JPH07119696B2 - In-pipe self-propelled inspection device - Google Patents
In-pipe self-propelled inspection deviceInfo
- Publication number
- JPH07119696B2 JPH07119696B2 JP63040591A JP4059188A JPH07119696B2 JP H07119696 B2 JPH07119696 B2 JP H07119696B2 JP 63040591 A JP63040591 A JP 63040591A JP 4059188 A JP4059188 A JP 4059188A JP H07119696 B2 JPH07119696 B2 JP H07119696B2
- Authority
- JP
- Japan
- Prior art keywords
- self
- propelled
- pump
- balloon
- actuator
- 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 - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/005—Investigating fluid-tightness of structures using pigs or moles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
- G01N2291/028—Material parameters
- G01N2291/02872—Pressure
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Description
【発明の詳細な説明】 （産業上の利用分野） この発明は、工業用管路または生体管路等の内部を自走
するようにした管内自走式検査装置に関する。Description: TECHNICAL FIELD The present invention relates to a self-propelled in-pipe inspection apparatus that is self-propelled inside an industrial conduit, a biological conduit, or the like.
（従来の技術） 工業用の全長が長い管路の内部を検査する検査装置に
は、長尺な挿入部を自走により管路内に沿って送り込ん
で、管内を観察するようにしたものがある。(Prior Art) An inspection device for inspecting the inside of a long pipeline for industrial use is one in which a long insertion portion is sent along the inside of the pipeline by self-propelling to observe the inside of the pipeline. is there.
こうした検査装置には、特公昭51−15678号公報に有す
るような内視鏡の挿入部の途中の外周部分に弾性体から
なる蛇腹を設け、この蛇腹の両端側にそれぞれバルーン
を設けた自走式がある。詳しくは、この自走式の検査装
置は、まず、後方のバルーンを脹らませて管路の内壁に
押し付けて保持させた後、蛇腹に加圧流体を送り込ん
で、その蛇腹を長軸方向に伸張させて挿入部の先端を前
進させる。この後、前方のバルーンを脹らませて管路の
内壁に押し付けて保持させる。ついで、後方のバルーン
を収縮させる共に、蛇腹を元の状態に収縮させて、挿入
部の後方の部分を引き、その部分を前進させていく。そ
して、こうした運動を繰り返して、挿入部を管内に沿っ
て自走させるようにしている。In such an inspection device, a bellows made of an elastic body is provided in the outer peripheral part in the middle of the insertion part of the endoscope as disclosed in Japanese Patent Publication No. S51-15678, and a self-propelled device is provided with balloons at both ends of the bellows. There is a formula. In detail, this self-propelled inspection device first inflates the rear balloon and presses it against the inner wall of the duct to hold it, then sends pressurized fluid to the bellows, and the bellows is moved in the longitudinal direction. Extend and advance the tip of the insert. After this, the balloon in front is inflated and pressed against the inner wall of the duct to hold it. Next, the back balloon is deflated and the bellows is deflated to its original state, the rear portion of the insertion portion is pulled, and the portion is advanced. Then, by repeating such movement, the insertion portion is allowed to self-propel along the inside of the tube.
（発明が解決しようとする課題） ところが、流体加圧ポンプや弁装置など加圧流体を給排
する装置を外部に配置し、この装置と蛇腹，バルーンと
をそれぞれ挿入部内に挿通したチューブ（三本）でつな
げて、複数のバルーン，蛇腹を制御させる構造、つまり
バルーン，蛇腹の数に応じて独立した系統を挿入部内に
設ける構造は、挿入部を挿通する部品の数が多い。その
ため、挿入部の径は太く、挿入性が悪い問題をもってい
る。(Problems to be Solved by the Invention) However, a device for supplying and discharging pressurized fluid, such as a fluid pressure pump or a valve device, is arranged outside, and the device, the bellows, and the balloon are respectively inserted into the insertion part. The structure in which a plurality of balloons and bellows are controlled by connecting them by means of a book), that is, the structure in which an independent system is provided in the insertion section according to the number of balloons and bellows has many parts to be inserted through the insertion section. Therefore, there is a problem that the diameter of the insertion portion is large and the insertability is poor.
