JP2517754Y2 - In-service autonomous vehicle - Google Patents
In-service autonomous vehicleInfo
- Publication number
- JP2517754Y2 JP2517754Y2 JP1989151111U JP15111189U JP2517754Y2 JP 2517754 Y2 JP2517754 Y2 JP 2517754Y2 JP 1989151111 U JP1989151111 U JP 1989151111U JP 15111189 U JP15111189 U JP 15111189U JP 2517754 Y2 JP2517754 Y2 JP 2517754Y2
- Authority
- JP
- Japan
- Prior art keywords
- shaped
- center frame
- pipe
- vehicle
- motor
- 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 - Lifetime
Links
Landscapes
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Pipeline Systems (AREA)
Description
【考案の詳細な説明】 〔産業上の利用分野〕 本考案は、水道管，ガス管等の管内欠陥部検査のため
のテレビ撮影,X線撮影や欠陥部の補修のための溶接及び
塗装等を行う管内自動走行車に係るものである。[Detailed Description of the Invention] [Industrial field of application] The present invention is intended for use in television photography for inspection of defects in pipes such as water pipes and gas pipes, X-ray photography and welding and painting for repairing defects. The present invention relates to a self-driving vehicle in service.
この種の管内自動走行車は、例えば特公昭61-261161
号公報記載のものが知られているところであり、この公
報記載のものに限らず、通常、第９図に示す如く、前端
に自在継手１を介してテレビカメラ２を備えた作業車３
を連結し、又後端には自在継手１を介して制御車４を連
結させた状態で、又は単に制御車４を直結させた状態で
管５内を走行するようになっている。管内自動走行車６
は、台車本体７から拡開装置８により伸長する複数の支
脚９を有し、該支脚９の先端の駆動ローラ10がモータ11
により回動駆動をして管５の内面を転動し、これにより
作業者３を押し、又制御車４を牽引しながら管５内を自
走するようになっている。モータ11やテレビカメラ２
は、ケーブル12を介して地上に設置した地上制御装置で
制御できるようになっている。This type of autonomous vehicle is known, for example, in Japanese Examined Patent Publication No. 61-261161.
The thing described in the publication is known, and not limited to the one described in this publication, normally, as shown in FIG. 9, a work vehicle 3 equipped with a television camera 2 via a universal joint 1 at the front end.
And the control wheel 4 is connected to the rear end of the control wheel 4 via the universal joint 1, or the control wheel 4 is directly connected to the inside of the pipe 5. In-service autonomous vehicle 6
Has a plurality of support legs 9 extending from the trolley body 7 by a spreading device 8, and a drive roller 10 at the tip of the support legs 9 has a motor 11
By means of this, it is rotationally driven to roll on the inner surface of the pipe 5, thereby pushing the operator 3 and pulling the control vehicle 4 to self-propell in the pipe 5. Motor 11 and TV camera 2
Can be controlled by a ground control device installed on the ground via a cable 12.
しかしながら、上記従来の管内自動走行車６は、支脚
９が台車本体７の前部と後部とで交差しない位置に設け
られ、又モータ11も小型化を考慮することなく単に台車
本体７に据え付けられていて径方向のみならず軸長方向
にも大型化し、小径な管には適用できないのが現状であ
る。更に、管５の直管部を走行する場合にあってはさほ
ど問題がないが、第10図に示す如く管路に曲管部が存在
する場合に、上記支脚９が単に台車本体７に回動自在に
支軸され、台車本体７に対して拡開装置８により拡開し
て駆動車輪10が管５の内面に圧接する形式であるから、
各支脚９の拡開量が異なることになって、台車本体７が
管中心に対して上下左右に傾斜して走行する。このた
め、台車本体７と制御車４とを単に連結すると、管内自
動走行車６の後方に牽引された制御車４は、管内面に押
し当てられることになることから第10図に破線で示す如
く曲管部の曲率半径によってその大きさが制限されて充
分な収納容積を確保し得ない。又、台車本体７と制御車
４とを自在継手１で連結した場合、上記の如く曲管部の
走行時において台車本体７が管中心に対して傾斜して走
行すると、制御車４が管内自動走行車６と接触すること
もあり、これを解消するには、管内自動走行車６と制御
車４との間の自在継手１の部分の長さを相当長くしなけ
ればならず、作業車３から管内自動走行車６を経て制御
車４に至る全長が長くなるといった問題がある。一方、
作業車３においても、上記の如く曲管部の走行時におい
て台車本体７が管中心に対して傾斜して走行すると、管
内自動走行車６からの押進力が、管中心に対して斜め方
向の力となって加わって管中心に対して斜めに位置ずれ
して走行する。このため、作業者３に装備したテレビカ
メラ２と管５の内面との距離が変化して、管５の継ぎ目
である溶接部分を撮影するに当たって焦点距離及び露出
が狂って調整し直す必要が生ずるなどの各種の問題があ
る。又それぞれの支脚が独立して拡開すると、走行及び
重量バランスにより、モータ、支脚等が曲管部に接触す
る状態が発生し、摩擦抵抗が増加し走行不可能な状態も
発生する。However, in the conventional in-pipe automatic traveling vehicle 6 described above, the supporting leg 9 is provided at a position where the front portion and the rear portion of the bogie main body 7 do not intersect, and the motor 11 is simply installed on the bogie main body 7 without considering downsizing. However, it is not applicable to small-diameter pipes because the size is increased not only in the radial direction but also in the axial direction. Further, when traveling in the straight pipe portion of the pipe 5, there is no problem so much, but when there is a curved pipe portion in the pipeline as shown in FIG. Since it is rotatably supported, and is expanded by the expansion device 8 with respect to the bogie main body 7, the drive wheel 10 is in pressure contact with the inner surface of the pipe 5,
Since the amount of expansion of each support leg 9 is different, the carriage main body 7 travels while being inclined vertically and horizontally with respect to the pipe center. Therefore, if the bogie body 7 and the control vehicle 4 are simply connected, the control vehicle 4 pulled behind the in-pipe automatic traveling vehicle 6 will be pressed against the inner surface of the pipe. As described above, the radius of curvature of the curved pipe portion limits the size thereof, and a sufficient storage volume cannot be secured. Further, when the bogie body 7 and the control vehicle 4 are connected by the universal joint 1, as described above, when the bogie body 7 is inclined with respect to the pipe center during traveling of the curved pipe portion, the control vehicle 4 is automatically operated in the pipe. It may come into contact with the traveling vehicle 6, and in order to eliminate this, the length of the portion of the universal joint 1 between the in-pipe automatic traveling vehicle 6 and the control vehicle 4 must be considerably lengthened. There is a problem that the total length from the vehicle to the control vehicle 4 via the in-pipe automatic traveling vehicle 6 becomes long. on the other hand,
In the work vehicle 3 as well, when the bogie main body 7 travels while being inclined with respect to the pipe center during traveling of the curved pipe portion as described above, the pushing force from the in-pipe automatic traveling vehicle 6 is oblique to the pipe center. Is applied as a force to move the vehicle diagonally with respect to the center of the pipe. For this reason, the distance between the television camera 2 mounted on the worker 3 and the inner surface of the pipe 5 changes, and when photographing the welded portion which is the joint of the pipe 5, the focal length and the exposure are changed and it is necessary to readjust. There are various problems such as. Further, when each of the supporting legs expands independently, a state in which the motor, the supporting legs, etc. come into contact with the curved pipe portion due to traveling and weight balance, frictional resistance increases, and traveling is also impossible.
