JPH0427064B2 - - Google Patents
Info
- Publication number
- JPH0427064B2 JPH0427064B2 JP26328986A JP26328986A JPH0427064B2 JP H0427064 B2 JPH0427064 B2 JP H0427064B2 JP 26328986 A JP26328986 A JP 26328986A JP 26328986 A JP26328986 A JP 26328986A JP H0427064 B2 JPH0427064 B2 JP H0427064B2
- Authority
- JP
- Japan
- Prior art keywords
- pipe
- traveling
- arm
- link
- links
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000007689 inspection Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Landscapes
- Characterised By The Charging Evacuation (AREA)
- Valve-Gear Or Valve Arrangements (AREA)
- Pulleys (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
［発明の技術分野］
本発明は各種パイプ等の管状物の管内走行装置
に係り、特に管内面作業装置の駆動体として適用
される管内走行装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an intra-pipe traveling device for tubular objects such as various pipes, and more particularly to an intra-pipe traveling device applied as a driving body for a pipe inner surface working device.
［発明の技術的背景及びその問題点］
近年、人手による作業が困難な管内作業を実施
するために、作業機器を搭載して管内を走行する
装置が開発されている。このような装置は管の姿
勢や内部の起状に係らず動作し、管内径の許容性
にも富んだものが望まれる。更に視覚機器、検査
機器及び作業機器の搭載時には装置が管の中心を
保持することが必要であり、管の同一径部のみな
らず径の異なる部分においても常に強力な牽引力
を必要とする。[Technical Background of the Invention and Problems Therewith] In recent years, in order to carry out work inside pipes that is difficult to do manually, devices have been developed that carry working equipment and travel within pipes. It is desired that such a device operates regardless of the posture of the tube or the internal shape of the tube, and has good tolerance for the inner diameter of the tube. Furthermore, when installing visual equipment, inspection equipment, and work equipment, it is necessary for the equipment to hold the center of the pipe, and a strong traction force is always required not only on parts of the same diameter of the pipe but also on parts of different diameters.
このような管内走行装置として、我々はすでに
２台の走行台車をリンクで連結した管内走行装置
（特願昭60−279968号（特開昭62−137265号））を
提案した。この管内走行装置は、第４図に示すよ
うに同形同寸法の２台の走行台車１０１，１０
１′を２対のリンク１０２，１０３で連結し、各
リンク１０２，１０３を結合しているピン１０
４，１０５にスプリング１０６等を装架すること
により、リンク１０２及びリンク１０３を開く方
向に付勢し、もつて走行台車１０１，１０１′が
管の内壁３１をつつばる力、すなわち牽引力を付
与するようにしている。ところで、この管内走行
装置においては、リンク１０２及びリンク１０３
はスプリング１０６によつて同等に付勢されてお
り、しかも走行台車１０１，１０１′はスライド
リンク１０７によつて結合されているので、走行
台車１０１，１０１′は常に平行を保つて移動す
る。このような管内走行装置は管径の変化が少な
い管内には充分適用しうるが、第４図に示すよう
な管径が変化する部分では走行台車は管壁に部分
的にしか接触しないため、同一管径部走行時に比
較して強力な牽引力を確保することができない。 As such a system for traveling within a tract, we have already proposed a system for traveling within a tract (Japanese Patent Application No. 60-279968 (Japanese Patent Application Laid-open No. 137265-1981)), which is a system in which two traveling bogies are connected by a link. As shown in FIG.
1' are connected by two pairs of links 102, 103, and the pin 10 connects each link 102, 103.
By mounting a spring 106 or the like on 4, 105, the link 102 and the link 103 are biased in the direction of opening, thereby providing a force for the traveling cart 101, 101' to squeeze the inner wall 31 of the pipe, that is, a traction force. That's what I do. By the way, in this pipe traveling device, the link 102 and the link 103
are urged equally by the spring 106, and since the carriages 101, 101' are connected by the slide link 107, the carriages 101, 101' always move in parallel. Such an in-pipe traveling device can be fully applied in pipes where the pipe diameter does not change much, but in areas where the pipe diameter changes as shown in Fig. 4, the traveling cart only partially contacts the pipe wall. It is not possible to secure a strong traction force compared to when traveling on the same pipe diameter.
