JPS60244669A - Travelling device in piping - Google Patents
Travelling device in pipingInfo
- Publication number
- JPS60244669A JPS60244669A JP59098668A JP9866884A JPS60244669A JP S60244669 A JPS60244669 A JP S60244669A JP 59098668 A JP59098668 A JP 59098668A JP 9866884 A JP9866884 A JP 9866884A JP S60244669 A JPS60244669 A JP S60244669A
- Authority
- JP
- Japan
- Prior art keywords
- pipe
- worm
- piping
- divided
- wire
- 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.)
- Granted
Links
Landscapes
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Manipulator (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は、配管内を移動する走行装置に係り特に、地中
に埋設された比較的小口径の配管に点検装置を誘引する
だめの、案内線を布設するに好適な配管内走行装置に関
する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a traveling device that moves inside a pipe, and particularly to a guide for guiding an inspection device to a relatively small diameter pipe buried underground. The present invention relates to an in-pipe running device suitable for laying lines.
従来、配管を内部から点検するだめの検査装置等を、配
管内に挿入する方法には、流体圧力を利用した圧送式や
走行機能をもった自走式の配管内走行装置によって行わ
れる。これらは動力用や通信・制御用ケーブルあるいは
案内線をけん引している。このために、・ケーブルある
いは案内線と配管内壁との接触による摩擦抵抗によって
、配管入口よシ奥深く挿入することが困難となっている
。Conventionally, the method of inserting an inspection device or the like into a pipe to inspect the pipe from the inside is carried out using a pressure feeding type using fluid pressure or a self-propelled type internal pipe traveling device having a traveling function. These tow cables or guide lines for power, communication and control. For this reason, it is difficult to insert the cable or guide wire deep into the pipe entrance due to frictional resistance caused by contact with the inner wall of the pipe.
特に配管に曲り部が含まれる場合の摩擦抵抗は指数的に
増大することが知られており、更に、配管径が小さくな
れば、その影響は増大する。It is known that the frictional resistance increases exponentially especially when the pipe includes a bent portion, and furthermore, as the diameter of the pipe becomes smaller, the effect increases.
本発明の目的は、電池を内蔵し動カケーブルをなくシ、
また案内線の巻取りリールを走行装置に搭載させること
により摩擦抵抗による挿入の困難な問題を解消し、案内
線を配管の入口から出口に良好に布設することができる
配管内走行装置を提供する。The object of the present invention is to eliminate the need for power cables by incorporating batteries;
Furthermore, by mounting a take-up reel for the guide wire on the traveling device, the problem of difficult insertion due to frictional resistance is solved, and the guide wire is provided in a pipe running device that can be installed well from the inlet to the outlet of the pipe. .
配管を内部から目視監視あるいは超音波探傷試験等を行
う場合、これらの試験装置を配管の入口から押し込みあ
るいは出口から引き込む方法で行われている。このだめ
の案内線をあらかじめ配管内に布設する必要がある。When performing visual monitoring or ultrasonic flaw detection tests on piping from the inside, these testing devices are pushed into the piping from the inlet or pulled in from the exit. It is necessary to install this guide wire inside the pipe in advance.
本発明は、上記案内線を良好に布設するための配管内走
行装置に関するものである。通常の配管は直管部がほと
んどであるが、接手や曲り管、枝管が含まれている。こ
のために、前記の摩擦抵抗の問題が生じる。本発明はこ
の摩擦抵抗による障害を解消する手段として、けん引す
るケーブルをなくシ、案内線はあらかじめ巻取りリール
に巻きつけたものを走行装置に搭載し、走行開始と同時
に移動量と等しく繰り出されるようにすることによって
解決を計つ永ものである。また、配管の形状による障害
は走行装置の前後部の形状を砲弾型としたり、走行車輪
を同一円周上および軸方向に複数配列することによって
解決を計り更に、走行装置を軸方向に分割しその間の動
力伝達に自在軸継手を介して行うことにより、曲、、基
管の通過も可能としたものである。The present invention relates to an in-pipe running device for properly laying the guide wire. Normal piping is mostly straight pipes, but it also includes joints, bent pipes, and branch pipes. This causes the aforementioned frictional resistance problem. As a means of solving this problem caused by frictional resistance, the present invention eliminates the cable to be towed, and the guide wire is wound around a take-up reel beforehand and mounted on the traveling device, so that the guide wire is unwound equal to the amount of travel at the same time as the travel starts. It is a permanent solution that can be solved by doing this. In addition, problems caused by the shape of the piping can be solved by making the front and rear parts of the traveling device bullet-shaped, arranging multiple traveling wheels on the same circumference and in the axial direction, and further dividing the traveling device in the axial direction. By transmitting power between them via a universal joint, it is possible to pass through curved and base pipes.
本発明の実施例を図面を用いて説明する。第１図は、本
発明の一実施例を示したものである。胴体１の先頭部２
および後部３は砲弾型をしている。Embodiments of the present invention will be described using the drawings. FIG. 1 shows an embodiment of the present invention. Top part 2 of body 1
The rear part 3 is shaped like a cannonball.
先頭部２の内部にはモータ４および電池５を内蔵しであ
る。モータ４の回転軸にはウオーム６が接続してあり、
ウオーム６の他の一端は、軸受７によ多回転自在に保持
されている。ウオーム６には軸方向に３列以上、円周上
に少なくとも３個以上の複数のウオームホイール８を配
置してあり、ウオームホイール８はその一部が胴体１か
ら突出する大きさとしである。いま、モータ４に電池５
を導通させるとモータ４とウオーム６を経由して複数個
のウオームホイール８は全て同じ向きに回転を始める。A motor 4 and a battery 5 are built inside the front part 2. A worm 6 is connected to the rotating shaft of the motor 4.