そこで、本考案は上記事情に鑑み、管内自動走行車の
小型化を図ると共に動作を的確におこなえるようにして
地中に埋設された直管部はもとより曲管部を走行する時
に、センターフレームを常時管中心に位置させて管内面
に対し平衡姿勢で走行させることにより作業車と管内自
動走行車と制御車を衝突させたり、これらの車輌を管内
面に衝突させることなく又曲管部にモータ、Ｌ型支脚等
が接触することもなく円滑に走行させる管内自動走行車
を提供することを目的とする。Therefore, in view of the above circumstances, the present invention aims to reduce the size of the automatic guided vehicle in the pipe and to move the center frame when traveling the curved pipe portion as well as the straight pipe portion buried in the ground so that the operation can be accurately performed. The work vehicle, the automatic vehicle in the pipe, and the control car do not collide with each other by keeping the vehicle at the center of the pipe and traveling in an equilibrium posture with respect to the inner surface of the pipe. , L-shaped support legs and the like do not come into contact with each other, and an object of the present invention is to provide an in-pipe automatic traveling vehicle.
本考案は、上記目的を達成すべくなされたもので、前
方に作業車24を連結すると共に後方に制御車25を連結し
た管内自動走行車21において、センターフレーム33の後
方の上面と下面に支軸33a,33bを設けて、該支軸33a,33b
の左側に一対のＬ型支脚34a,34bの基部を取付けて扇形
ギア36a,36bを噛み合わせると共にセンターフレーム33
の前方の左側面に回動するように取付けたエアーシリン
ダ48aのピストンロッド48eを上記Ｌ型支脚34aの先端部
に連結すると共に該センターフレーム33の後方の上面と
下面に設けた支軸33a,33bの右側に一対のＬ型支客34a,3
4bの基部を取付けて扇形ギア36a,36bを噛み合わせると
共にセンターフレーム33の前方の右側面に回動するよう
に取付けたエアーシリンダ48bのピストンロッド48eを上
記Ｌ型支脚34bの先端部に連結し上記左側面と右側面の
上部のＬ型支脚の内側にモータM-Aを設け、該モータM-A
と動力伝達機構39,40,41,42,43,44,45を連結し、該動力
伝達機構に複数個の太鼓型ローラ46を有する駆動ローラ
47を設け、上記下部のＬ型支脚の内側にモータM-Bを設
け、該モータM-Bと動力伝達機構39,40,41,42,43,44,45
を連結し、該動力伝達機構に複数個の太鼓型ローラ46を
有する駆動ローラ47を設け、 センターフレーム33の前方の右側面と左側面に支軸33
c,33dを設けて該支軸33c,33dの上面に一対のＬ型支脚35
a,35bの基部を取付けて扇形ギア37a,37bを噛み合わせる
と共にセンターフレーム33の後方の上面に回動するよう
に取付けたエアーシリンダ48cのピストンロッド48eを上
記Ｌ型支脚35bの先端部に連結すると共に該センターフ
レーム33の前方の右側面と左側面に設けた支軸33c,33d
の下面に一対のＬ型支脚35a,35bの基部を取付けて扇形
ギア37a,37bを噛み合わせると共にセンターフレーム33
の後方の下面に回動するように取付けたエアーシリンダ
48dのピストンロッド48eを上記Ｌ型支脚35aの先端部に
連結し、上記上面と下面の右側部のＬ型支脚の内側にモ
ータM-Cを設け、該モータM-Cと動力伝達機構39,40,41,4
2,43,44,45を連結し、該動力伝達機構に複数個の太鼓型
ローラ46を有する駆動ローラ47を設け、上記上面と下面
の左側部のＬ型支脚の内側にモータM-Dを設け、該モー
タM-Dと動力伝達機構39,40,41,42,43,44,45を連結し、
該動力伝達機構に複数個の太鼓型ローラ46を有する駆動
ローラ47を設けたことを特徴とする管内自動走行車であ
る。The present invention has been made in order to achieve the above-mentioned object, and in the automatic guided vehicle 21 in which the work vehicle 24 is connected to the front and the control vehicle 25 is connected to the rear, it is supported on the upper and lower surfaces behind the center frame 33. The shafts 33a and 33b are provided, and the support shafts 33a and 33b are provided.
The bases of the pair of L-shaped supporting legs 34a and 34b are attached to the left side of the center frame 33 to engage the fan-shaped gears 36a and 36b.
A piston rod 48e of an air cylinder 48a attached to the front left side surface of the center cylinder 33 is connected to the tip end of the L-shaped support leg 34a, and a support shaft 33a provided on the upper and lower rear surfaces of the center frame 33, A pair of L-shaped customers 34a, 3 on the right side of 33b
The piston rod 48e of the air cylinder 48b is attached to the tip of the L-shaped support leg 34b so that the fan gears 36a and 36b are engaged with each other and the right side of the front of the center frame 33 is rotated. A motor MA is provided inside the L-shaped support legs on the left side surface and the right side surface.
And a power transmission mechanism 39, 40, 41, 42, 43, 44, 45, and a drive roller having a plurality of drum-shaped rollers 46 in the power transmission mechanism.
47, a motor MB is provided inside the lower L-shaped support leg, and the motor MB and the power transmission mechanism 39, 40, 41, 42, 43, 44, 45
And a drive roller 47 having a plurality of drum-shaped rollers 46 is provided in the power transmission mechanism, and the support shaft 33 is provided on the front right side surface and the left side surface of the center frame 33.
c and 33d are provided, and a pair of L-shaped support legs 35 are provided on the upper surfaces of the support shafts 33c and 33d.