［発明の目的］
本発明は上記従来の難点を解消するためになさ
れたもので、管径の変化する部分においても管の
中心点を保ちながら牽引力を高める事の出来る構
造を有する管内走行装置を提供せんとするもので
ある。[Object of the Invention] The present invention has been made to solve the above-mentioned conventional problems, and provides an in-pipe traveling device having a structure that can increase the traction force while maintaining the center point of the pipe even in parts where the pipe diameter changes. This is what we intend to provide.
［発明の概要］
このような目的を達成するために本発明の管内
走行装置はシヤーシーと、前記シヤーシーに装着
される原動手段と、前記原動手段により駆動され
る駆動輪とを有する同形同寸法の２台の走行台車
を少なくとも１組の菱形リンクを含む２以上のリ
ンクで連結し、該リンクはそれぞれの両端部が
各々相異なる前記走行台車の端部に枢着されてい
ると共に、それぞれの蝶番部のうち一つの蝶番部
はジヨイントアームに枢着固定され且つ他の蝶番
部は前記ジヨイントアームに摺動可能に枢着され
ており、前記リンクの両端部間の距離が各々別個
に最大となるようにスプリング手段によつて付勢
されていることを特徴とする。[Summary of the Invention] In order to achieve the above object, the pipe running device of the present invention includes a chassis, a driving means attached to the chassis, and a driving wheel driven by the driving means, all of which are of the same shape and size. The two traveling carts are connected by two or more links including at least one set of diamond-shaped links, each of which has both ends pivotally connected to different ends of the traveling cart, One of the hinge parts is pivotally fixed to the joint arm, and the other hinge part is slidably pivotally connected to the joint arm, and the distance between the opposite ends of the link is different from each other. It is characterized in that it is biased by a spring means so as to be maximally biased.
［発明の実施例］
以下、本発明の好ましい実施例を図面により説
明する。第１図ないし第３図において、管内走行
装置１は２台の同形同寸法の走行台車２，２′を
有し、各走行台車２，２′はそれぞれ駆動源であ
るモーターＭ（第３図）を装着したシヤーシー３，
３′を有し、モーターＭによつて駆動される駆動
輪４，４′及び従動輪５，５′を備えている。又、
走行台車２の両端部２ａ，２ｂにはピン６によつ
てアーム７の一端が、ピン８によつてアーム９の
一端及びアーム１０の一端がそれぞれ枢着されて
いる。第１図には図示されていないがシヤーシー
３の裏側にも同様のアーム７，９，１０がピン６
及びピン８によつて枢着される。同様に走行台車
２′の両端部２′ａ，２′ｂにもピン６′によつてア
ーム７′の一端が、ピン８′によつてアーム９′の
一端及びアーム１０′の一端がそれぞれ枢着され
ている。アーム７とアーム７′は一対のリンク１
４を成し、アーム９とアーム９′及びアーム１０
とアーム１０′は、それぞれ一対のリンク１５，
１６を成すと共に、リンク１５、リンク１６によ
つて菱形リンクが形成される。そしてリンク１
４，１５，１６のそれぞれの蝶番部１４ｃ，１５
ｃ，１６ｃはピン１１，１２及び１３によつてジ
ヨイントアート１７に枢支されている。ここでピ
ン１１及び１２はジヨイントアーム１７に設けた
長孔１７ｂ及び１７ａにそれぞれ係合し、その長
手方向に摺動が可能になつている。ジヨイントア
ーム１７は検査機器や作業機器の取付用アーム
で、管内走行装置１の中心に位置する。ピン１１
とピン１３には第３図に示すようなねじりコイル
ばね２０が嵌着されており、ねじりコイルばね２
０の一端は裏側のリンク１４，１６に、他の一端
は裏側のリンク１４，１６にそれぞれ固定されて
おり、アーム７，１０とアーム７′１０′とのなす
角を拡げるように付勢する。すなわち、リンク１
４，１６の両端部１４ａ，１４ｂ，１６ａ，１６
ｂの距離が最大となるように付勢する。[Embodiments of the Invention] Preferred embodiments of the present invention will be described below with reference to the drawings. 1 to 3, an in-pipe traveling device 1 has two traveling vehicles 2, 2' having the same shape and size, and each traveling vehicle 2, 2' has a motor M (a third motor) serving as a driving source. Seat 3 equipped with
3', and includes driving wheels 4, 4' and driven wheels 5, 5' driven by a motor M. or,
One end of an arm 7 is pivotally connected to both ends 2a and 2b of the traveling carriage 2 by a pin 6, and one end of an arm 9 and one end of an arm 10 are respectively pivotally connected to each end of the arm 7 by a pin 8. Although not shown in FIG. 1, similar arms 7, 9, and 10 are provided on the back side of the chassis 3 with pins 6.