この発明はこのような課題に着目してなされたもので、
挿入部を挿通する部品の数を削減して、挿入部の細径化
を図ることができる管内自走式検査装置を提供すること
を目的とする。The present invention was made in view of such problems,
An object of the present invention is to provide an in-tube self-propelled inspection device capable of reducing the diameter of the insertion part by reducing the number of parts to be inserted through the insertion part.
（課題を解決するための手段） 上記目的を達成するために、挿入部に加圧流体を受けて
駆動する流体アクチュエータを有する複数の自走部を軸
方向沿いに直列に設け、流体アクチュエータに対する加
圧流体の給排を行う給排手段を設け、挿入部内に信号を
伝送する伝送路を挿通する。そして、この伝送路の基端
側から前記流体アクチュエータを作動させる複数の制御
信号を重畳して送る送信手段を設け、前記伝送路を伝送
してくる複数の制御信号にしたがって前記給排手段を制
御する制御部を設け、異なる複数の制御信号を１本の伝
送路にまとめて伝送させる分、挿入部が細くてすむよう
にする。(Means for Solving the Problems) In order to achieve the above object, a plurality of self-propelled portions having fluid actuators that receive and drive pressurized fluid are provided in series in the insertion portion in series along the axial direction, Supplying / discharging means for supplying / discharging the pressurized fluid is provided, and a transmission path for transmitting a signal is inserted into the insertion portion. A transmission means is provided from the base end side of the transmission path for superimposing a plurality of control signals for operating the fluid actuator, and the supply / discharge means is controlled according to the plurality of control signals transmitted through the transmission path. The control unit is provided so that a plurality of different control signals are collectively transmitted to one transmission line, and the insertion unit can be thin.
（作用） 挿入部内の１本の伝送路からの、重畳された複数の制御
信号が制御部に入力されていき、該制御部で給排手段を
制御して、流体アクチュエータを作動させて、自走に必
要な運動を繰り返していく。(Operation) A plurality of superimposed control signals from one transmission line in the insertion section are input to the control section, and the control section controls the supply / discharge means to operate the fluid actuator, Repeat the exercise required for running.
（実施例） 以下、この発明を第１図ないし第４図に示す第１の実施
例にもとづいて説明する。第２図は管内自走式検査装置
の外観を示し、１は管内に挿入可能な径をもつ内視鏡の
挿入部である。この挿入部１の先端部には、例えばライ
トガイドファイバー２で構成される照明手段、送信回路
3aが接続された固体撮像素子（CCD）３や対物レンズ４
で構成される観察手段が組み込まれている。そして、固
体撮像素子３からの信号線５が、挿入部１内を通じて外
部のビデオプロセッサに接続され、固体撮像素子からの
電気信号を映像信号にして、ビデオプロセッサに接がる
TVモニタ（いずれも図示しない）に画像表示できるよう
にしている。なお、図示はしないがライトガイドファイ
バー２は光源装置に接続される。(Embodiment) Hereinafter, the present invention will be described based on a first embodiment shown in FIGS. 1 to 4. FIG. 2 shows the appearance of a self-propelled in-tube inspection apparatus, and 1 is an insertion portion of an endoscope having a diameter that can be inserted into the tube. At the distal end of the insertion portion 1, for example, an illumination unit and a transmission circuit configured by the light guide fiber 2 are provided.
Solid-state image sensor (CCD) 3 and objective lens 4 to which 3a is connected
The observation means composed of is incorporated. Then, the signal line 5 from the solid-state image sensor 3 is connected to an external video processor through the inside of the insertion section 1, and an electric signal from the solid-state image sensor is converted into a video signal and is connected to the video processor.
Images can be displayed on a TV monitor (neither is shown). Although not shown, the light guide fiber 2 is connected to the light source device.