A piston rod 48e of an air cylinder 48c is attached to the tip of the L-shaped support leg 35b so that the bases of the a and 35b are attached, the fan gears 37a and 37b are meshed with each other, and the air cylinder 48c is attached to the rear upper surface of the center frame 33 so as to rotate. And the support shafts 33c and 33d provided on the front right and left sides of the center frame 33.
The base portions of the pair of L-shaped support legs 35a and 35b are attached to the lower surface of the fan-shaped gears 37a and 37b, and the center frame 33 is engaged.
Air cylinder attached to the lower surface of the rear of the
A piston rod 48e of 48d is connected to the tip of the L-shaped supporting leg 35a, and a motor MC is provided inside the L-shaped supporting leg on the right side of the upper surface and the lower surface, and the motor MC and the power transmission mechanism 39, 40, 41, Four
2,43,44,45 are connected, a drive roller 47 having a plurality of drum-shaped rollers 46 is provided in the power transmission mechanism, and a motor MD is provided inside the L-shaped support leg on the left side of the upper surface and the lower surface. The motor MD and the power transmission mechanism 39, 40, 41, 42, 43, 44, 45 are connected,
The in-pipe automatic traveling vehicle is characterized in that the power transmission mechanism is provided with a driving roller 47 having a plurality of drum-shaped rollers 46.
以下に、本考案に係る管内自動走行車の一実施例を図
面に基づき説明する。第１図は本考案の管内自動走行車
21にテレビカメラ22及びランプ23が装備された作業車24
及び制御車25を連結させて、一部を切断した箇所から管
26、27内に挿入させて管26,27内を走行させる状態を示
したものである。管内自動走行車21、作業車24、及び制
御車25は、ケーブル28を介して地上の主制御車29により
制御されるようになっている。作業車24は、第２図及び
第３図に示す如くスプリングやエアーシリンダ30aによ
り開閉する長さの等しい２個で一対の支脚30が２対設け
られていて、各支脚30の先端に管26,27の内面に圧接し
て自由回転をする走行ローラ31を有し、かつ自在継手32
により上記管内自動走行車21の前端に連結されるように
なっている。又、対を為す支脚30は、支軸側の相互間で
ギア30b,30cの噛み合わせにより連結されて常時等量だ
け開閉するようになっている。Hereinafter, an embodiment of an automatic guided vehicle according to the present invention will be described with reference to the drawings. FIG. 1 is a self-driving vehicle in service of the present invention
Work vehicle 24 equipped with TV camera 22 and lamp 23 on 21
And connect the control car 25, pipe from the part cut
It shows a state in which the pipes are inserted into the pipes 26 and 27 and run inside the pipes 26 and 27. The in-pipe autonomous vehicle 21, the work vehicle 24, and the control vehicle 25 are controlled by a main control vehicle 29 on the ground via a cable 28. As shown in FIGS. 2 and 3, the work vehicle 24 is provided with two pairs of support legs 30 which are opened and closed by a spring or an air cylinder 30a and have a pair of support legs 30, and a pipe 26 is provided at the tip of each support leg 30. A universal joint 32 which has a traveling roller 31 which comes into pressure contact with the inner surfaces of
Is connected to the front end of the in-pipe automatic traveling vehicle 21. Further, the pair of supporting legs 30 are connected to each other on the supporting shaft side by meshing of gears 30b and 30c so that they are always opened and closed by an equal amount.
上記管内自動走行車21は、第４図乃至第８図に示す如
く、センターフレーム33の後方の上面と下面に支軸33a,
33bを設けて、該支軸33a,33bの左側に一対のＬ型支脚34
a,34bの基部を取付けて扇形ギア36a,36bを噛み合わせる
と共にセンターフレーム33の前方に左側面に回動するよ
うに取付けたエアーシリンダ48aのピストンロッド48eを
上記Ｌ型支脚34aの先端部に連結すると共に該センター
フレーム33の後方の上面と下面に設けた支軸33a,33bの
右側に一対のＬ型支脚34a,34bの基部を取付けて扇形ギ
ア36a,36bを噛み合わせると共にセンターフレーム33の
前方の右側面に回動するように取付けたエアーシリンダ
48bのピストンロッド48eを上記Ｌ型支脚34bの先端部に
連結する。As shown in FIGS. 4 to 8, the in-pipe automatic traveling vehicle 21 has support shafts 33a, on the upper and lower surfaces behind the center frame 33.
33b is provided, and a pair of L-shaped support legs 34 are provided on the left side of the support shafts 33a and 33b.
A piston rod 48e of an air cylinder 48a is attached to the front end of the L-shaped supporting leg 34a so that the base portions of the a and 34b are attached, the fan-shaped gears 36a and 36b are engaged with each other, and the center frame 33 is attached to the left side surface of the air cylinder 48a. The bases of the pair of L-shaped support legs 34a, 34b are attached to the right side of the support shafts 33a, 33b provided on the upper and lower rear surfaces of the center frame 33, and the fan-shaped gears 36a, 36b are meshed with each other and the center gear 33 of the center frame 33 is engaged. Air cylinder attached to the front right side so as to rotate
A piston rod 48e of 48b is connected to the tip of the L-shaped support leg 34b.
次に上記左側面と右側面の上部のＬ型支脚の内側に動
力伝達機構としてのモータM-Aを設け、該モータM-Aの出
力軸の傘歯車39と中間軸41の傘歯車40を噛み合わせ、該
中間軸41はＬ型支脚34a,34aに回転自在に支承されてい
て、スプロケット42を有している。スプロケット42はＬ
型支脚の先端部38に回動自在に支承された回転軸43側の
スプロケット44との間にチエーン45が掛回されている。
回転軸43には４個（第５図）の太鼓型ローラ46を有する
駆動ローラ47が取付けてある。つまり、駆動ローラ47は
回転軸43の回転に伴い走行し得ると共に回転軸43の軸心
と直交する向きにも個々の太鼓型ローラ46が操向及び走
行自由に回転できるように形成してある。Next, a motor MA as a power transmission mechanism is provided inside the upper L-shaped legs of the left side surface and the right side surface, and the bevel gear 39 of the output shaft of the motor MA and the bevel gear 40 of the intermediate shaft 41 are meshed with each other. The intermediate shaft 41 is rotatably supported by the L-shaped supporting legs 34a, 34a and has a sprocket 42. Sprocket 42 is L
A chain 45 is hung between the sprocket 44 on the side of the rotary shaft 43, which is rotatably supported by the tip end portion 38 of the mold support leg.
