JPH0624926B2 - In-pipe traveling device - Google Patents

Description

[Field of Industrial Application] The present invention relates to an in-pipe traveling device that can be suitably used in an in-pipe inspection of a pipeline, especially an inclined large diameter pipe.

[Conventional technology and its problems]

Conventionally, an inspector enters the pipe and inspects the inner surface of a pipe such as a water pipe using an inspection device such as an ultrasonic flaw detector, a thickness gauge, and a camera.

However, a scaffold is required when inspecting a large-diameter pipe having a diameter of 2 m or more by such a method. Especially, for a water pipe having a steep slope, it takes a lot of time and effort to construct the scaffold. However, there is a problem in that the efficiency of the entire inspection is poor and the inspection work is dangerous in any case.

In the case of steeply inclined water pipes, it is possible to use a large device that suspends the gondola from the top for construction, but a considerable opening is required to carry such a device into the pipe. Yes, it is not suitable for frequent periodic inspections.

The present invention has been made in view of such conventional problems,
It is intended to provide a self-propelled in-pipe traveling device suitable for in-pipe inspection of an inclined large diameter pipe.

[Means for solving problems]

For this reason, the present invention is directed to a center drum that can include an inspection device and the like, and a plurality of pairs of traveling units that are located on substantially the same plane including the center drum and that face each other across the center drum, and the rod is in the opposite direction. A pair of extending parallel cylinder devices for connecting the traveling units opposed to each other by both cylinder devices and a telescopic arm penetrating the center drum; and a cylinder device for coupling between the adjacent traveling units, The traveling unit includes a rack body provided on the cylinder bodies of the two cylinder devices forming the telescopic arm and a center drum centering device including a pinion provided on the center drum so as to mesh with the two rack bodies. A traveling roller with a steering mechanism to be brought into contact, and a drive device for the traveling roller are provided. The door and its basic features.

[Work]

A plurality of traveling units centering on the center drum bring their respective traveling rollers into contact with the inner surface of the pipe. When the traveling rollers are driven with the steering mechanism tilting the direction (travel direction) of each traveling roller from the pipe radial direction, the device moves along the inner surface of the pipe in the longitudinal direction of the pipe while rotating like one wheel. To do. Therefore, the inspection device or the like is installed on the center drum, and the inside of the pipe can be easily inspected by running in the pipe.

In such traveling, the traveling rollers of the traveling unit which face each other across the center drum are pressed against the inner surface of the pipe by the action of the expanding and contracting arm, whereby the device holding action in the inclined pipe or the like is obtained.

The distance between the traveling units facing each other can be changed by the expansion and contraction of the expansion and contraction arm, thereby changing the diameter of the device according to the pipe diameter, the passage portion, and the like. The expansion and contraction of the expansion and contraction arm is performed by operating a pair of cylinder devices constituting the same in synchronization. However, the centering mechanism causes the center drum to always oppose the traveling units irrespective of the distance between the opposing traveling units. Located in between, as a result of which the device is held in a shape in which the center drum is always in the center of the plurality of running units.

The cylinder device that connects between the adjacent traveling units serves as a bridge, whereby the outer edge portion of the device forms a ring, and a telescopic arm that connects the traveling units through the center drum forms a strong structure. can get.

〔Example〕

1 to 3 schematically show one embodiment of the present invention.

The device is a center drum (1) that can include an inspection device, a plurality of running units (2A ₁ ) (2A ₂ ) (2B ₁ ) (2B ₂ ), which are arranged around the center drum (1), Telescopic arms (3A) (3A) (3A) that connect the running units that face each other across the center drum and that penetrate the center drum
B), a cylinder device that connects adjacent running units
(4) It is composed of centering devices (5A) and (5B) for positioning the center drum between the traveling units facing each other.

The center drum (1) is formed with a pair of through guide holes (6A) for inserting a pair of cylinder devices constituting one telescopic arm (3A), and the through guide holes (6
A pair of penetrating guide holes (6B) are formed in a direction orthogonal to A) so that a cylinder device constituting another telescopic arm (3B) can be inserted therethrough.

An appropriate device (7) such as an inspection device is installed on the front surface of the center drum (1).

The traveling unit (2A ₁ ) (2A ₂ ) (2B ₁ ) (2B ₂ ) is located on substantially the same plane including the center drum (1), and the center drum (1)
Are arranged at intervals of 90 °. Of these, the traveling unit (2A ₁ ) and (2A ₂ ) and the traveling unit (2B ₁ )
(2B ₂ ) face each other across the center drum (1) to form a pair of traveling units.