そして、こうした挿入部１の先端部分に、３つの自走部
6a,6b,6cが挿入部１の軸方向沿いに順次、直列に設けら
れている。これら自走部6a〜6cには、いずれも例えば挿
入部１の途中に形成された蛇腹部分1aに進退駆動用のチ
ューブ状のゴムアクチェータ７を遊嵌し、このゴムアク
チュエータ７の両端部にゴムなどの弾性膜材よりなるバ
ルーン8a,8bを設けた流体アクチュエータを有してい
る。詳しくは、第１図に示されるようにゴムアクチュエ
ータ７は、よりを施した繊維コードを網状に編んだスリ
ーブで、ゴムなどの弾性チューブを被覆した構造となっ
ているもので、チューブ内の圧力を上げて半径方向に膨
張させると、同時に軸方向に収縮する特性をもってい
る。そして、このゴムアクチュエータ７の前後のバルー
ン４が挿入部１に固定されている。Then, at the tip of the insertion part 1, three self-propelled parts are provided.
6a, 6b, 6c are sequentially provided in series along the axial direction of the insertion part 1. In each of these self-propelled portions 6a to 6c, for example, a bellows portion 1a formed in the middle of the insertion portion 1 is loosely fitted with a tubular rubber actuator 7 for driving back and forth, and both end portions of the rubber actuator 7 are rubber-loaded. It has a fluid actuator provided with balloons 8a and 8b made of elastic film material such as. More specifically, as shown in FIG. 1, the rubber actuator 7 has a structure in which an elastic tube made of rubber or the like is covered with a sleeve formed by braiding a twisted fiber cord in a net shape. When it is raised and expanded in the radial direction, it has the property of contracting in the axial direction at the same time. The balloons 4 in front of and behind the rubber actuator 7 are fixed to the insertion portion 1.
一方、挿入部１内には、全長に渡って、１本の信号線で
構成される伝送路９が挿通されている。この伝送路９の
先端側は、各自走部6a〜6cで、第１図に示されるように
それぞれバルーン8a,8bおよびゴムアクチュエータ７ご
とに、３つに分岐されている。そして、これら分岐部
が、各自走部6a〜6cにおいてバルーン8a,8bおよびゴム
アクチュエータ７毎に設けたポンプ10a,10b,10c（この
発明の給排手段に相当）の後述する駆動回路11a,11b,11
c（この発明の制御部に相当）に接続されている。な
お、ポンプ10aには一方の口部が前方側のバルーン8a内
に開口し、他方の口部が挿入部１内に開口する給排気の
両方が可能なバイモフルポンプが用いられ、ポンプ10b
には一方の口部がゴムアクチュエータ７内に開口し、他
方の口部が挿入部１内に開口する給排気の両方が可能な
バイモフルポンプが用いられ、ポンプ10cには一方の口
部が後方側のバルーン8b内に開口し、他方の口部が挿入
部１内に開口する給排気の両方が可能なバイモフルポン
プが用いられている。むろん、他のポンプ、例えば電磁
式やモータ式のポンプでもよい。On the other hand, in the insertion portion 1, a transmission line 9 formed of one signal line is inserted over the entire length. The tip end side of the transmission path 9 is divided into three self-propelled portions 6a to 6c for each of the balloons 8a and 8b and the rubber actuator 7, as shown in FIG. Then, these branch portions are drive circuits 11a, 11b, which will be described later, of pumps 10a, 10b, 10c (corresponding to the supply / discharge means of the present invention) provided for each of the balloons 8a, 8b and the rubber actuator 7 in each of the self-propelled portions 6a-6c. , 11
c (corresponding to the control unit of the present invention). In addition, as the pump 10a, a bi-moful pump capable of both air supply and exhaust with one opening opening inside the balloon 8a on the front side and the other opening opening inside the insertion portion 1 is used.
Is a bimo full pump having one opening opening in the rubber actuator 7 and the other opening opening in the insertion section 1 and capable of both air supply and exhaust. The pump 10c has one opening. A bimoful pump capable of both air supply and exhaust, which has an opening in the balloon 8b on the rear side and has the other mouth opening in the insertion portion 1, is used. Of course, other pumps such as electromagnetic or motor type pumps may be used.