A drive roller 47 having four drum-shaped rollers 46 (FIG. 5) is attached to the rotary shaft 43. That is, the drive roller 47 is formed so that it can travel with the rotation of the rotary shaft 43, and the individual drum-shaped rollers 46 can freely rotate and run in the direction orthogonal to the axis of the rotary shaft 43. .
次に上記左側面と右側面の下部のＬ型支脚の内側に動
力伝達機構としてのモータM-Bを取付け該モータM-Bの出
力軸の傘歯車39と中間軸41の傘歯車40を噛み合わせ、該
中間軸41はＬ型支脚34b,34bに回転自在に支承されてい
て、スプロケット42を有している。スプロケット42はＬ
型支脚の先端部38に回動自在に支承された回転軸43側の
スプロケット44との間にチエーン45が掛回されている。
回転軸43には４個の太鼓型ローラ46を有する駆動ローラ
47が取付けてある。つまり、駆動ローラ47は回転軸43の
回転に伴い走行し得ると共に回転軸43の軸心と直交する
向きにも個々の太鼓型ローラ46が操向及び走行自由に回
転できるように形成してある。Next, a motor MB as a power transmission mechanism is attached to the inside of the lower L-shaped support leg on the left side surface and the right side surface, and the bevel gear 39 of the output shaft of the motor MB is meshed with the bevel gear 40 of the intermediate shaft 41, and the intermediate The shaft 41 is rotatably supported by the L-shaped supporting legs 34b, 34b and has a sprocket 42. Sprocket 42 is L
A chain 45 is hung between the sprocket 44 on the side of the rotary shaft 43, which is rotatably supported by the tip end portion 38 of the mold support leg.
A drive roller having four drum-shaped rollers 46 on the rotating shaft 43.
47 is installed. That is, the drive roller 47 is formed so that it can travel with the rotation of the rotary shaft 43, and the individual drum-shaped rollers 46 can freely rotate and run in the direction orthogonal to the axis of the rotary shaft 43. .
次にセンターフレーム33の前方の右側面と左側面に支
軸33c,33dを設けて、該支軸33c,33dの上面に一対のＬ型
支脚35a,35bの基部を取付けて扇形ギア37a,37bを噛み合
わせると共にセンターフレーム33の後方の上面に回動す
るように取付けてエアーシリンダ48cのピストンロッド4
8eを上記Ｌ型支脚35bの先端部38に連結すると共にセン
ターフレーム33の前方の右側面と左側面に支軸33c,33d
を設けて該支軸33c,33dの下面に一対のＬ型支脚35a,35b
の基部を取付けて扇形ギア37a,37bを噛み合わせると共
にセンターフレーム33の後方の下面に回動するように取
付けたエアーシリンダ48dのピストンロッド48eを上記Ｌ
型支脚35aの先端部38に連結する。Next, supporting shafts 33c and 33d are provided on the front right and left side surfaces of the center frame 33, and the bases of the pair of L-shaped supporting legs 35a and 35b are attached to the upper surfaces of the supporting shafts 33c and 33d, and the sector gears 37a and 37b are attached. The piston rod 4 of the air cylinder 48c is attached to the rear surface of the center frame 33 so that the piston rod 4
8e is connected to the tip portion 38 of the L-shaped support leg 35b, and support shafts 33c and 33d are provided on the front right and left sides of the center frame 33.
And a pair of L-shaped support legs 35a, 35b on the lower surface of the support shafts 33c, 33d.
The piston rod 48e of the air cylinder 48d, which is attached so that the fan-shaped gears 37a and 37b are engaged with each other and is rotated on the lower rear surface of the center frame 33, is attached to the above L
It is connected to the tip 38 of the mold support leg 35a.
次に上記上面と下面の右側部のＬ型支脚の内側に動力
伝達機構としてのモータM-Cを設け、該モータM-Cの出力
軸の傘歯車39と中間軸41の傘歯車40を噛み合わせ、該中
間軸41はＬ型支脚35b,35bに回転自在に支承されてい
て、スプロケット42を有している。スプロケット42はＬ
型支脚の先端部38に回転自在に支承された回転軸43側の
スプロケット44との間にチエーン45が掛回されている。
回転軸43には４個の太鼓型ローラ46を有する駆動ローラ
47が取付けてある。つまり、駆動ローラ47は回転軸43の
回転に伴い走行し得ると共に回転軸43の軸心と直交する
向きにも個々の太鼓型ローラ46が操向及び走行自由に回
転できるように形成してある。Next, a motor MC as a power transmission mechanism is provided inside the L-shaped support leg on the right side of the upper surface and the lower surface, and the bevel gear 39 of the output shaft of the motor MC and the bevel gear 40 of the intermediate shaft 41 are meshed with each other. The shaft 41 is rotatably supported by the L-shaped supporting legs 35b, 35b and has a sprocket 42. Sprocket 42 is L
A chain 45 is hung between the sprocket 44 on the side of the rotating shaft 43, which is rotatably supported by the tip 38 of the mold support leg.
A drive roller having four drum-shaped rollers 46 on the rotating shaft 43.
47 is installed. That is, the drive roller 47 is formed so that it can travel with the rotation of the rotary shaft 43, and the individual drum-shaped rollers 46 can freely rotate and run in the direction orthogonal to the axis of the rotary shaft 43. .
次に上記上面と下面の左側部のＬ型支脚の内側に動力
伝達機構としてのモータM-Dを設け、該モータM-Dの出力
軸の傘歯車39と中間軸41の傘歯車40を噛み合わせ、該中
間軸41はＬ型支脚35a,35aに回転自在に支承されてい
て、スプロケット42を有している。スプロケット42はＬ
型支脚の先端部38に回転自在に支承された回転軸43側の
スプロケット44との間にチエーン45が掛回されている。
回転軸43には４個の太鼓型ローラ46を有する駆動ローラ
47が取付けてある。つまり駆動ローラ47は回転軸43の回
転に伴い走行し得ると共に回転軸43の軸心と直交する向
きにも個々の太鼓型ローラ46が操向及び走行自由に回転
できるように形成してある。Next, a motor MD as a power transmission mechanism is provided inside the L-shaped support leg on the left side of the upper surface and the lower surface, and the bevel gear 39 of the output shaft of the motor MD and the bevel gear 40 of the intermediate shaft 41 are meshed with each other and the intermediate The shaft 41 is rotatably supported by the L-shaped supporting legs 35a, 35a and has a sprocket 42. Sprocket 42 is L
A chain 45 is hung between the sprocket 44 on the side of the rotating shaft 43, which is rotatably supported by the tip 38 of the mold support leg.
