JP6116106B2 - 管内走行装置及び走行体 - Google Patents
管内走行装置及び走行体 Download PDFInfo
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- JP6116106B2 JP6116106B2 JP2014546794A JP2014546794A JP6116106B2 JP 6116106 B2 JP6116106 B2 JP 6116106B2 JP 2014546794 A JP2014546794 A JP 2014546794A JP 2014546794 A JP2014546794 A JP 2014546794A JP 6116106 B2 JP6116106 B2 JP 6116106B2
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- traveling
- traveling body
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- 230000008878 coupling Effects 0.000 claims description 16
- 238000010168 coupling process Methods 0.000 claims description 16
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- 230000002093 peripheral effect Effects 0.000 claims description 16
- 238000005452 bending Methods 0.000 claims description 5
- 230000010355 oscillation Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000007689 inspection Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 2
- 229920001971 elastomer Polymers 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
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- 238000004804 winding Methods 0.000 description 2
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- 230000004048 modification Effects 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 238000003908 quality control method Methods 0.000 description 1
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Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B13/00—Other railway systems
- B61B13/10—Tunnel systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Description
7…揺動部材、 10…ベース部材、 11…カバー部材、 14…走行用モータ、 15…揺動用モータ、 18…回転軸、 20…傘歯車、 22…カバー筒体、 26…車輪軸、 27…傘歯車、 30…端面ブラケット、 34…車輪本体、 35…動力伝達部、 40…コイルバネ(弾性部材)、 43…回転軸、 44…ナット部材、 48…係止穴、 49…進退ロッド、 57…枢軸、 58…揺動ブラケット、 61…揺動ピン、 70…コントローラ、 80…走行体連結体、 83,84…遊動輪、 90…制御装置、 91…駆動部、 92…制御部、 93…電源部、 100…配管、 102…中間部分、 103…垂直部分、 104…曲線部分、 105…T字部分
Claims (3)
- 配管内を通過可能な少なくとも3個の走行体を備え、
全ての前記走行体は、配管内に挿入される走行体本体と、前記配管内に挿入され且つ前記走行体本体の走行方向の一側に設けた一対の走行輪と、前記一対の走行輪を回転駆動する駆動部材と、他の走行体とピッチ方向へ屈曲可能に連結するために前記走行体本体に設けた連結部材と、前記連結部材を介して連結された隣り合う走行体をヨー方向へ揺動させる揺動部材と、を有し、前記連結部材は、前記走行体本体の走行方向の一側に設けた第1のメンバと前記走行体本体の走行方向の他側に設けた第2のメンバとを有し、
全ての前記走行体を前記連結部材を介して一列に連結して走行体連結体を構成すると共に、前記走行体連結体の隣り合う走行体間に弾性部材を介在して設け、前記弾性部材のバネ力により当該走行体連結体をピッチ方向へ弾性的に折り曲げ、
前記第1のメンバは、前記走行体本体に回動可能に支持された端面ブラケットからなり、前記第2のメンバは、前記走行体本体に揺動可能に支持された揺動ブラケットからなり、
前記走行体連結体の隣り合う走行体間において、前記端面ブラケットを隣り合う走行体の前記揺動ブラケットに固定し、前記揺動ブラケットを隣り合う走行体の前記端面ブラケットに固定し、
前記第1のメンバと前記第2のメンバとの間にヨー方向の揺動を与える駆動系を設け、
前記弾性部材はコイルバネからなり、
すべての前記コイルバネの一端を前記走行体本体にそれぞれ係止すると共に、すべての前記コイルバネの他端を交互に逆方向へ捩じって前記第1のメンバに係合させることにより、隣り合う走行体間に架け渡された前記コイルバネのバネ力を交互に接線方向の逆方向に作用させて前記走行体連結体をジグザグ状に折り曲げる構成とした
ことを特徴とする管内走行装置。 - 複数の前記走行輪は、前記走行体連結体を挟むように走行方向と交差する方向の両側に配置すると共に外周面が全体として球体の一部をなすように形成した
ことを特徴とする請求項1記載の管内走行装置。 - 配管内を通過可能な少なくとも3個の走行体を備え、
全ての前記走行体は、配管内に挿入される走行体本体と、前記配管内に挿入され且つ前記走行体本体の走行方向の一側に設けた一対の走行輪と、前記一対の走行輪を回転駆動する駆動部材と、他の走行体とピッチ方向へ屈曲可能に連結するために前記走行体本体に設けた連結部材と、前記連結部材を介して連結された隣り合う走行体をヨー方向へ揺動させる揺動部材と、を有し、前記連結部材は、前記走行体本体の走行方向の一側に設けた第1のメンバと前記走行体本体の走行方向の他側に設けた第2のメンバとを有し、
全ての前記走行体を前記連結部材を介して一列に連結して走行体連結体を構成すると共に、前記走行体連結体の隣り合う走行体間に弾性部材を介在して設け、前記弾性部材のバネ力により当該走行体連結体をピッチ方向へ弾性的に折り曲げ、さらに、前記走行体連結体の前記走行方向の一側の前記走行輪の無い側に一対の遊動輪を回転自在に設け、
前記第1のメンバは、前記走行体本体に回動可能に支持された端面ブラケットからなり、前記第2のメンバは、前記走行体本体に揺動可能に支持された揺動ブラケットからなり、