また伝送路９の基端部は、第３図に示されるように外部
に設置した合成器12に接続されている。そして、この合
成器12には、50Hz程度のポンプ用電源13が接続されてい
て、合成器12を通してポンプ10a〜10cを駆動するための
電源用の信号を伝送できるようにしている。さらにまた
合成器12には、ポンプ用電源１とは異なる数K Hz〜M Hz
程度の周波数のポンプ用の信号を出力するポンプコント
ローラ14が接続されていて、先の電源用信号に複数のポ
ンプ用信号を重畳させて上記各駆動回路11a〜11cに伝送
できるようにしている。そして、こうした送信手段か
ら、各駆動回路11a〜11cを制御して、加圧流体を各ゴム
アクチュエータ７、バルーン8a,8b内に送り込んだり、
排気させたりできるようにしている。The base end of the transmission line 9 is connected to a combiner 12 installed outside as shown in FIG. A power source 13 for the pump of about 50 Hz is connected to the synthesizer 12 so that a signal for the power source for driving the pumps 10a to 10c can be transmitted through the synthesizer 12. Furthermore, the synthesizer 12 has a number K Hz to M Hz different from that of the pump power source 1.
A pump controller 14 that outputs a signal for a pump having a certain frequency is connected, and a plurality of signals for a pump are superimposed on the signal for a power source and can be transmitted to each of the drive circuits 11a to 11c. Then, by controlling the driving circuits 11a to 11c from such a transmitting means, the pressurized fluid is sent into the rubber actuators 7 and the balloons 8a and 8b,
I am trying to exhaust it.
すなわち、３つの自走部6a〜6cの駆動回路11a〜11bに
は、９つの駆動回路毎に「f1、f2、……、f8、f9」とい
う異なる周波数が割り付けられていて、ポンプコントロ
ーラ14から各周波数の信号を出力させて駆動回路11a〜1
1cを制御することで、ポンプ10a〜10cを給気側，排気側
に作動させるようにしている。詳しくは、第４図に示さ
れるような駆動回路構造が用いられている。That is, the driving circuits 11a to 11b of the three self-propelled units 6a to 6c are assigned different frequencies of "f 1 , f 2 , ..., f 8 , f 9 " for each of the nine driving circuits. Drive circuits 11a to 1 that output signals of various frequencies from the pump controller 14
By controlling 1c, the pumps 10a to 10c are operated on the air supply side and the exhaust side. Specifically, the drive circuit structure as shown in FIG. 4 is used.
すなわち、第４図には各駆動回路系のうちの駆動回路11
a廻りの構造が示されている。駆動回路11a廻りについて
説明すれば、駆動回路11aは、ポンプ10aに接がる電源ラ
イン15のポンプ10a側にトライアック16を介装する。こ
のトライアック16と並列にそのトライアック16を作動さ
せるためのフォトカプラー17の受光部17aを接続する
他、電源ライン15の入力側の先のf1なる周波数に定めた
共振器18を並列に接続する。そして、この共振器18の出
力側にアンプ19を介して、上記受光部17aと対向するフ
ォトカプラー17の発光部17bを接続した構造となってい
る。こうした駆動回路11aが、それと同じ構成の他の「f
2、f3」なる同調周波数にした駆動回路11b,11cと共に、
さらにこれが「f4〜f9」なる同調周波数にした自走部6a
〜6c毎に、伝送路９に並列に接続される。一方、合成器
12はポンプ用電源13と接がる電源ライン21に、ポンプコ
ントローラ14と接がる送信器22を並列に介装した構造と
なっている。そして、この電源ライン21が、先の自走部
6a〜6cの各駆動回路11a〜11c毎に伝送路９を介して並列
に接続され、あらかじめ定められたコントローラ14の指
令により送信器22を使って、割り付けられた「f1〜f9」
の周波数の信号を電源用の信号に重畳させることによ
り、その周波数と同調する共振器18を作動できるように
している。つまり、同調する周波数を送信すれば、その
周波数に対応した駆動回路のフォトカプラー17が駆動し
てトライアック16を作動させ、当該駆動回路に接がるポ
ンプのみを給側に駆動できるようになっている。但し、
詳しい説明はしないが、排気は、同様な制御を用いてポ
ンプを逆に作動させることに行なわれるようにしてい
る。なお、23はアンプ19に直流電力を供給するための電
源回路である。That is, FIG. 4 shows the drive circuit 11 of each drive circuit system.
The structure around a is shown. Explaining around the drive circuit 11a, the drive circuit 11a has a triac 16 on the pump 10a side of a power supply line 15 which is in contact with the pump 10a. In addition to connecting the light receiving portion 17a of the photocoupler 17 for operating the triac 16 in parallel with the triac 16, the resonator 18 defined at the frequency f 1 on the input side of the power supply line 15 is connected in parallel. . Then, the light emitting section 17b of the photocoupler 17 facing the light receiving section 17a is connected to the output side of the resonator 18 via an amplifier 19. Such a drive circuit 11a has the same configuration as the other "f
2, f 3 "is to the tuning frequency drive circuit 11b, with 11c,
Furthermore, this is the self-propelled part 6a whose tuning frequency is “f 4 to f 9 ”.
Every 6 c are connected in parallel to the transmission line 9. Meanwhile, synthesizer
Reference numeral 12 has a structure in which a power supply line 21 connected to the pump power supply 13 is provided in parallel with a transmitter 22 connected to the pump controller 14. And this power line 21 is the self-propelled part
"F 1 to f 9 " assigned to each of the drive circuits 11a to 11c of 6a to 6c in parallel via the transmission line 9 and using the transmitter 22 according to a predetermined command from the controller 14
By superimposing the signal of the frequency on the signal for the power supply, the resonator 18 tuned to the frequency can be operated. That is, if the frequency to be tuned is transmitted, the photocoupler 17 of the drive circuit corresponding to the frequency is driven to operate the triac 16, and only the pump in contact with the drive circuit can be driven to the supply side. There is. However,
Although not described in detail, the evacuation is performed by operating the pump in reverse using the same control. Reference numeral 23 is a power supply circuit for supplying DC power to the amplifier 19.
そして、ポンプコントローラ14によるポンプ給排動か
ら、各自走部6a〜6cの前方側のバルーン8a,後方側のバ
ルーン8b,ゴムアクチュエータ７をそれぞれ膨張・収縮
制御して、３つの自走部6a〜6cを管内に沿って前進させ
たり、後退させたりできるようにしている。Then, from the pump supply / discharge by the pump controller 14, the balloon 8a on the front side, the balloon 8b on the rear side, and the rubber actuator 7 of the self-propelled portions 6a to 6c are respectively inflated and deflated, and the three self-propelled portions 6a to 6c can be moved forward and backward along the pipe.
しかして、こうした管内自走式検査装置は、検査の対称
となる管路内に自走部6a〜6cを挿入した後、図示しない
操作部を前進側に操作すれば、自走部6a〜6cが前進動を
起こして、挿入部１が管内の奥に向って挿入されてい
く。すなわち、自走部6aの動きについて述べれば、操作
部の操作に伴って、送信器22から自走部6aを自走させる
のに必要なf1…などのポンプ制御の信号が、電力用の信
号に重畳されていく。そして、各ポンプ10a〜10c型に配
置した共振器18a〜18cが、それに同調して作動してい
く。つまり、まず、ポンプ10aが作動（給気側）して、
加圧流体を前方側のバルーン8a内へ送り込んでいく。こ
れにより、前方側のバルーン8aのみが膨張して、その部
分が管路の内面に保持されていく。続いて、ポンプ10b
が同様に作動して、ゴムアクチュエータ７内に加圧流体
が送り込まれていく。すると、ゴムアクチュエータ７が
軸方向に対し収縮していき、バルーン8aから後方の部分
を前進させていく。ついで、ポンプ10cが作動して、後
方のバルーン8bが膨張していき、その部分が管路の内面
に保持され、前進した状態を維持していく。しかる後、
前方側のバルーン8aをポンプ10aの排気動から収縮させ
て管内に対する保持を解除すると同時に、ポンプ10bの
排気動からゴムアクチュエータ３内の加圧流体を排気し
て、前方側のバルーン8aを前方側へ移動させていく。な
お、第１図中、二点鎖線はゴムアクチュエータ７、バル
ーン8bの収縮した状態を示す。However, such an in-pipe self-propelled inspecting apparatus is configured such that, after inserting the self-propelled portions 6a to 6c into the conduit that is symmetrical to the examination, the self-propelled portions 6a to 6c can be operated by operating the operation unit (not shown) to the forward side. Causes forward movement, and the insertion portion 1 is inserted toward the inside of the tube. That is, to describe the movement of the self-propelled portion 6a, a pump control signal such as f 1 ... required for causing the self-propelled portion 6a to be self-propelled from the transmitter 22 in accordance with the operation of the operation unit It will be superimposed on the signal. Then, the resonators 18a to 18c arranged in the respective pumps 10a to 10c type operate in synchronization with it. That is, first, the pump 10a operates (air supply side),