A drive roller having four drum-shaped rollers 46 on the rotating shaft 43.
47 is installed. In other words, the drive roller 47 is configured to be able to travel as the rotary shaft 43 rotates, and to allow the individual drum-shaped rollers 46 to rotate freely in the direction orthogonal to the axis of the rotary shaft 43.
更に各々対を為すＬ型支脚34a,34b,35a,35bの中間位
置には、ガイドローラ49a,49b,49c,49dを配設する。ガ
イドローラ49a,49b,49c,49dは、センターフレーム33に
支柱50a,50b,50c,50dを放射状に立設させておき、該支
柱50a,50b,50c,50dの先端に回転可能に支軸され、Ｌ型
支脚34a,34b,35a,35bが閉じた状態では駆動ローラ47よ
り高い位置になるようにセンターフレーム33からの高さ
が設定されている。該センターフレーム33の後部には第
４図に示す如く自在継手51を介して制御車25を連結し、
該制御車25を牽引できるようになっている。制御車25
は、作業車24及び上記管内自動走行車21の配電盤やエア
ーの分岐装置等が収納されて、走行ローラ52により管2
6,27内を走行し得るようになっている。Further, guide rollers 49a, 49b, 49c, 49d are arranged at intermediate positions between the pair of L-shaped support legs 34a, 34b, 35a, 35b. The guide rollers 49a, 49b, 49c, 49d are rotatably supported by the tips of the stanchions 50a, 50b, 50c, 50d with the stanchions 50a, 50b, 50c, 50d standing upright on the center frame 33. The height from the center frame 33 is set to be higher than the drive roller 47 when the L-shaped support legs 34a, 34b, 35a, 35b are closed. A control wheel 25 is connected to the rear portion of the center frame 33 through a universal joint 51 as shown in FIG.
The control vehicle 25 can be towed. Control car 25
The work vehicle 24 and the switchboard of the automatic traveling vehicle 21 in the pipe, the air branching device, etc. are housed in the pipe 2 by the traveling roller 52.
It is designed to run within 6,27.
次に上記構成の管内自動走行車の動作について説明す
れば、第１図に示す如く地面を掘削して地中に埋設した
管26の一部を切欠し、この開口部から互いに連結した作
業車24、管内自動走行車21、及び制御車25を管26、27内
に挿入する。作業車24は自在継手32を介して管内自動走
行車21の前部に連結し、又制御車25は自在継手51を介し
て管内自動走行車21の後部に連結する。この管26内への
挿入時では、管内自動走行車21はエアーシリンダ48a,48
b,48c,48dを動作させてはおらず、各Ｌ型支脚34a,34b,3
5a,35bが閉脚した状態にある。従って管26内に挿入した
時点では、上記管内自動走行車21は、ガイドローラ49a,
49b,49c,49dの何れかが管26の内面に当接して支持され
ている。次いで、第１図、第５図及び第６図に示す如
く、地上の基地局である主制御車29からの指令によりエ
アーシリンダ48a,48b,48c,48dを動作させて各Ｌ型支脚3
4a,34b,35a,35bを開閉させる。つまり、エアーシリンダ
48a,48b,48c,48dが動作すると、一方のＬ型支脚34a,34b
がセンターフレーム33の支軸部分を支点として回動し、
この時、対を為すＬ型支脚34aとＬ型支脚34bとが扇形ギ
ア36a,36bで結合させてあることから常時等量だけ回動
する。又他方のＬ型支脚35a,35bがエアーシリンダ48c,4
8dの動作により回動すると、上記と同様に扇形ギア37a,
37bで結合されたＬ型支脚35a,35bが等量だけ回動する。
この開閉で各Ｌ型支脚34a,34b,35a,35bの先端に有する
駆動ローラ47が第７図に示す如くガイドローラ49a,49b,
49c,49dより更にＬ寸法を高く突出して管26の内面に圧
接する。その後、主制御車29からの指令で各モータの傘
歯車39と中間軸41の傘歯車40の噛み合い回転により、ス
プロケット42,44及びチェーン45を介して各駆動ローラ4
7が回転駆動をして上記管内自動走行車21は自走する。
駆動ローラ47は第５図に矢印で示した如くモータＭによ
り回転軸43と共に回転駆動するのみならず、この回転駆
動の方向と直交する方向につまり管26,27の内面を周回
する方向にも、太鼓型ローラ46が矢印のように回転する
ことにより自由に回動できるようになっていて、直管部
はもとより特に上下左右に屈曲する曲管部を走行する時
に管内自動走行車21に対して管26,27内を周回する方向
に力が加わった場合、太鼓型ローラ46が回転して管内自
動走行車21は不用意な走行抵抗を受けることなく走行で
きる。又管26,27の曲管部を走行する場合には、センタ
ーフレーム33に対する各Ｌ型支脚34a,34b,35a,35bの拡
開量が変化し、エアーシリンダ48a,48b,48c,48dにより
各駆動ローラ47が適時回転し乍ら常時管26,27の内面に
圧接し、このような拡開量の変化にあっても対を為すＬ
型支脚34a,34b,35a,35bの基端部の扇形ギア36a,36b,37
a,37bによる結合のために常時拡開量が等しく而もＬ型
支脚の基部が干渉し合うこともなく円滑に開閉させるこ
とができる。従って、管内自動走行車21は、管26,27の
直管部はもとより曲管部を走行する場合にあっても、常
時、センターフレーム33が管26,27の中心に位置して平
衡姿勢を保って走行する。このため管内自動走行車21
は、センターフレーム33の前部に連結した作業車24を、
常時、管中心に沿って推進力を加え、作業車24が管中心
に対して傾斜する位置ずれを惹き起こさないようにして
あり、又センターフレーム33の後部に連結された制御車
25においても管中心の方向に牽引することから、制御車
25も管中心に対して傾斜するという位置ずれを招くこと
なく、管中心に沿って走行する。Next, the operation of the in-pipe automatic vehicle having the above structure will be described. As shown in FIG. 1, a work vehicle in which a part of the pipe 26 which is buried in the ground by excavating the ground is cut out and connected to each other through this opening. 24, the autonomous vehicle 21 in the pipe, and the control car 25 are inserted into the pipes 26, 27. The work vehicle 24 is connected to the front portion of the in-pipe automatic traveling vehicle 21 via a universal joint 32, and the control vehicle 25 is connected to the rear portion of the in-pipe automatic traveling vehicle 21 via a universal joint 51. At the time of insertion into the pipe 26, the automatic traveling vehicle 21 in the pipe will have the air cylinders 48a, 48a.
b, 48c, 48d are not operated, and each L-shaped support leg 34a, 34b, 3
5a and 35b are in a closed state. Therefore, at the time of insertion into the pipe 26, the in-pipe automatic traveling vehicle 21 has the guide rollers 49a,
Any one of 49b, 49c, and 49d is in contact with and supported by the inner surface of the pipe 26. Then, as shown in FIGS. 1, 5, and 6, the air cylinders 48a, 48b, 48c, 48d are operated by a command from the main control vehicle 29, which is a base station on the ground, and each L-shaped support leg 3 is operated.