and is pivotally connected by pin 8. Similarly, one end of arm 7' is connected to both ends 2'a and 2'b of traveling carriage 2' by pin 6', and one end of arm 9' and one end of arm 10' are connected to each other by pin 8'. It is pivoted. Arm 7 and arm 7' are a pair of links 1
4, arm 9, arm 9' and arm 10
and arm 10' each have a pair of links 15,
16, and the links 15 and 16 form a diamond-shaped link. and link 1
Hinge parts 14c and 15 of 4, 15, and 16, respectively.
c and 16c are pivotally supported on the joint art 17 by pins 11, 12 and 13. Here, the pins 11 and 12 are engaged with elongated holes 17b and 17a provided in the joint arm 17, respectively, and can be slid in the longitudinal direction thereof. The joint arm 17 is an arm for attaching inspection equipment and working equipment, and is located at the center of the pipe traveling device 1. pin 11
A torsion coil spring 20 as shown in FIG. 3 is fitted to the pin 13.
One end of the arm 0 is fixed to the links 14 and 16 on the back side, and the other end is fixed to the links 14 and 16 on the back side, respectively, and is biased to widen the angle formed by the arms 7 and 10 and the arm 7'10'. . That is, link 1
Both ends 14a, 14b, 16a, 16 of 4, 16
The force is applied so that the distance b becomes maximum.
このように構成される管内走行装置１は、走行
台車２，２′の両端部にそれぞれ連結されたリン
ク１４及びリンク１５，１６がねじりコイルばね
２０のバネ力により管径の変化に追従した別個に
拡がり走行台車２，２′の駆動輪４，４′及び従動
輪５，５′を管３０の管壁３１に圧接する。すな
わち第１図に示すような管内においてはリンク１
４が圧縮し、リンク１５及び１６がやや伸びた状
態で管径の変化する管壁３１に圧接しており、第
２図に示すような管内においては逆にリンク１４
が伸びて、リンク１５及び１６が圧縮した状態で
管壁３１に圧接している。しかもこのような走行
装置のリンクの構造は、走行台車２，２′の一方
が他方に対してずれるのを防止する。すなわち、
管内の凹凸、一方のモータのトラブル等の何らか
の原因で、一方の走行台車が円滑な走行を防げら
れたとしても、上記のリンク構造によつて走行台
車２，２′はジヨイントアーム１７に対し対称的
な位置を確保されるので、もう一方の走行台車の
みが先行してずれるということはなく、ジヨイン
トアーム１７は装置の中心を保ちながら走行が維
持される。 The in-pipe traveling device 1 configured as described above has a link 14 connected to both ends of the traveling carts 2 and 2', and links 15 and 16, each of which is a separate structure that follows changes in the pipe diameter by the spring force of a torsion coil spring 20. The driving wheels 4, 4' and the driven wheels 5, 5' of the traveling carriages 2, 2' are pressed against the pipe wall 31 of the pipe 30. In other words, in a pipe as shown in Fig. 1, link 1
4 is compressed, and the links 15 and 16 are slightly stretched and in pressure contact with the pipe wall 31 whose diameter changes.In the pipe as shown in FIG.
is expanded, and the links 15 and 16 are in pressure contact with the pipe wall 31 in a compressed state. Moreover, such a link structure of the traveling device prevents one of the traveling carriages 2, 2' from shifting relative to the other. That is,
Even if one of the traveling bogies is prevented from running smoothly due to some reason, such as unevenness in the pipe or trouble with one of the motors, the above link structure allows the traveling bogies 2 and 2' to keep up with the joint arm 17. Since a symmetrical position is ensured, the other traveling carriage will not be displaced in advance, and the joint arm 17 will continue to travel while maintaining the center of the device.
［発明の効果］
以上の実施例からも明らかなように本発明の管
内走行装置においては走行台車の前後両端で各々
別個に管壁突張力を発生する構造であり、しかも
２つの走行台車がずれないリンク構造を有するた
め、各種機器接続用のジヨイントアームを管中心
に保ちながら、管内径変化等の管内傾斜に対して
走行台車を管内傾斜に追従傾斜させる事が出来
る。[Effects of the Invention] As is clear from the above embodiments, the in-pipe traveling device of the present invention has a structure in which pipe wall tension is generated separately at both the front and rear ends of the traveling bogie, and moreover, the two traveling bogies are Because it has a free link structure, it is possible to keep the joint arm for connecting various devices at the center of the pipe, and to tilt the traveling cart to follow the inclination of the pipe due to changes in the inner diameter of the pipe.