The pressurized fluid is sent into the balloon 8a on the front side. As a result, only the balloon 8a on the front side is inflated, and that portion is retained on the inner surface of the duct. Then pump 10b
Operates similarly, and the pressurized fluid is fed into the rubber actuator 7. Then, the rubber actuator 7 contracts in the axial direction and advances the rear portion from the balloon 8a. Then, the pump 10c operates to inflate the balloon 8b on the rear side, and that portion is held on the inner surface of the conduit to maintain the advanced state. After that,
The balloon 8a on the front side is contracted from the exhaust motion of the pump 10a to release the holding in the tube, and at the same time, the pressurized fluid in the rubber actuator 3 is exhausted from the exhaust motion of the pump 10b to move the balloon 8a on the front side to the front side. Move to. In FIG. 1, the two-dot chain line shows the rubber actuator 7 and the balloon 8b in a contracted state.
そして、このような制御用の信号にしたがう自走部6aの
動きに対し、第２図に示されるように自走部6b,6cが順
次ずれて作動していき、しゃくとり虫の如く繰返される
運動から、挿入部１を前進させていく。なお、後退は、
前進とは逆の動きで行なわれる。Then, with respect to the movement of the self-propelled portion 6a according to such a control signal, the self-propelled portions 6b and 6c are sequentially displaced as shown in FIG. From the movement, the insertion section 1 is advanced. The retreat is
The movement is the reverse of the forward movement.
かくして、挿入部１内に挿通した１本の伝送路９で、挿
入部１の軸方向沿いに直列に設けてある自走部6a〜6cを
動かすことができる。Thus, the single transmission line 9 inserted into the insertion portion 1 can move the self-propelled portions 6a to 6c provided in series along the axial direction of the insertion portion 1.
したがって、ポンプ10a〜10cの採用もあって、自走部6a
〜6cを作動させるのに必要な制御のための挿通部品の数
は最小限ですみ、部品数が削減された分、挿入部１を細
径にすることができる。特に、この細径化は自走部6a〜
6cにポンプ10a〜10cを設けて、挿入部１内にチューブが
無くて加圧するようにしている分、高い。Therefore, with the adoption of the pumps 10a to 10c, the self-propelled portion 6a
The number of insert parts for control required for operating ~ 6c is minimized, and the insert part 1 can be made thin due to the reduced number of parts. In particular, this diameter reduction is due to the self-propelled portion 6a ~
6c is provided with pumps 10a to 10c, and since there is no tube in the insertion part 1 to pressurize, it is expensive.
なお、この発明は第１の実施例に限らず、第５図に示さ
れる第２の実施例のようにしてもよい。The present invention is not limited to the first embodiment, but may be the second embodiment shown in FIG.
すなわち、第１の実施例ではポンプ10a〜10cを給排手段
として用いたが、それに代わり、第２の実施例はバルブ
（サーボバルブ等）32a〜32cを使って加圧流体を送るよ
うにしたものである。具体的には、先端部にバルーン8
a,8bおよびゴムアクチュエータ７に接がる複数の分岐部
31a〜31cをもつ１本の圧縮空気チューブ31を挿入部１内
に挿通し、前記分岐部31a〜31cに上記バルブ32a〜32cを
介装する。そして、これらバルブ32a〜32cに第１の実施
例と同様な構成の駆動回路33a〜33cを接続して、伝送路
９を重畳してくる制御用信号による管路切換えにて、前
方側のバルーン8a,後方側のバルーン8b,ゴムアクチュエ
ータ７をそれぞれ膨張・収縮制御する構造としている。
但し、34a〜34cは排気のためのバルブ、35a〜35cはその
駆動回路である。That is, in the first embodiment, the pumps 10a to 10c were used as the supply and discharge means, but instead of this, the valves (servo valves, etc.) 32a to 32c were used to send the pressurized fluid. It is a thing. Specifically, the balloon 8 at the tip
Multiple branching parts that contact a, 8b and rubber actuator 7.