Open and close 4a, 34b, 35a, 35b. That is, the air cylinder
When 48a, 48b, 48c, 48d move, one of the L-shaped support legs 34a, 34b
Rotates about the support shaft of the center frame 33 as a fulcrum,
At this time, since the pair of the L-shaped support leg 34a and the L-shaped support leg 34b are connected by the fan-shaped gears 36a and 36b, the L-shaped support leg 34a and the L-shaped support leg 34b always rotate by the same amount. The other L-shaped supporting legs 35a, 35b are air cylinders 48c, 4
When rotated by the operation of 8d, the fan-shaped gear 37a,
The L-shaped support legs 35a and 35b connected by 37b rotate by the same amount.
As a result of this opening and closing, the drive roller 47 at the tip of each L-shaped support leg 34a, 34b, 35a, 35b is moved to the guide roller 49a, 49b, as shown in FIG.
The L dimension is projected higher than 49c and 49d, and is pressed against the inner surface of the pipe 26. Then, in response to a command from the main control wheel 29, the bevel gear 39 of each motor and the bevel gear 40 of the intermediate shaft 41 mesh with each other to rotate, thereby driving the drive rollers 4 through the sprockets 42, 44 and the chain 45.
The in-pipe automatic traveling vehicle 21 is self-propelled when 7 is rotationally driven.
The drive roller 47 is not only rotationally driven together with the rotary shaft 43 by the motor M as shown by an arrow in FIG. 5, but also in the direction orthogonal to the rotational drive direction, that is, in the direction in which the inner surfaces of the tubes 26 and 27 are rotated. , The drum-shaped roller 46 can be freely rotated by rotating as shown by the arrow, and when compared to the straight pipe portion, especially to the in-pipe automatic traveling vehicle 21 when traveling in a curved pipe portion that bends vertically and horizontally. When a force is applied to the pipes 26, 27 in a direction to orbit the pipes 26, 27, the drum-shaped roller 46 rotates and the in-pipe automatic traveling vehicle 21 can travel without receiving inadvertent running resistance. Further, when traveling on the curved pipe portion of the pipes 26, 27, the expansion amount of each L-shaped support leg 34a, 34b, 35a, 35b with respect to the center frame 33 is changed, and each of the air cylinders 48a, 48b, 48c, 48d causes the expansion. When the drive roller 47 rotates at appropriate times, it is constantly pressed against the inner surfaces of the pipes 26 and 27, and a pair is formed even if such an expansion amount changes.
Fan gears 36a, 36b, 37 at the base end of the mold support legs 34a, 34b, 35a, 35b
Because of the connection by a and 37b, the amount of expansion is always the same, and the bases of the L-type support legs can be smoothly opened and closed without interfering with each other. Therefore, the in-pipe automatic traveling vehicle 21 is always in the equilibrium posture with the center frame 33 positioned at the center of the pipes 26 and 27 even when traveling in the straight pipe portions of the pipes 26 and 27 as well as in the curved pipe portions. Keep running. Because of this
Is a work vehicle 24 connected to the front of the center frame 33,
A propulsive force is constantly applied along the pipe center to prevent the work vehicle 24 from tilting with respect to the pipe center, and a control vehicle connected to the rear portion of the center frame 33.
Even in 25, since it is pulled in the direction of the pipe center,
The 25 also travels along the pipe center without causing a positional deviation that is inclined with respect to the pipe center.
以上の如く、本考案に係る管内自動走行車によれば、
Ｌ型支脚の基部がセンターフレームの前方と後方の支軸
において枢支され、各対のＬ型支脚を閉脚したときに中
央部で重なり合うことから、軸長方向は閉脚状態で、Ｌ
型支脚は１本程度の長さになるので管内自動走行車が極
めて短くなり、また径方向に対しても閉脚状態で、Ｌ型
形状を用いることにより、モータ及び動力伝達機構等の
部品が取り付けられた支脚部は、センターフレームに対
して平行になる位置まで閉脚できる。As described above, according to the in-pipe autonomous vehicle of the present invention,
Since the bases of the L-shaped support legs are pivotally supported on the front and rear support shafts of the center frame, and the L-shaped support legs of each pair are overlapped at the central portion when the legs are closed, the axial length direction is the closed leg state.
Since the mold support leg is about one length, the automatic guided vehicle in the pipe is extremely short. Also, by using the L shape with the legs closed in the radial direction, parts such as the motor and power transmission mechanism are attached. The supported leg can be closed to a position parallel to the center frame.
従って、長軸方向、径方向共に小型に形成でき、小径
の管内へも容易に挿入可能であることはもとより、曲管
部、特に、90°に近い曲管部の走行に対しても、各々の
Ｌ型支脚の先端部に取り付けた４個の駆動ローラと、４
個のエアーシリンダと２対の扇形ギアの共同作用と、駆
動ローラの複数個の太鼓型ローラを回転させながら曲管
路を走行する為、特別なステアリング機構を備えること
なく、あらゆる急曲面にも対応して走行させることがで
きる。Therefore, in addition to being able to be made compact both in the long-axis direction and in the radial direction, it can be easily inserted into a small-diameter pipe, and it can also be used for running a curved pipe part, especially a curved pipe part close to 90 °. 4 drive rollers attached to the tip of the L-shaped support leg of
Since the air cylinder and two pairs of fan-shaped gears work together and a plurality of drum-shaped rollers of the driving roller are rotated to travel along a curved pipe line, there is no need for a special steering mechanism for any sharp curved surface. It can be driven correspondingly.