この事により、管内水平部のみならず、傾斜部
においても走行台車の全長で管壁に当り、水平部
と同等の牽引力を発生し、よりスムースに走行す
ることが出来る。 As a result, the entire length of the traveling carriage hits the pipe wall not only at the horizontal part of the pipe, but also at the inclined part, generating the same traction force as in the horizontal part, and making it possible to run more smoothly.
第１図および第２図はそれぞれ本発明の実施例
の正面図、第３図は同側面図、第４図は特願昭60
−179968号の管内走行装置の側面図である。
１……管内走行装置、２，２′……走行台車、
３，３′……シヤーシー、４，４′……駆動輪、
５，５′……従動輪、６，６′，８，８′……ピン、
７，７′，９，９′，１０，１０′……アーム、１
１，１２，１３……ピン、１４，１５，１６……
リンク、１４ａ，１４ｂ，１６ａ，１６ｂ……リ
ンク両端部、１４ｃ，１５ｃ，１６ｃ……蝶番
部、１７……ジヨイントアーム、２０……ねじり
コイルばね、３０……管、３１……管壁、Ｍ……
モーター（駆動源）。
1 and 2 are respectively front views of embodiments of the present invention, FIG. 3 is a side view of the same, and FIG.
It is a side view of the pipe traveling device of No.-179968. 1... In-pipe traveling device, 2, 2'... Traveling trolley,
3, 3'... Seat, 4, 4'... Drive wheel,
5, 5'... Driven wheel, 6, 6', 8, 8'... Pin,
7, 7', 9, 9', 10, 10'...Arm, 1
1, 12, 13... pin, 14, 15, 16...
Link, 14a, 14b, 16a, 16b... Link both ends, 14c, 15c, 16c... Hinge part, 17... Joint arm, 20... Torsion coil spring, 30... Tube, 31... Tube wall, M...
Motor (drive source).
Claims (1)
動手段と、該原動手段により駆動される駆動輪と
を有する２台の走行台車及び前記２台の走行台車
を連結し少なくとも１組の菱形リンクを含む２以
上のリンクから成り、該リンクはそれぞれの両端
部が各々相異なる前記走行台車の端部に枢着され
ていると共に中央に蝶番部を有し、各蝶番部のう
ち一つの蝶番部はジヨイントアームに枢着固定さ
れ且つ他の蝶番部は前記ジヨイントアームの長孔
に摺動可能に枢着されており、前記リンクの両端
部間の距離が各々別個に最大となるようにスプリ
ング手段によつて付勢されていることを特徴とす
る管内走行装置。1. Two traveling bogies each having a chassis, a driving means attached to the chassis, and a drive wheel driven by the driving means, and at least one set of diamond-shaped links connecting the two running bogies. The link consists of the above-mentioned links, each of which has both ends pivotally connected to different ends of the traveling carriage and has a hinge in the center, and one of the hinges has a joint. The other hinge portion is pivotally fixed to the arm, and the other hinge portion is slidably pivotally connected to the elongated hole of the joint arm, and the spring means is configured to individually maximize the distance between the opposite ends of the link. An in-pipe traveling device characterized in that it is biased.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26328986A JPS63116974A (en) | 1986-11-04 | 1986-11-04 | Running gear in pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26328986A JPS63116974A (en) | 1986-11-04 | 1986-11-04 | Running gear in pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63116974A JPS63116974A (en) | 1988-05-21 |
| JPH0427064B2 true JPH0427064B2 (en) | 1992-05-08 |
Family
ID=17387401
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26328986A Granted JPS63116974A (en) | 1986-11-04 | 1986-11-04 | Running gear in pipe |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63116974A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02118251U (en) * | 1989-03-09 | 1990-09-21 | ||
| JP5946037B2 (en) * | 2012-08-09 | 2016-07-05 | 学校法人千葉工業大学 | Traveling device |
-
1986
- 1986-11-04 JP JP26328986A patent/JPS63116974A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63116974A (en) | 1988-05-21 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |