherical surface, which is the surface of the sphere 77, functions as the sliding surface 77a, thereby providing the same effects as in the above-described embodiment.

For example, as shown in FIG. 22, a tapered leading member 73 is connected to the first slider unit 20A via a connecting member 80 in which a coil spring 81 and a bellows 82 are integrally connected. It is also possible to connect This structure has a shape in which a coil spring 81 is fitted inside a bellows 82, and the amount of engagement can be adjusted by rotating the leading member 73. As shown in FIG. By changing the distance between the leading member 73 and the slider unit 20A, it is possible to adjust the position so that the stepped shape of the elbow can be easily overcome. That is, with this configuration, the connecting member 80 can also function as an adjusting mechanism for adjusting the longitudinal positional relationship of the leading member 73 with respect to the first slider unit 20A.

With this configuration, in addition to the same effects as the above-described embodiment, the bellows 82 can easily realize displacement in the longitudinal direction.

For example, as shown in FIG. 23, a tapered leading member 73 is integrated with a tubular member 86 made of an elastic member such as rubber and a hard ring member 87 with respect to the first slider unit 20A. It is also possible to connect so as to be displaceable via a connecting member 85 which is continuously provided.

In this case, for example, as shown in FIG. 24, a ring member 87 is provided with a groove portion 87a, and a projection portion 73d provided on the leading member 73 is fitted into the groove portion 87a. It is possible to make the leading member 73 rotatable with respect to the unit 20A. By making the leading member 73 rotatable in this way, when the tip of the leading member 73 collides with the stepped portion of the elbow, the leading member 73 moves in a direction of rotation while being pushed in, thereby easily overcoming the stepped portion. be able to.

Further, for example, as shown in FIG. 25, a spiral groove 73e can be provided on the inner peripheral surface of the leading member 73.

With this configuration, in addition to the same effect as the above-described embodiment, when the leading member 73 is moved back and forth with respect to the first elastic tube 10A (first mesh tube 12A), the leading member 73 can be It is effective in being able to apply force in the rotational direction. As a result, when the slider collides with a step of the elbow, the guide member 73 rotates by moving the slider back and forth, so that the step can be easily overcome.

Alternatively, for example, as shown in FIG. 26, it is possible to arrange a plurality of rollers 88 having rotation axes inclined with respect to the longitudinal axis of the guiding member 73 on the inner periphery of the guiding member 73 . Even in such a configuration, it is possible to move the slider while rotating it due to the action of the inclined roller when the slider is moved. Therefore, when the leading member collides with the stepped portion of the elbow, the leading member is pushed in while rotating, so that the stepped portion can be easily overcome.

With this configuration, in addition to the same effect as the above-described embodiment, when the leading member 73 is moved back and forth with respect to the first elastic tube 10A (first mesh tube 12A), the leading member 73 can be It is effective in being able to apply force in the rotational direction.

Further, for example, as shown in FIG. 27, the leading member 90 is composed of a first cylindrical member 91 having a tapered first sliding surface 91a formed on the outer peripheral surface, and a tapered surface on the outer peripheral surface. A second cylindrical member 92 on which a second sliding surface 92a is formed, and a bearing 93 that rotatably connects the first and second cylindrical members 91a and 92a, It is also possible to connect this leading member 90 to the first slider unit 20A via a connecting member 94 made of bellows. This structure makes it easy for the leading member 90 to move according to the shape of the pipe by making it easy to rotate when the leading end side of the leading member 90 hits the elbow.

With this configuration, the same effects as those of the above-described embodiment can be obtained.

Further, for example, as shown in FIG. 28, it is also possible to provide a ball holding groove 73f in the sliding surface 73a of the leading member 73 and hold a plurality of balls 73g in the ball holding groove 73f. The ball 73g has a structure that allows it to rotate freely in the holding groove 73f, and can rotate in the insertion direction of the guide tube and in the circumferential direction when the guide member 73 hits a step of the elbow. Therefore, when the slider passes through the elbow, the leading member can advance while rotating each ball in an arbitrary direction, so that the step can be easily overcome.

With this configuration, in addition to the same effects as the above-described embodiment, there is an effect that the guiding member 73 can be displaced with respect to the step 102 and the like more smoothly.

Further, for example, as shown in FIG. 29, it is also possible to connect the leading member 73 to the first slider unit 20A via a connecting member 94 made of bellows with the longitudinal axis displaced in advance. be. The hole position at the tip of the leading member 73 connected to the first front side slider 21A and the hole position at the base end of the leading member 73 connected to the second rear side slider 21B are displaced to similar positions in the circumferential direction. Thus, the guide tube 5 can be bent.

Since the slider unit is movable and the guide tube is bent in front and behind the slider unit, it has the effect of making it easier to pass through a bent shape such as an elbow.