Each traveling unit (2) has traveling rollers (8) at four positions on the side facing the inner surface of the pipe, namely, front, rear, left and right. Each of the traveling rollers (8) has a steering mechanism, and its traveling direction can be changed. Further, each traveling unit has a driving device (not shown) for the traveling rollers, which drives each traveling roller (8).

The telescopic arms (3A) and (3B) connect the traveling units opposite to each other, and the former is the traveling units (2A ₁ ) and (2A ₂ ).
The latter also connects the traveling units (2B ₁ ) and (2B ₂ ) respectively, and these two telescopic arms intersect in the center drum.

Each telescopic arm is composed of a pair of parallel cylinder devices (9) with rods (91) extending in opposite directions, and a pair of cylinder devices (9) (cylinders that compose the telescopic arm (3A)). Body 90)) is the through guide hole (6A) of the center drum (1).
And a pair of cylinder devices that make up the telescopic arm (3B)
(9) (Cylinder body (90)) is inserted through the through guide holes (6B) so as to be able to move forward and backward.

Each telescopic arm is a cylinder body of one of the pair of cylinder devices (9) constituting the telescopic arm.
(90) and the rod (91) of the other cylinder device are connected to each traveling unit, which connects the opposing traveling units sandwiching the center drum.

The cylinder device (4) has its cylinder body (40) pivotally connected to one of the adjoining traveling units, and the rod (41) to the other traveling unit so as to connect the adjoining traveling units. . By providing a pair of the cylinder devices (4) between the adjacent traveling units, it is possible to appropriately prevent the lateral movement of the traveling units. By connecting the adjacent traveling units with the cylinder device (4), the outer edge portion of the device forms a ring.

It should be noted that instead of this cylinder device (4), an expandable body incorporating a spring can be used as the connecting member.

The centering devices (5A) and (5B) are provided corresponding to the telescopic arms (3A) and (3B), and each centering device is a cylinder body of a pair of cylinder devices (9) constituting the telescopic arms.
About (90), the rack body (10) attached to the opposite surface and the rack body located between both cylinder bodies (90).
It is composed of a pinion (11) provided at the center of the center drum (1) so as to mesh with (10). The telescopic arm expands and contracts by advancing and retracting the rod (91) of the pair of cylinder devices (9), and the pinion (11) meshes with the rack bodies (10) of both cylinder devices (9). As a result, the two cylinder devices (9) are always equal in length on both sides of the pinion (11), and as a result, the center drum (1) is placed between the traveling units facing each other regardless of the degree of expansion and contraction of the telescopic arm. Will always be centered in the center of.

4 to 7 show a more specific embodiment of the apparatus shown in FIGS. 1 to 3.

Of these, FIGS. 6 and 7 show the details of each traveling unit (2). The traveling unit has two traveling rollers (8XL), (8XR) and (8YL) (2) at the front and rear of its moving direction. 8YR), and further, a drive device (12) for this traveling roller and a steering mechanism.

Explaining the mounting structure of each traveling roller (8), the cylindrical body (14) is rotatable and movable in the longitudinal direction in a cylindrical casing part (131) forming a part of the mounting base (13) (base body). The shaft body (15) is rotatably held in the hollow portion (141) of the tubular body (14) via a bearing (16).
The bevel gear (17) is attached to one end of the shaft body (15) on the running roller side.
Is fixed, and its peripheral body is slidably in contact with the inner surface of the cylindrical body (14).

At the end of the cylindrical body (14) on the side of the traveling roller, there is provided a bracket portion (1
8) are installed in a row. In this bracket portion (18), a casing-like main body (19) is fixed to an end portion of the cylindrical body (14), and inside the main body, a bevel gear (17) meshing with the bevel gear (17) meshes with a bevel gear. A transmission shaft (21) having (20) and a roller support shaft (22) parallel to the transmission shaft (21) are rotatably provided, and the traveling roller (8) is provided at the end of the roller support shaft (22) protruding from the main body (19). ) Is fixed. Said transmission shaft (21)
The gears (23) and (24) are fixed to the roller support shaft (22) and the roller support shaft (22) respectively, and another gear (25) is rotatably provided between the gears (23) and (24). Bevel gear (17) (2)
0), transmission shaft (21), gear (23) (25) (24), roller support shaft (22)
In this order, the traveling roller (8) is rotated.

In addition, in order to smoothly steer the traveling roller (8) and to perform stable traveling, the traveling roller (8) is a cylindrical body (14).
It is fixed to the roller support shaft (22) such that the center of the cylinder in the radial direction and the center in the width direction are located on the extension of the cylinder center (that is, the shaft center of the shaft body (15)).