次に各対を為すＬ型支脚は支脚の相互間においてセン
ターフレームに対する支軸側を扇形ギアで結合させて、
エアーシリンダによるＬ型支脚の拡開量が常時等しくな
るようにしてあることから、センターフレームが管内中
心に位置して全長に亘って安定して平衡姿勢を保って走
行でき、このため作業車及び制御車を連結して作業車を
押し又制御車を牽引する時に、該作業車及び制御車に対
して走行姿勢を正しく維持でき作業車による的確な作業
を確保することができる。Next, for each pair of L-shaped support legs, the support shaft side with respect to the center frame is connected with a fan-shaped gear between the support legs,
Since the amount of expansion of the L-shaped support leg by the air cylinder is always equal, the center frame is located at the center of the pipe and can be stably maintained in a balanced posture over the entire length. When the control vehicle is connected and the work vehicle is pushed or the control vehicle is towed, the traveling posture can be correctly maintained with respect to the work vehicle and the control vehicle, and proper work by the work vehicle can be secured.
更にＬ型に形成した支脚を使用して、基部に立ち上が
り寸法を設けると共にＬ型支脚の内側にモータを取付け
てあるから、モータの後部がＬ型支脚の後方解放部より
延設することになってもモータの後部とセンターフレー
ムとの間に隙間を形成することになり、従ってＬ型支脚
を拡開する時にモータの後部がセンターフレームに突き
当ることなく、又Ｌ型支脚を閉脚する時にモータの胴部
とセンターフレームが平行になるまでＬ型支脚を閉脚で
きるので、この構成部も管内自動走行車を小型にするこ
とができて小径管内にも挿入することができる。Further, since the L-shaped supporting leg is used to provide a rising dimension at the base and the motor is mounted inside the L-shaped supporting leg, the rear portion of the motor extends from the rear release portion of the L-shaped supporting leg. However, a gap is formed between the rear part of the motor and the center frame, so that the rear part of the motor does not abut the center frame when the L-shaped supporting leg is expanded and the motor is closed when the L-shaped supporting leg is closed. Since the L-shaped supporting leg can be closed until the body of the vehicle and the center frame are parallel to each other, this component can also downsize the in-pipe automatic vehicle and insert it into a small-diameter pipe.
第１図は本考案に係る管内自動走行車に作業車及び制御
車を連結させて管内に挿入した一実施例を示す断面図、
第２図は第１図に示す作業車の側面図、第３図は第２図
の作業車の要部前面図、第４図は第１図に示す曲管部を
走行する管内自動走行車と制御車のみを示す説明図、第
５図は一部を断面にした管内自動走行車の側面図、第６
図は第５図の管内自動走行車の一部を省略した側面図、
第７図は管内走行時の駆動ローラとガイドローラとの位
置関係を示す説明図、第８図（Ａ）はセンターフレーム
と各Ｌ型支脚の概念図、同図（Ｂ）はＬ型支脚と駆動ロ
ーラの概念図である。第９図は従来の作業車及び制御車
が連結された管内自動走行車を示す構成図、第10図は第
９図の管内自動走行車が管中心から位置ずれする態様を
示す説明図である。 符号の説明 21……管内自動走行車 33……センターフレーム 33a,33b,33c,33d……支軸 36a,36b,37a,37b……扇形ギア 34a,34b,35a,35b……Ｌ型支脚 M-A,M-B,M-C,M-D……モータ 46……太鼓型ローラ 47、47、47、47、47……駆動ローラ 48a,48b,48c,48d……エアーシリンダ 24……作業車 25……制御車FIG. 1 is a cross-sectional view showing an embodiment in which a working vehicle and a control vehicle are connected to an automatic traveling vehicle in a pipe according to the present invention and inserted into a pipe,
2 is a side view of the work vehicle shown in FIG. 1, FIG. 3 is a front view of a main portion of the work vehicle shown in FIG. 2, and FIG. 4 is an in-pipe automatic traveling vehicle traveling on a curved pipe portion shown in FIG. And FIG. 5 is an explanatory view showing only the control vehicle, FIG.
The figure is a side view of the self-driving vehicle in FIG.
FIG. 7 is an explanatory diagram showing the positional relationship between the drive roller and the guide roller during traveling in the pipe, FIG. 8 (A) is a conceptual diagram of the center frame and each L-shaped supporting leg, and FIG. 8 (B) is an L-shaped supporting leg. It is a conceptual diagram of a drive roller. FIG. 9 is a configuration diagram showing an in-pipe automatic traveling vehicle in which a conventional work vehicle and a control vehicle are connected, and FIG. 10 is an explanatory diagram showing a mode in which the in-pipe automatic traveling vehicle in FIG. 9 is displaced from the pipe center. . Description of the code 21 …… self-driving vehicle in a pipe 33 …… center frame 33a, 33b, 33c, 33d …… spindle 36a, 36b, 37a, 37b …… fan-shaped gear 34a, 34b, 35a, 35b …… L-type support MA , MB, MC, MD …… Motor 46 …… Drum type roller 47,47,47,47,47 …… Drive roller 48a, 48b, 48c, 48d …… Air cylinder 24 …… Work vehicle 25 …… Control vehicle
───────────────────────────────────────────────────── フロントページの続き (72)考案者 渡辺 和義 神奈川県横浜市瀬谷区阿久和町4150―１ メゾン向原108号 (72)考案者 小寺 昌利 埼玉県川越市芳野台２丁目８番65号 デ ンヨー株式会社埼玉工場内 (56)参考文献 特開 平１−178072（ＪＰ，Ａ) 特開 昭59−109470（ＪＰ，Ａ) 特開 平１−285473（ＪＰ，Ａ) 実開 昭63−48152（ＪＰ，Ｕ) ─────────────────────────────────────────────────── ─── Continuation of front page (72) Kazuyoshi Watanabe 4150-1, Akuwa-cho, Seya-ku, Yokohama, Kanagawa 108 Maison Mukaihara 108 (72) Creator Masatoshi Kodera 2-8-65 Yoshinodai, Kawagoe-shi, Saitama Denyo Saitama Factory Co., Ltd. (56) Reference JP-A-1-178072 (JP, A) JP-A-59-109470 (JP, A) JP-A-1-285473 (JP, A) Actual development Sho-63-48152 ( JP, U)
Claims (1)
御車25を連結した管内自動走行車21において、 センターフレーム33の後方の上面と下面に支軸33a,33b
を設けて、該支軸33a,33bの左側に一対のＬ型支脚34a,3
4bの基部を取付けて扇形ギア36a,36bを噛み合わせると
共にセンターフレーム33の前方の左側面に回動するよう
に取付けたエアーシリンダ48aのピストンロッド48eを上
記Ｌ型支脚34aの先端部に連結すると共に該センターフ
レーム33の後方の上面と下面に設けた支軸33a,33bの右
側に一対のＬ型支脚34a,34bの基部を取付けて扇形ギア3
6a,36bを噛み合わせると共にセンターフレーム33の前方
の右側面に回動するように取付けたエアーシリンダ48b
のピストンロッド48eを上記Ｌ型支脚34bの先端部に連結
し上記左側面と右側面の上部のＬ型支脚の内側にモータ
M-Aを設け、該モータM-Aと動力伝達機構39,40,41,42,4
3,44,45を連結し、該動力伝達機構に複数個の太鼓型ロ
ーラ46を有する駆動ローラ47を設け、上記下部のＬ型支
脚の内側にモータM-Bを設け、該モータM-Bと動力伝達機