With such a configuration, the same effects as those of the above-described embodiment can be obtained.

Further, for example, as shown in FIG. 30, the structure is such that the front side rocking bodies 32 and the rear side rocking bodies 33 are alternately arranged in the circumferential direction and the elastic bodies are fixed. This is a structure in which the front side swinging body 32 (or the rear side swinging body 33) and the connecting member 38 are provided in contrast to the above-described structure consisting of the front side swinging body 32, the rear side swinging body 33, and the connecting member 38 therebetween. , it is also possible to configure the first slider unit 20A.

With this configuration, the overall length of the first slider unit 20A can be shortened, and the effects of the above-described embodiment can be exhibited more effectively.

Also, for example, it is possible to replace the plurality of rollers 26 provided in the first slider unit 20A with leaf spring rings 95 shown in FIG. This structure is a structure in which a helical elastic plate having a flat plate-shaped cross section is connected in a ring shape as shown in the figure, and the connecting portion is fixed. By providing a groove in the space where the plurality of rollers 26 are provided and fitting the leaf spring ring 95 instead of these rollers 26, the structure of the first slider unit 20A can be simplified.

In addition, in addition to the flat plate shape of the cross section, a helical shape is made from the plate material of the shape by adding a curved surface to the inscribed surface, and as shown in the figure, it is made into a ring shape to match the outer diameter shape of the mesh tube 12B of the guide tube 5. It may be of any shape.

In addition, in the above embodiment and each modified example, the shape of the leading member is mainly conical with a circular cross section, but the cross section may be elliptical. Polygonal pyramids such as triangular pyramids, quadrangular pyramids, pentagonal pyramids, etc. whose cross sections are triangular, quadrangular, pentagonal, etc. may also be used.

Further, the shape of the leading member is not limited to a conical shape in which the side view of the slanted surface is linear, but may be, for example, a drum shape in which the side view of the slanted surface is curved inwardly. is also possible. By forming in this way, it is possible to reduce the load when hitting the step of the elbow.

By the way, in the above-described embodiments and the like, when moving the slider unit back and forth, air is supplied to either the front side pressure chamber or the rear side pressure chamber to move the slider unit. If the unit moves to the end and is positioned, it becomes difficult to expand even if air is supplied to the front side pressure chamber or the rear side pressure chamber, and a phenomenon that the slider unit is difficult to move may occur. In order to prevent such a phenomenon, the stopper ring 40 is provided in the above-described embodiment, and the stopper ring prevents the slider unit from going too far to the end, thereby always providing a predetermined pressure in any pressure chamber. can be ensured, and the pressure chamber can be appropriately inflated by supplying air.

Further, by providing the guide member 73, the distance from the stopper ring to the roller of the slider unit can be maintained, so that more suitable introduction of air becomes possible. Furthermore, when the leading member 73 is provided, the structure may be such that the stopper ring is not provided. Since the position of the slider unit does not reach the end of the tube when the end of the leading member 73 abuts against it, the size of the surface of the tube can be made uniform by also serving as a stopper, and the same shape can be maintained over the entire length. The hardness is also the same, and since there is no step on the surface, there is also the effect of reducing resistance from steps such as elbows.

19 to 31 can be applied not only to the first slider unit 20A but also to the second slider unit 20B.

It should be noted that the present invention is not limited to the embodiments and modified examples described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention. Of course, the configurations of the above-described embodiment and modifications may be appropriately combined.

As for the leading mechanism (the first front leading mechanism 71A, the second front leading mechanism 71B, the first rear leading mechanism 72A, or the second rear guiding mechanism 72B), the first drive unit 2A Alternatively, it may be provided at least one of the distal end portion and the proximal end portion of the second drive unit 2B.

Further, the moving apparatus 1 described above has a configuration in which both the second drive unit 2B and the auxiliary brake unit 3 are omitted, or a configuration in which either the second drive unit 2B or the auxiliary brake unit 3 is omitted as appropriate. may

