JPH0686208B2 - In-service truck - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of use] The present invention relates to an ITV camera or the like for investigating the condition of the inner surface of a pipe such as a gas pipe, a petroleum pipe, a water and sewer pipe, and a measuring instrument for pipe wall thickness survey. Etc. and a self-propelled in-pipe traveling carriage for pulling a welding machine for repair welding to a predetermined position in the pipe.

[Prior Art] Conventionally, as a trolley that travels in a pipeline, JP-A-60-9295
1, JP-A-58-214845, JP-A-59-147260, Shoukai-60-1
88373 and JP-A-60-119446.

Further, as a pulling method in the case where a curved pipe exists in a pipeline, there are Japanese Patent Laid-Open Nos. 60-140311, 60-249800 and 59-1254.
There are 69 mag.

In addition, if both ends of the pipeline are opened, a pig system in which air is blown from one side to move it, or a wire is attached to both ends of the bogie, and this wire is wound by a winch or the like at both ends and then returned to move. The method is adopted.

[Problems to be Solved] However, the above-described conventional truck running in the pipeline can be sufficiently used when the pipeline is straight, but it is a tube in which curved pipes such as up, down, left and right exist. Not applicable to the road.

The technique of the former two of the above three as a traction pope when there is a curved pipe in the pipeline is applicable to a curved pipe with a certain R, but a short pipe obtained by diagonally connecting the pipe is connected. It cannot be applied to the miter bend pipe manufactured by.

That is, in the case of a curved tube having a constant R, it is disclosed in JP-A-60-1403.
Since the wheels 3a and 3b shown in FIG. 2 at 11 have a small inclination, the wheels change their direction while causing a slight slip with the pipe wall. However, for example, a 90 ° bent pipe and a 30 ° cut pipe are 3
In the case of a miter bend pipe manufactured by connecting them individually, the inclination of the pipe axis is about 30 °. When changing the direction of this 30 ° inclination at a time, as shown in FIG. 2 of JP-A-60-140311,
It is considered impossible with ordinary wheels such as drive wheels a and 3b and thrust wheels. In the case of a traveling truck with a disk-shaped or ring-shaped wheel that presses against the inner wall of the pipe strongly and the driving force is obtained by the frictional force between the two, the pipe axis angle of the miter bend curved pipe that can run is limited to about 15 °. Is. The traveling pipe axis angle can be increased to some extent by making the length and weight of the bogie proper, but in the conventional traveling bogie, when the pipe axis angle of the curved pipe section exceeds about 15 °. It is empirically known that even if the length or weight of the trolley body is changed, it cannot run. In this case, it is operatively possible to weaken the pressing force of the wheels to reduce the frictional force and change the direction, but in that case, there is a problem that the driving force is reduced and the vehicle cannot travel.

Further, the latter technique also has a disadvantage that it is inferior to the former technique, and since it uses a magnet roller for compensating for the lack of friction driving force, it cannot be applied to anything other than iron pipes.

Further, in the pig system and the wire system, both ends of the pipeline need to be open, which results in high civil engineering costs. Also, in the case of the wire type, due to the sliding friction between the inside of the curved pipe (the side where the wire rope contacts) and the wire rope,
There is a problem that the bent pipe is worn or the wire rope is cut.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an in-pipe traveling carriage that can be used without problems not only for straight pipes but also for bent pipes such as miter bend pipes.

[Means for Solving the Problems] An in-pipe traveling carriage according to the present invention has a carriage main body and respective base end portions swingably attached to the carriage main body, and extends toward the front and the rear of the carriage main body. A plurality of frames, wheels respectively provided at the tip of the frames, pressing means for applying a force acting in the radial direction of the pipe to the frames to press the wheels against the inner wall of the pipe, and rotationally driving the wheels. And a driving means, wherein the wheel has a plurality of barrel rollers each having a central portion whose diameter is larger than those of both end portions, and a part of peripheral surfaces of the plurality of barrel rollers is combined to form an outer periphery of the wheel. A holder for holding the plurality of barrel rollers so as to form a supporting shaft of the plurality of barrel rollers is provided in a direction substantially orthogonal to the supporting shaft of the wheel, holder Has a pair of holder members, each holder member holds at least three barrel rollers, and one set of barrel rollers abuts the tube and the other pair of barrel rollers respectively. Is arranged on each holder member so that a portion abutting on the holder shifts and complements each other along the circumference of the pipe.