構39,40,41,42,43,44,45を連結し、該動力伝達機構に複
数個の太鼓型ローラ46を有する駆動ローラ47を設け、 センターフレーム33の前方の右側面と左側面に支軸33c,
33dを設けて該支軸33c,33dの上面に一対のＬ型支脚35a,
35bの基部を取付けて扇形ギア37a,37bを噛み合わせると
共にセンターフレーム33の後方の上面に回動するように
取付けたエアーシリンダ48cのピストンロッド48eを上記
Ｌ型支脚35bの先端部に連結すると共に該センターフレ
ーム33の前方の右側面と左側面に設けた支軸33c,33dの
下面に一対のＬ型支脚35a,35bの基部を取付けて扇形ギ
ア37a,37bを噛み合わせると共にセンターフレーム33の
後方の下面に回動するように取付けたエアーシリンダ48
dのピストンロッド48eを上記Ｌ型支脚35aの先端部に連
結し、上記上面と下面の右側部のＬ型支脚の内側にモー
タM-Cを設け、該モータM-Cと動力伝達機構39,40,41,42,
43,44,45を連結し、該動力伝達機構に複数個の太鼓型ロ
ーラ46を有する駆動ローラ47を設け、上記上面と下面の
左側部のＬ型支脚の内側にモータM-Dを設け、該モータM
-Dと動力伝達機構39,40,41,42,43,44,45を連結し、該動
力伝達機構に複数個の太鼓型ローラ46を有する駆動ロー
ラ47を設けたことを特徴とする管内自動走行車。1. In a self-propelled vehicle 21 in which a work vehicle 24 is connected to the front and a control vehicle 25 is connected to the rear, spindles 33a, 33b are provided on the rear upper and lower surfaces of a center frame 33.
And a pair of L-shaped support legs 34a, 3 on the left side of the support shafts 33a, 33b.
The piston rod 48e of the air cylinder 48a is attached to the tip of the L-shaped supporting leg 34a so that the fan gears 36a and 36b are engaged with each other and the left side of the front of the center frame 33 is rotated. At the same time, the bases of the pair of L-shaped support legs 34a, 34b are attached to the right sides of the support shafts 33a, 33b provided on the upper and lower rear sides of the center frame 33, and the sector gear 3 is attached.
Air cylinder 48b mounted so that 6a and 36b are meshed with each other and can rotate on the right side in front of the center frame 33.
Piston rod 48e is connected to the tip of the L-shaped support leg 34b, and the motor is installed inside the upper L-shaped support leg on the left side surface and the right side surface.
MA is provided, and the motor MA and power transmission mechanism 39, 40, 41, 42, 4
3,44,45 are connected, a drive roller 47 having a plurality of drum-shaped rollers 46 is provided in the power transmission mechanism, a motor MB is provided inside the lower L-shaped support leg, and the motor MB and the power transmission mechanism are provided. 39, 40, 41, 42, 43, 44, 45 are connected, and a drive roller 47 having a plurality of drum-shaped rollers 46 is provided in the power transmission mechanism, and is supported on the front right side surface and the left side surface of the center frame 33. Axis 33c,
33d is provided, and a pair of L-shaped support legs 35a, 35a, 33d are provided on the upper surfaces of the support shafts 33c, 33d.
A piston rod 48e of an air cylinder 48c is attached to the tip of the L-shaped support leg 35b so that the fan gears 37a and 37b are engaged with each other and the rear end of the center frame 33 is pivotally attached. The bases of the pair of L-shaped support legs 35a, 35b are attached to the lower surfaces of the support shafts 33c, 33d provided on the front right side surface and the left side surface of the center frame 33, and the fan-shaped gears 37a, 37b are engaged with each other and the rear side of the center frame 33 is engaged. Air cylinder 48 attached to the lower surface of the
The piston rod 48e of d is connected to the tip of the L-shaped supporting leg 35a, and the motor MC is provided inside the L-shaped supporting leg on the right side of the upper surface and the lower surface, and the motor MC and the power transmission mechanism 39, 40, 41, 42,
43, 44, 45 are connected, a drive roller 47 having a plurality of drum-shaped rollers 46 is provided in the power transmission mechanism, and a motor MD is provided inside the left-side L-shaped support leg on the upper surface and the lower surface. M
-D and a power transmission mechanism 39, 40, 41, 42, 43, 44, 45 are connected, and the drive roller 47 having a plurality of drum-shaped rollers 46 is provided in the power transmission mechanism. Traveling vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989151111U JP2517754Y2 (en) | 1989-12-29 | 1989-12-29 | In-service autonomous vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1989151111U JP2517754Y2 (en) | 1989-12-29 | 1989-12-29 | In-service autonomous vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0391277U JPH0391277U (en) | 1991-09-18 |
| JP2517754Y2 true JP2517754Y2 (en) | 1996-11-20 |
Family
ID=31697425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1989151111U Expired - Lifetime JP2517754Y2 (en) | 1989-12-29 | 1989-12-29 | In-service autonomous vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2517754Y2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6172996B2 (en) * | 2013-03-28 | 2017-08-02 | 大阪瓦斯株式会社 | Carriage carriage |
| JP6366315B2 (en) * | 2014-03-24 | 2018-08-01 | 大阪瓦斯株式会社 | Carriage carriage |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6348152U (en) * | 1986-09-18 | 1988-04-01 | ||
| JPH01178072A (en) * | 1988-01-08 | 1989-07-14 | Electric Power Dev Co Ltd | Traveling device in conduit |
-
1989
- 1989-12-29 JP JP1989151111U patent/JP2517754Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0391277U (en) | 1991-09-18 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EXPY | Cancellation because of completion of term |