Reference Signs List 1... Moving device 2A... First drive unit 2B... Second drive unit 3... Auxiliary brake unit 4... Fluid adjustment unit 5... Guide tube 5a... Channel 7... Endoscope 10A... First elastic tube 10B... Second 2 elastic tubes 11A... first flexible tube 11B... second flexible tube 11a... channel 12A... first mesh tube 12B... second mesh tube 13... tip side terminating member 13a... tapered surface 14... terminating end Member 15A... First front fluid supply pipe 15B... Second front fluid supply pipe 16A... First rear fluid supply pipe 16B... Second rear fluid supply pipe 17A... First front pressure chamber 17B... Second 2 front pressure chambers 18A ... first rear pressure chambers 18B ... second rear pressure chambers 19 ... proximal end member 20A ... first slider unit 20B ... second slider unit 21A ... first front side Slider 21B ... second front slider 21a ... guide projection 21b ... guide groove 22A ... first rear slider 22B ... second rear slider 22a ... guide projection 22b ... guide groove 23A ... first coil spring 23B ... second coil spring 25 ... slider body 26 ... roller 26a ... rolling surface 30A ... first brake 30B ... second brake 31 ... brake member 32 ... front side rocking body 32a ... claw cover 33 ... rear side rocking body 33a ... claw cover 34 ... shaft portion 35 ... shaft portion 36 ... locking claw portion 37 ... locking claw portion 38 ... connecting member 40 ... stopper ring 41 ... leak hole 45 ... inner tube 45a ... channel 46 ... outer tube 47 ... front side connection mouthpiece 48 ... rear side connection mouthpiece 49 ... outer tube 50 ... spacer 51 ... outer tube 52 ... joint 53 ... pressure chamber 55 ... fluid supply pipe 65 ... compressor 66 ... regulator 67 ... electropneumatic proportional valve 68 ... control computer 71A ... first front guiding mechanism 71B ... second front guiding mechanism 72A ... first rear guiding mechanism 72B ... second rear guiding mechanism 73 ... guiding member 73a ... sliding surface 73b ... bearing portion 73c ... reverse taper Part 73d... Ridge part 73e... Spiral groove 73f... Ball holding groove 73g... Ball 74... Connecting member 75... Leading Member 75a ... Sliding surface 76 ... Leading member 77 ... Sphere 77a ... Sliding surface 78 ... Coil 79 ... Connection member 80 ... Connection member 81 ... Coil spring 82 ... Bellows 85 ... Connection member 86 ... Cylindrical member 87 ... Ring member 87a ... Groove 88 ... Roller 90 ... Leading member 91 ... First tubular member 91a ... First sliding surface 92 ... Second tubular member 92a ... Second sliding surface 93 ... Bearing 94 ... Connecting member 95 ... Leaf spring ring 100... Piping 101... Bending pipe line portion 102... Step

Claims (11)

an elastic tube whose cross-sectional shape is elastically deformable according to the internal pressure applied by the fluid;
a slider unit capable of advancing and retreating in the longitudinal direction of the elastic tube according to changes in the cross-sectional shape of the elastic tube;
a leading member having a sliding surface and connected to an end of the slider unit;
a connecting member that connects the leading member so as to be displaceable with respect to the slider unit;
equipped with,
The sliding surface has a tapered shape with a smaller outer diameter on the side away from the slider unit. A mobile device characterized by: an elastic tube whose cross-sectional shape is elastically deformable according to the internal pressure applied by the fluid;
a slider unit capable of advancing and retreating in the longitudinal direction of the elastic tube according to changes in the cross-sectional shape of the elastic tube;
a leading member having a sliding surface and connected to an end of the slider unit;
a connecting member that connects the leading member to the slider unit so as to be displaceable;
with
The sliding surface is characterized in that the outer diameter changes along the longitudinal direction.movemotion device. an elastic tube whose cross-sectional shape is elastically deformable according to the internal pressure applied by the fluid;
a slider unit capable of advancing and retreating in the longitudinal direction of the elastic tube according to changes in the cross-sectional shape of the elastic tube;
a leading member having a sliding surface and connected to an end of the slider unit;
a connecting member that connects the leading member so as to be displaceable with respect to the slider unit;
with
The connecting member has an adjusting mechanism for adjusting the position of the leading member in the longitudinal direction with respect to the slider unit.movemotion device. The slider unit partially restricts expansion of the elastic tube to form a pressure chamber communicating with a fluid supply pipe inside the elastic tube, and moves on the elastic tube by receiving pressure from the pressure chamber. It also has a possible slider,
4. The moving device according to claim 1 , wherein the maximum outer diameter of said guide member is larger than the maximum outer diameter of said slider. 4. The moving device according to claim 1 , wherein the connecting member is an elastic member. 4. The moving device according to claim 1 , wherein the connecting member connects the leading member so as to be rotatable around the longitudinal axis of the slider unit. 4. The moving device according to claim 1 , wherein the connecting member connects the leading member so as to be tiltable with respect to the central axis of the slider unit. 4. The moving device according to claim 1 , wherein the connecting member connects the leading member so as to be movable in an eccentric direction with respect to the central axis of the slider unit. The connecting member connects the leading member so as to be displaceable in at least two directions of the longitudinal axis of the slider unit, the tilting direction of the longitudinal axis, or the eccentric direction of the longitudinal axis. The mobile device according to any one of claims 1 to 3 . 3. The moving device according to claim 2, wherein the sliding surface is a spherical surface. 4. The moving device according to claim 3, wherein the sliding surface is a spherical surface.

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