[Operation] The wheels are pressed against the inner wall of the pipe by pressing means such as a cylinder mechanism or a spring mechanism, and the carriage main body is positioned at the center of the pipe in a state instructed by a plurality of frames. Rotate the wheels to move the carriage forward. In the straight pipe portion, since the traveling path of each wheel is straight, each wheel rotates smoothly without side slipping (moving in a direction having a certain angle with respect to the pipe axis). However, in curved pipe parts such as miter bend pipes and elbow pipes, since the traveling path is curved, each wheel rotates while sliding sideways. At this time, the pipe inner wall, which should be the path of the wheel, inclines with respect to the wheel,
Since the diameter of the central portion of the barrel roller is larger than that of both end portions, the barrel roller follows the shape change of the inner wall of the pipe well, and the mutual contact between the wheel and the inner wall of the pipe is kept good. Also, most of the side slip of the wheel is absorbed by the rotation of the barrel roller itself, and the side slip friction between the wheel outer periphery and the pipe inner wall is converted to rolling friction that is much smaller than that, reducing the movement resistance. Therefore, even when the truck passes through the curved pipe portion, the propulsive force of the truck does not substantially decrease. In particular, each holder member holds at least three barrel rollers, and one set of barrel rollers abuts on the tube and another portion of the barrel rollers abuts on the tube. Since the holder members are arranged so as to complement each other by shifting along the circumference of the wheel, the mutual contact state between the wheel and the inner wall of the pipe is always kept good, and the wheel smoothly slides without slipping. Rotate along the circumference. In this way, in the bogie of the present application, since the barrel roller attached to the wheel always contacts the inner wall of the pipe at every point during traveling, sliding friction is smoothly converted to rolling friction without rattling discontinuously. To be done. With such a smooth correction of the wheel track, in the bogie of the present application, even if the pressing force of the wheel is increased, a large propulsion force is not generated in the bending portion of the pipe and the necessary propulsive force is maintained. While the truck can pass through the bend of the pipe.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS.

The trolley body 11 is a tubular body having a hexagonal cross section, and a base 12 having a pin 13 is fixed to the center of each side thereof. Frames 14, 14 having drive wheels 20 at their tips are pivotally attached to the pin 13 in the front-rear direction. Therefore, in this example, the main body 11 includes a frame 14 facing forward and a frame facing backward.
There are 6 of 14 each.

A connecting metal piece 26 is provided in front of and behind the main body 11 so that a work carriage or the like (not shown) can be connected via a universal joint 27. Further, when passing through the curved pipe portion, a conical portion 28a with which the outer peripheral portion of the end portion of the dolly or the like to be connected abuts is formed in order to prevent the flexible joint portion from being extremely bent and hindering traveling. A stopper disk 28 is provided.

Each frame 14 is configured by connecting left and right members 14a and 14b, and a wheel driving motor 15 and a speed reducer 16 are sandwiched between both members. The power from the motor 15 is supplied to the belt 17
Is transmitted to the speed reducer 16 via the output gear 18 and is transmitted to the drive wheels 20 via the output chain 18 from the speed reducer.

The drive wheel 20 is a barrel-shaped roller 22 having a curvature that forms the outer periphery of the wheel around a holder 21, and a wheel member in which three pivotally rotatably mounted around its axis are equally arranged, 60
° It is constructed by overlapping the phases. That is, the holder 21 is formed by bonding two holder members 21a to each other, and each holder member 21a holds three barrel rollers 22.
The outer periphery of the wheel 20 is formed by the partial combination of the peripheral surfaces of the six barrel rollers 22 in total. In this case,
The three barrel-shaped rollers 22 are distributed to each holder member 21a by 120 °, and the holder members 21a are bonded to each other so that the phases of the barrel-shaped rollers 22 are shifted from each other by 60 °. By disposing three sets of two barrel rollers 22 on the wheel 20 in this way, one of the barrel rollers 22 can be kept in contact with the inner wall of the pipe at all times, so that the dolly can smoothly run in the pipe. . Further, the support shaft 22a of the barrel roller 22 is provided in a direction orthogonal to the support shaft 20a of the wheel 20, respectively, when the barrel roller 22 rotates around the support shaft 22a,
The wheels 20 are adapted to move in the pipe circumferential direction (direction orthogonal to the pipe axis).

A cylinder 25 is connected to the main body 11 and each frame 14 at both ends via pins, so that the drive wheel 20 is pressed against the inner wall of the pipe.

In the miter bend curved pipe part, each wheel 20 tries to rotate while sliding sideways. At this time, the barrel roller 22 that is in direct contact with the inner wall of the pipe is rotated, and slippage between the wheel outer periphery and the inner pipe wall is almost eliminated, so that side slip of the wheel is substantially eliminated. Therefore, the sliding frictional resistance between the wheel outer periphery and the pipe inner wall is significantly reduced, and the propelling force of the truck does not substantially decrease even when the truck passes through the curved pipe portion. Further, in the curved pipe portion, the inner wall of the pipe to be the path of the wheel inclines with respect to the wheel 20, but the barrel roller
Since the diameter of the central part of 22 is larger than that of both ends, the mold roller 22 which is the shape change of the inner wall of the pipe follows well, and the wheel 20
The mutual contact between the pipe and the inner wall of the pipe is kept good.