A transmission cylinder (26) is rotatably provided on the mounting base (13) on the side opposite to the traveling rollers so as to face the rear part of the cylinder (14) through a bearing (27), and its end is provided. The sprocket wheel (28) is fixed to the section.

The other end portion (151) of the shaft body (15) projects from the cylindrical body (14) and is slidably inserted in the transmission cylindrical body (26) in the longitudinal direction.
The end portions of the transmission cylinder (26) and the shaft body (15) are engaged with each other in the circumferential direction by a key and a key groove provided along their longitudinal direction, or with a dovetail groove and a dovetail groove. The rotation of the transmission cylinder (26) can be transmitted to the shaft (15) while ensuring the sliding of the shaft (15) with respect to the shaft (26).

A buffering coil spring (29) is externally inserted on the outer periphery of the tubular body (14), and both ends of the coil spring (29) are attached to the tubular body (14).
It is locked by a locking portion (30) provided on the outer periphery of the casing and a locking portion (31) on the casing side facing the locking portion (30), and this coil spring (29) serves to cushion the traveling roller. There is.

Drive roller drive device (12) approximately in the center of the mounting base (13)
Is fixed, and a bevel gear (32) is attached to its main shaft. Further, a shaft body (35) having a bevel gear (33) meshing with the bevel gear (32) fixed to one end thereof and a sprocket wheel (34) fixed to the other end of the mounting base (13) is a bearing (3).
It is rotatably installed via 6). A chain (37) is wound between the sprocket wheel (34) and the four sprocket wheels (28) corresponding to the traveling rollers, and the chain (37) applies a driving force from the drive unit side. It is adapted to be transmitted to the traveling roller via each sprocket wheel (28). In addition, (38) is a sprocket wheel for giving tension to the chain.

Next, the steering mechanism of the traveling roller will be described. A ring-shaped worm wheel (39) is provided outside the intermediate portion of the cylindrical body (14). That is, the tubular body (14)
Is fitted to the worm wheel (39) so as to be slidable in the longitudinal direction, while the worm wheel (39) is locked at its side surface to a fixing portion on the mounting base side, so that in the longitudinal direction of the tubular body (14). Despite its movement, it will be held in place. The cylindrical body (14) and the worm wheel (39) are engaged with each other in the circumferential direction by a key and a key groove provided along the direction of their cylinder center, or with a dovetail groove and a dovetail groove, with respect to the worm wheel (39). The rotation of the worm wheel (39) can be transmitted to the tubular body (14) while ensuring the sliding of the tubular body (14).

A worm (40) meshing with the worm wheel (39) is rotatably supported by the mounting base (13). Worm
In order to engage the (40) with the worm wheel (39), a window hole is formed in the tubular casing (131). The worm (40) is also arranged in the casing part (132) provided so as to be connected to the casing part (131).

Each traveling unit can steer a pair of traveling rollers (8XL) (8XR) at the front part of the traveling direction and a pair of traveling rollers (8YL) (8YR) at the rear part separately for this reason. A drive device (41) (drive motor) for driving the steering is provided for each of the front and rear traveling rollers.

This will be explained for the front traveling rollers (8XL) (8XR). A pair of worms corresponding to both traveling rollers (8XL) (8XR).
(40) is connected by a transmission shaft (42) and is configured to rotate in synchronization. A sprocket wheel (43) is fixed to the shaft end of one worm (40). A sprocket wheel (44) is fixed to the main shaft of the drive device (41), and a sprocket wheel (45) (46) for restraining is interposed between both sprocket wheels (43) (44). Chien
(47) is hung around. According to such a configuration, the driving force of the drive device (41) is transmitted to both worms (40) via the chain (47), the sprocket wheel (43), the transmission shaft (42), etc. Worm wheel (39) by rotating 40)
The tubular body (14) is rotated via the, and the traveling rollers (8XL) (8XR) are steered.

The rear running rollers (8YL) (8YR) have the same configuration.

Explaining other configurations, in order to connect the telescopic arm, a mounting plate (49) is provided on the mounting base (13) of the traveling unit so as to be tiltable in the traveling direction of the traveling unit via the pivot (48). The rod (91) and the cylinder body (90) of the pair of cylinder devices (9) that form the telescopic arm (3) are fixed to the plate (49), respectively. By adopting such a pivot structure, even if an unreasonable force is applied to this portion, the traveling unit (2) can be tilted to escape.

The traveling unit constituent members except the traveling roller (8) and the bracket portion (18) thereof are covered with a casing (50). Further, a bellows (51) is mounted between the outer periphery of the mounting plate (49) and the casing (50) to enable the tilting of the traveling unit (2).