One compressed air tube 31 having 31a to 31c is inserted into the insertion portion 1 and the valves 32a to 32c are interposed in the branch portions 31a to 31c. The drive circuits 33a to 33c having the same configuration as the first embodiment are connected to the valves 32a to 32c, and the balloons on the front side are switched by switching the pipelines by the control signals superimposed on the transmission path 9. 8a, the balloon 8b on the rear side, and the rubber actuator 7 are controlled to expand and contract, respectively.
However, 34a to 34c are valves for exhaust, and 35a to 35c are drive circuits thereof.
なお、第５図において、第１の実施例と同一な構成部品
には同一符号を附してその説明を省略した。In FIG. 5, the same components as those of the first embodiment are designated by the same reference numerals and the description thereof is omitted.
［発明の効果］ 以上説明したようにこの発明によれば、自走部を作動さ
せるのに必要な挿入部を挿通する部品を削減することが
できる。[Effects of the Invention] As described above, according to the present invention, it is possible to reduce the number of parts through which the insertion portion is inserted to operate the self-propelled portion.
したがって、削減する分、挿入部の細径化を図ることが
でき、挿入性の向上を図ることができる。Therefore, the diameter of the insertion portion can be reduced by the amount of reduction, and the insertability can be improved.
第１図ないし第４図はこの発明の第１の実施例を示し、
第１図は管内自走式検査装置の自走部廻りを示す断面
図、第２図はその管内自走式検査装置の外観を示す概略
側面図、第３図はその自走部を制御する制御回路の構造
を示すブロック図、第４図はその１系統の駆動回路廻り
を示す回路図、第５図はこの発明の第２の実施例の要部
を示す断面図である。 １……挿入部、6a,6b,6c……自走部、７……ゴムアクチ
ュエータ（弾性筒状部材）、8a,8b……バルーン、９…
…伝送路、10a,10b,10c……ポンプ（給排手段）、11a,1
1b,11c……駆動回路（制御部）、12……合成器、13……
ポンプ用電源、14……ポンプコントローラ。1 to 4 show a first embodiment of the present invention,
FIG. 1 is a cross-sectional view showing the self-propelled portion around the self-propelled in-pipe inspection apparatus, FIG. 2 is a schematic side view showing the appearance of the self-propelled in-pipe inspection apparatus, and FIG. 3 controls the self-propelled portion. FIG. 4 is a block diagram showing the structure of the control circuit, FIG. 4 is a circuit diagram showing the drive circuit around one system, and FIG. 5 is a sectional view showing the essential parts of the second embodiment of the present invention. 1 ... insertion part, 6a, 6b, 6c ... self-propelled part, 7 ... rubber actuator (elastic cylindrical member), 8a, 8b ... balloon, 9 ...