In this case, when each frame rotates asymmetrically with respect to the tube axis, the main body 11 may deviate from the center of the tube and contact the inside of the bent tube when passing through the bent tube portion. Therefore, a tuning device 30 for the upper and lower frames is provided to control the pair of frames symmetrically arranged with respect to the main body 11 so as to move symmetrically with respect to the main body. About this device,
A case of a pair of upper frame 14 and lower frame 24, which are vertically symmetrical with respect to the main body 11, will be described with reference to the drawings.

The tuning device 30 comprises a first wire mechanism 31 and a second wire mechanism 32. The structure of the second wire mechanism 32 is the same as that of the first wire mechanism 31, but only the mounting direction is reversed. Therefore, the configuration of the first wire mechanism 31 will be described.

The flexible wire 35 is inserted into the flexible guide tube 38 by extending both ends thereof. The upper end of the wire 35 is a fixture
It is fixed to the upper bracket 33 fixed to the main body 11 via 36. The upper end of the guide tube 38 is
It is fixed through the hardware 37. A lower end portion of the guide tube 38 is fixed to a lower bracket 34 fixed to the main body 11 via a fixture 39. Then, the lower end of the wire 35 is fixed to the lower frame 24 via a fixing tool 40.

A second wire mechanism 32 having the same structure as the first wire mechanism 31 is attached with its direction reversed as shown in FIG.

Thus, the pair of upper and lower frames 14 and 24 rotated by the respective cylinders 25 move symmetrically with respect to the main body 11,
11 is always kept in the center of the tube. Therefore, the main body portion does not contact the inner wall of the curved pipe portion even when passing through the curved pipe portion.

In the above-described embodiment, the case where the six frames 14 are provided in the front-rear direction from the main body 11 has been described, but when the traction force is not so required, the number of the frames 14 may be four. Good.

[Structure of the Invention] The in-pipe traveling carriage of the present invention is as described above. Since a plurality of barrel rollers provided on the wheels can prevent side slip of the wheels during traveling of the curved pipe portion, The propulsive force of is similar to that when traveling in the straight pipe section, and the bogie can be run smoothly. In particular, according to the in-pipe traveling vehicle of the present invention, not only the elbow pipe having a certain curvature but also the miter bend pipe portion can be easily passed.

[Brief description of drawings]

1 to 3 show an embodiment of the present invention. FIG. 1 is a side view, FIG. 2 is a front view, and FIG. 3 is a plan view of a pair of front and rear frames, FIG. FIG. 5 is a side view and a front view showing a mounted state of a pair of upper and lower frame tuning devices. 11 …… Main body, 14,24 …… Frame, 20 …… Drive wheels, 20
a, 22a …… spindle, 21 …… holder, 21a …… holder member, 22
...... barrel type roller, 25 ...... cylinder

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masatoshi Tsuchiya, 5-1, Hirano-cho, Higashi-ku, Osaka City, Osaka Prefecture Osaka Osaka Gas Co., Ltd. (72) Inventor, Norihiko Sato 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nippon Steel Pipe Co., Ltd. (72) Inventor Takafumi Miyata 1-2 1-2 Marunouchi, Chiyoda-ku, Tokyo Nihon Steel Pipe Co., Ltd. (72) Inventor Kiyoshi Kanayama 88 Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Japan Steel pipe construction Co., Ltd. (72) Inventor Osamu Kasio 88 Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Japan Steel pipe construction Co., Ltd. (72) Inventor Yuji Yamashita 88, Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Japan Steel pipe work (56) References JP-A-63-158386 (JP, A) JP-B-63-19384 (JP, B2)

Claims (1)

[Claims] 1. A bogie main body, a plurality of frames each of which has a proximal end portion swingably attached to the bogie main body, and extends forward and rearward of the bogie main body, and is provided at a tip end portion of the frame, respectively. Wheel, a pressing means for applying a force acting in the radial direction of the tube to the frame to press the wheel against the inner wall of the tube, and a driving means for rotationally driving the wheel, wherein the wheel has a central portion. A plurality of barrel rollers having a diameter larger than that of both end portions, and holding the plurality of barrel rollers so that a part of the peripheral surfaces of the plurality of barrel rollers are combined to form the outer periphery of the wheel. And a holder for a plurality of barrel-shaped rollers, the support shafts of the plurality of barrel rollers are provided in a direction substantially orthogonal to the support shafts of the wheels, and the holder has a pair of holder members. Very few At least three barrel rollers are respectively held, and one portion of the barrel rollers is in contact with the pipe and the other portion of the barrel rollers is in contact with the pipe along the circumference of the pipe. And an in-pipe traveling carriage, wherein the holder members are arranged so as to be mutually shifted and complement each other.