In addition, each traveling unit and center drum has a built-in control device for controlling each drive mechanism, and these drive mechanism and control device are powered and controlled by a cable (52) guided from outside the pipe. Signal is supplied. The cable (52) is connected to the center drum (1) through a rotary connector (53) so as to prevent twisting due to the rotation of the device.

In addition, each running unit (2) and telescopic arm that compose the device
(3), each telescopic arm (3) and center drum (1), each cylinder device (4) and traveling unit (2) have their connecting parts removable, so that they can be carried in and out of the pipe. It is designed so that it can be easily disassembled and assembled at any time.

Further, it is preferable that the main body of the traveling roller (8) is composed of at least plastic, and the distortion of this roller performs a function similar to the steering action and helps maintain the posture of the device.

It goes without saying that the traveling unit (2) can be provided in an arbitrary number of two or more pairs.

The usage and operation of the above device will be described.

The device is usually disassembled into a traveling unit (2), a telescopic arm (3), a center drum (1), and a cylinder device (4), which are loaded into the pipe to be used and then assembled, and each traveling unit (2A The traveling rollers (8) of ( ₁ ) to (2B ₂ ) are brought into contact with the inner surface (A) of the pipe. The traveling rollers (2A ₁ ) (2A ₂ ), (2B ₁ ) (2B ₂ ), which are opposed to each other by sandwiching the center drum (1),
The telescopic arms (3A) and (3B) are pressed against the inner surface (A) of the pipe, whereby a holding action of the device in the inclined pipe is obtained. The device can change the distance between the traveling units facing each other by expanding and contracting the expanding and contracting arms (3A) and (3B), thereby changing the outer diameter of the device according to the pipe diameter of the pipe to be applied. The expansion and contraction arms (3A) and (3B) are expanded and contracted by synchronously operating a pair of cylinder devices (9) constituting them, but by the action of the centering devices (5A) and (5B), the traveling units facing each other are operated. Center drum regardless of the interval
(1) is always located between the traveling units facing each other, and as a result, the apparatus is held in a shape in which the center drum (1) is always located at the center of the traveling units.

Further, by connecting the adjacent traveling units with the cylinder device (4), the device has an annular outer edge portion, and the telescopic arm for connecting between the opposing traveling units.
A stronger structure can be obtained with (3A) and (3B).

When the device is moved, the direction (travel direction) of each traveling roller (8) is tilted from the radial direction of the pipe to the axial direction of the pipe by the steering mechanism (state with steering angle). The steering of the traveling rollers of each traveling unit (2) is the front traveling rollers (8XL) (8XR) and the rear traveling rollers (8YL).
(8YR) will be held separately.

Then, in this state, each drive unit is driven by the drive device (12).
When the traveling roller (8) of (2) is driven, the device shifts in the pipe axis direction by the steering angle while rotating like a wheel along the pipe circumferential direction. Each driving unit
Looking at the operation of (2), these will spirally run along the inner surface (A) of the pipe.

Even when traveling on an inclined pipe, since the traveling roller (8) travels in the pipe radial direction at a predetermined angle, static friction is generated between the traveling roller and the pipe wall, and the edge of the roller stands on the pipe wall. Since the vehicle travels, slippage in the tube axis direction due to the inclination of the tube is appropriately prevented. In water pipes, mud, algae, etc. are often thickly attached to the inner surface of the pipe, which is likely to cause slippage, but each running roller is strongly pressed against the inner surface of the pipe by the action of the telescopic arm. The deposits are pushed away or compressed and dehydrated, and the edges of the rollers stand as described above, so that the deposits appropriately prevent slippage.

Even if the pipe diameter changes during travel, the telescopic arms (3A) and (3B) expand and contract accordingly, and the travel rollers of each travel unit (2)
Keep (8) pressed against the inner surface of the pipe.

In addition, the device is required to travel in a posture that is always perpendicular to the pipe axis direction while maintaining balance, so that different steering operations are performed for each traveling unit or the front part of each traveling unit (2) is required. Running roller (8X
Different steering operations may be performed between the L) (8XR) and the rear running rollers (8YL) (8YR).

For example, when the device passes through the bend portion of the pipe as shown in Fig. 9 (a), the traveling roller (2) passing through the back side of the bend portion allows the traveling roller to have a large steering angle and the abdominal side. For the traveling unit (2) passing through, the operation is performed so that the traveling roller can be operated at a small steering angle.
Note that the device of the present invention runs at such a bend portion against the pressing force P ₁ by the telescopic arms (3A) and (3B) even if the posture is tilted to a certain extent as shown in FIG. 9 (B). A large reaction force P ₂ is generated on the roller (8), and as a result, a force P ₃ for pushing the device back is generated, and a posture adjustment for returning the posture of the device to a normal state is automatically performed.