… Transmission lines, 10a, 10b, 10c …… Pumps (supply / discharge means), 11a, 1
1b, 11c …… Drive circuit (control section), 12 …… Synthesizer, 13 ……
Power supply for pump, 14 ... Pump controller.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 日比野 浩樹 東京都渋谷区幡ケ谷２丁目43番２号 オリ ンパス光学工業株式会社内 (72)発明者 山本 勉 東京都渋谷区幡ケ谷２丁目43番２号 オリ ンパス光学工業株式会社内 (72)発明者 宍戸 芳雄 東京都渋谷区幡ケ谷２丁目43番２号 オリ ンパス光学工業株式会社内 (72)発明者 宮永 博文 東京都渋谷区幡ケ谷２丁目43番２号 オリ ンパス光学工業株式会社内 (72)発明者 山口 征治 東京都渋谷区幡ケ谷２丁目43番２号 オリ ンパス光学工業株式会社内 (72)発明者 青木 義安 東京都渋谷区幡ケ谷２丁目43番２号 オリ ンパス光学工業株式会社内 (56)参考文献 特開 平１−110242（ＪＰ，Ａ) 特開 昭61−144520（ＪＰ，Ａ) 特開 昭63−243749（ＪＰ，Ａ) 特公 昭51−15678（ＪＰ，Ｂ２) ─────────────────────────────────────────────────── ─── Continuation of front page (72) Hiroki Hibino 2-43-2 Hatagaya, Shibuya-ku, Tokyo Within Olympus Optical Co., Ltd. (72) Inventor Tsutomu Yamamoto 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Yoshio Shishido 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Hirofumi Miyanaga 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Seiji Yamaguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Olympus Optical Co., Ltd. (72) Inventor Yoshian Aoki 2-43-2 Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Co., Ltd. (56) Reference JP-A-1-110242 (JP, A) JP-A-61-144520 (JP A) Patent Akira 63-243749 (JP, A) Tokuoyake Akira 51-15678 (JP, B2)
Claims (1)
と、 加圧流体を受けて駆動する流体アクチュエータを有する
前記挿入部の軸方向沿いに直列に設けた複数の自走部
と、 前記アクチュエータに対する加圧流体の給排を行う給排
手段と、 前記挿入部内に挿通された、信号を伝送する伝送路と、 この伝送路の基端側から前記流体アクチュエータを作動
させる複数の制御信号を重畳して送る送信手段と、 前記伝送路を伝送してくる複数の制御信号にしたがって
前記給排手段を制御する制御部と を具備したことを特徴とする管内自走式検査装置。1. An insertion part that can be inserted into a tube and is provided with an observation means, and a plurality of self-propelled parts that are provided in series along the axial direction of the insertion part and that have a fluid actuator that receives and drives a pressurized fluid. Supplying / discharging means for supplying / discharging pressurized fluid to / from the actuator, a transmission path for transmitting a signal, which is inserted into the insertion section, and a plurality of control signals for operating the fluid actuator from the proximal end side of the transmission path. An in-pipe self-propelled inspection apparatus comprising: a transmitting unit that superimposes and sends the superimposing unit and a control unit that controls the supply and discharge unit according to a plurality of control signals transmitted through the transmission path.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63040591A JPH07119696B2 (en) | 1988-02-25 | 1988-02-25 | In-pipe self-propelled inspection device |
| US07/488,494 US5090259A (en) | 1988-01-18 | 1990-03-02 | Pipe-inspecting apparatus having a self propelled unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63040591A JPH07119696B2 (en) | 1988-02-25 | 1988-02-25 | In-pipe self-propelled inspection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01216238A JPH01216238A (en) | 1989-08-30 |
| JPH07119696B2 true JPH07119696B2 (en) | 1995-12-20 |
Family
ID=12584748
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63040591A Expired - Fee Related JPH07119696B2 (en) | 1988-01-18 | 1988-02-25 | In-pipe self-propelled inspection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07119696B2 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK32091D0 (en) * | 1991-02-25 | 1991-02-25 | Mogens Thyge Corfitsen | Apparatus for feeding an object through a body channel |
| US5259710A (en) * | 1991-08-26 | 1993-11-09 | Ingersoll Milling Machine Company | Octahedral machine tool frame |
| DE4138240A1 (en) * | 1991-11-21 | 1993-05-27 | Peter C Dr Krueger | MEDICAL INSTRUMENT |
| US5386741A (en) * | 1993-06-07 | 1995-02-07 | Rennex; Brian G. | Robotic snake |
| JP2644451B2 (en) * | 1994-07-25 | 1997-08-25 | 株式会社湘南合成樹脂製作所 | In-pipe monitoring device and monitoring method |
| JP6893652B2 (en) * | 2017-04-26 | 2021-06-23 | 国立大学法人東京工業大学 | Mobiles and explorers |
| CN115420809B (en) * | 2022-11-07 | 2023-04-07 | 山东汇科工程检测有限公司 | Ultrasonic phased array detection device for detecting performance of metal material |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61144520A (en) * | 1984-12-18 | 1986-07-02 | Nec Corp | Remote observation device for temperature at multiple points |
| JPH01110242A (en) * | 1987-10-23 | 1989-04-26 | Bridgestone Corp | Internal tube traveller |
-
1988
- 1988-02-25 JP JP63040591A patent/JPH07119696B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01216238A (en) | 1989-08-30 |
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