前記走行体連結体の隣り合う走行体間において、前記端面ブラケットを隣り合う走行体の前記揺動ブラケットに固定し、前記揺動ブラケットを隣り合う走行体の前記端面ブラケットに固定し、
前記第1のメンバと前記第2のメンバとの間にヨー方向の揺動を与える駆動系を設け、
前記弾性部材はコイルバネからなり、
すべての前記コイルバネの一端を前記走行体本体にそれぞれ係止すると共に、すべての前記コイルバネの他端を交互に逆方向へ捩じって前記第1のメンバに係合させることにより、隣り合う走行体間に架け渡された前記コイルバネのバネ力を交互に接線方向の逆方向に作用させて前記走行体連結体をジグザグ状に折り曲げる構成とした
ことを特徴とする管内走行装置。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2012/079712 WO2014076806A1 (ja) | 2012-11-15 | 2012-11-15 | 管内走行装置及び走行体 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2014076806A1 JPWO2014076806A1 (ja) | 2016-09-08 |
JP6116106B2 true JP6116106B2 (ja) | 2017-04-19 |
Family
ID=50730746
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014546794A Active JP6116106B2 (ja) | 2012-11-15 | 2012-11-15 | 管内走行装置及び走行体 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9383055B2 (ja) |
EP (1) | EP2921367A4 (ja) |
JP (1) | JP6116106B2 (ja) |
CN (1) | CN104797485A (ja) |
WO (1) | WO2014076806A1 (ja) |
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JP6301078B2 (ja) * | 2013-07-26 | 2018-03-28 | 株式会社ハイボット | 配管内移動装置 |
KR102330848B1 (ko) | 2013-11-30 | 2021-11-25 | 사우디 아라비안 오일 컴퍼니 | 자기 옴니-휠 |
EP3412540B1 (en) | 2013-11-30 | 2020-07-29 | Saudi Arabian Oil Company | Hinged vehicle chassis |
JP6521971B2 (ja) | 2013-11-30 | 2019-05-29 | サウジ アラビアン オイル カンパニー | モジュール式移動検査ビークル |
EP3074686B1 (en) | 2013-11-30 | 2021-01-06 | Saudi Arabian Oil Company | System and method for calculating the orientation of a device |
US10060569B2 (en) * | 2014-06-25 | 2018-08-28 | Orlande Wayne Sivacoe | Pipe pig |
KR101533973B1 (ko) * | 2014-11-13 | 2015-07-07 | 성균관대학교산학협력단 | 능동 조인트 모듈 및 이를 구비하는 배관 탐사용 로봇 |
WO2016076876A1 (en) * | 2014-11-13 | 2016-05-19 | Halliburton Energy Services, Inc. | Well logging with autonomous robotic diver |
US10151161B2 (en) * | 2014-11-13 | 2018-12-11 | Halliburton Energy Services, Inc. | Well telemetry with autonomous robotic diver |
JP6562345B2 (ja) * | 2015-06-23 | 2019-08-21 | 学校法人立命館 | 管内走行装置 |
JP6884382B2 (ja) * | 2017-06-27 | 2021-06-09 | 学校法人立命館 | 管内走行装置 |
US10451222B2 (en) | 2017-07-12 | 2019-10-22 | Saudi Arabian Oil Company | Magnetic crawler vehicle with passive rear-facing apparatus |
US10895515B2 (en) | 2018-03-15 | 2021-01-19 | CGRS, Inc. | Methods and apparatus for detection of leaks in underground storage tanks |
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CN111981245B (zh) * | 2020-08-18 | 2021-12-10 | 平顶山学院 | 一种水流驱动连续作业煤炭输送管道清理疏通机器人 |
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2012
- 2012-11-15 US US14/403,161 patent/US9383055B2/en not_active Expired - Fee Related
- 2012-11-15 EP EP12888505.0A patent/EP2921367A4/en not_active Withdrawn
- 2012-11-15 JP JP2014546794A patent/JP6116106B2/ja active Active
- 2012-11-15 WO PCT/JP2012/079712 patent/WO2014076806A1/ja active Application Filing
- 2012-11-15 CN CN201280077092.2A patent/CN104797485A/zh active Pending
Also Published As
Publication number | Publication date |
---|---|
JPWO2014076806A1 (ja) | 2016-09-08 |
EP2921367A4 (en) | 2016-09-28 |
US9383055B2 (en) | 2016-07-05 |
WO2014076806A1 (ja) | 2014-05-22 |
US20150107485A1 (en) | 2015-04-23 |
CN104797485A (zh) | 2015-07-22 |
EP2921367A1 (en) | 2015-09-23 |
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