Further, in order to keep the posture of the device always normal, a sensor for detecting the posture of the device is provided, and the steering operation and the like can be performed based on the detection by the sensor. Fig. 8 shows an example of mounting the above-mentioned sensor. Sensors (54a) (54b) for detecting the positional relationship with the pipe wall are provided at the front and rear of each traveling unit (2), and the traveling unit (2 A light projector (55) and a light receiving plate (56) for receiving the laser light and the like from the light projector are provided between the two), and the displacement of the traveling units in the tube axis direction is detected by the light receiving position. In this way, the posture of the device is determined based on the position detection of the traveling units (2) with respect to the pipe wall and the position detection between the traveling units, and the steering operation is performed so as to maintain the device in a normal posture.

As described above, the center drum (1) is always kept at the center of the device by the centering action, so that the inspection device attached to the center drum (1) is always located at the center of the pipe.

〔The invention's effect〕

According to the present invention described above, the following effects can be expected by using it for inspection of the inner surface of a large diameter pipe.

(1) Since it can be self-propelled in a large-diameter pipe by mounting an inspection device etc.,
Compared with the conventional method that requires scaffolding, the inspection efficiency can be significantly improved.

(2) The outer diameter of the device changes according to the pipe diameter and the passing portion, and since each traveling roller has a steering mechanism, it can be smoothly and smoothly regardless of the pipe diameter, pipe bend portion, obstacles, etc. Stable running is possible.

(3) With the centering device, the center drum equipped with the inspection device can always be located in the center of the device,
By constantly moving the inspection device along the tube axis, the inspection accuracy can be improved. In addition, the center of gravity is always in the center of the device, which enables stable running.

(4) It has a structure that can be easily disassembled and assembled, and each component can be carried into a pipe by using an existing manhole or the like, and can be easily used by assembling it.

(5) By installing the necessary equipment on the center drum, it is possible to perform not only the pipe inner surface inspection but also various work such as repair work such as painting and welding.

[Brief description of drawings]

1 to 3 show an embodiment of the present invention,
Fig. 1 is a front view, Fig. 2 is a side view, and Fig. 3 is II in Fig. 2.
It is sectional drawing which follows the I-III line. 4 to 7 show a more specific embodiment of the present invention. FIG. 4 is a front view, FIG. 5 is a side view, and FIG. 6 is a cross-sectional view of a traveling unit, FIG. Is also a vertical sectional view. FIG. 8 is an explanatory view showing an example of attaching a sensor to the device of the present invention. Fig. 9
(A) and (B) are explanatory views showing a passing state of a pipe bend portion of the apparatus. In the figure, (1) is the center drum, (2A ₁ ) (2A ₂ ) (2B ₁ ) (2
B ₂₎ the running Yunitsuto, (3A) (3B) of the telescopic arm (4) is a cylinder device, (5A) (5B) is centering device, (6A) (6B) is through the guide hole, (8XL) (8XR ) (8YL) (8YR) is the running roller, (9)
Is a cylinder device, (10) is a rack, (11) is a pinion, (1
2) shows drive devices.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Reference number within the agency FI Technical indication location G01N 29/26 501 501-5105J (72) Inventor Fumiaki Arai 1-8 Marunouchi, Chiyoda-ku, Tokyo No. 2 Electric Power Development Co., Ltd. (72) Inventor Yuji Fujisawa 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd. (72) Tomoaki Sato 1-1-Chome, Marunouchi, Chiyoda-ku, Tokyo No. 2 Japan Steel Tube Co., Ltd. (72) Inventor Akira Moriya 1-2 1-2 Marunouchi, Chiyoda-ku, Tokyo Japan Steel Tube Co., Ltd. (72) Shunji Kaneko 1-2 1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Steel Tube Co., Ltd.

Claims (1)

[Claims] 1. A center drum that can include an inspection device, a plurality of pairs of traveling units that are located on substantially the same plane including the center drum and that face each other across the center drum, and rods that extend in opposite directions. An extension / contraction arm which is composed of a pair of parallel traveling cylinder devices, connects the traveling units opposed to each other by both cylinder devices, and extends through the center drum, and a cylinder device which connects adjacent traveling units, It comprises a rack body provided on the cylinder bodies of both cylinder devices forming an arm, and a center drum centering device comprising a pinion provided on a center drum so as to mesh with the rack bodies. Tube comprising a traveling roller with a steering mechanism to be in contact and a drive device for the traveling roller Traveling device.