The other end of the worm 6 is rotatably held by a bearing 7. A plurality of worm wheels 8 are arranged on the worm 6 in three or more rows in the axial direction and at least three or more on the circumference, and the worm wheels 8 are sized so that a part thereof protrudes from the body 1. Now, motor 4 and battery 5
When electrically conductive, the plurality of worm wheels 8 all start rotating in the same direction via the motor 4 and the worm 6.
この時、ウオームホイール８の回転が正転となるよう電
池５をモータ４に接続しておく。At this time, the battery 5 is connected to the motor 4 so that the worm wheel 8 rotates in the normal direction.
この状態で、先頭部２から配管の入口に挿入すれば、管
内壁９とウオームホイール８は少なくとも円周上の２個
が自重により接触し、その摩擦にょシ、配管出口へ向っ
て移動して行く。In this state, if the leading end 2 is inserted into the inlet of the pipe, at least two of the inner wall 9 and the worm wheel 8 on the circumference will come into contact with each other due to their own weight, and due to the friction, the worm wheel 8 will move toward the outlet of the pipe. go.
一方、後部３の内部には、線材１０を巻付けたり−ル１
１が内蔵されている。このリール１１は巻付けた線材１
０の一端を引張ることによってリールが回転し線材１０
が次々と繰り出すことができるように設置しである。し
たがって、配管の入口付近に線材１０の一端を固定して
おけば、走行装置の移動に伴って、線材１０に張力が与
えられしたがってリール１１が回転し、走行装置の移動
量と等しい長さの線材１０が繰り出されることになる。On the other hand, a wire rod 10 is wound inside the rear portion 3.
1 is built-in. This reel 11 is a wound wire 1
By pulling one end of the wire rod 10, the reel rotates and the wire rod 10
It is set up so that it can be played out one after another. Therefore, if one end of the wire rod 10 is fixed near the inlet of the pipe, as the traveling device moves, tension is applied to the wire rod 10 and the reel 11 rotates. The wire rod 10 will be paid out.
すなわち、移動量と等しい長さの線材１０を布設しなが
ら走行するため、線材１０と管内壁面９との摩擦抵抗は
無視でき、配管内の入口から出口まで線材１０を布設で
きる。線材１０を可撓性の良いものでも、剛性のあるも
のでも、試験装置を誘導可能な張力のある材料例えば、
炭素繊維等を用いる。That is, since the pipe runs while laying the wire rod 10 with a length equal to the amount of movement, the frictional resistance between the wire rod 10 and the pipe inner wall surface 9 can be ignored, and the wire rod 10 can be laid from the inlet to the outlet in the pipe. Whether the wire 10 is made of a flexible material or a rigid material, the wire material 10 may be made of a tensile material that can guide the test device, for example,
Use carbon fiber, etc.
第３図は、第１図に示したウオーム６をウオームホイー
ル８毎に胴体と共に輪切りに分割し、その分割されたウ
ォーム６同士を自在軸継手１４で連結しかつ、分割され
た胴体１同士をベローズ１３で連結しである。また、７
モ一タ４部と胴体１ａの間も同様に分割し、連結しであ
る。先頭部２とモータ４部ならびに後部３と最後部の胴
体ｌｎ間は回転動力を伝達する必要がないためベローズ
１３のみで連結しである。このような構成をとることに
より、胴体１の軸方向を柔軟構造とすることができる。FIG. 3 shows that the worm 6 shown in FIG. 1 is divided into rings along with the body for each worm wheel 8, and the divided worms 6 are connected to each other by a universal joint 14, and the divided bodies 1 are connected to each other. They are connected by bellows 13. Also, 7
The motor 4 and the body 1a are similarly divided and connected. The leading part 2 and the motor 4, and the rear part 3 and the rearmost body ln are connected only by the bellows 13 because there is no need to transmit rotational power. By adopting such a configuration, the body 1 can have a flexible structure in the axial direction.
したがって、本発明による走行装置は配管に曲り管や分
岐管が含まれていても、自由に配管内を走行でき、かつ
案内線を布線することができる。本走行装置は、配管内
に於て走行中に姿勢が旋回する場合が発生する恐れがあ
る。Therefore, the traveling device according to the present invention can freely travel inside the pipe even if the pipe includes a bent pipe or a branch pipe, and can also lay a guide line. There is a possibility that this traveling device may rotate in its posture while traveling inside the pipe.
このために第２図に示したようにウオーム６の周囲に複
数個のウオームホイール８を配置しである。For this purpose, a plurality of worm wheels 8 are arranged around the worm 6 as shown in FIG.
したがって旋回のため、姿勢が変ってもなんら障害とな
ることなく走行することができる。また１、ウオームホ
イール８と管内壁面９の接触部に枝管が介在しても、ウ
オームホイール８を進行方向の棚上、に複数列配置しで
あるため、枝管に落ち込むことはない。また、何んらか
の頂因で走行不能となった場合は線材を引張ることによ
り管内から回収できる。Therefore, due to the turning, the vehicle can run without any hindrance even if its attitude changes. In addition, 1. Even if a branch pipe is interposed at the contact portion between the worm wheel 8 and the inner wall surface 9 of the pipe, the worm wheel 8 will not fall into the branch pipe because the worm wheels 8 are arranged in multiple rows on the shelf in the traveling direction. In addition, if it becomes impossible to run for some reason, it can be recovered from inside the pipe by pulling the wire.
本発明によれば、比較的小口径の曲り部を含んだ配管の
入口から出口へ点検のための案内線を良好に布線するこ
とができる効果がある。According to the present invention, there is an effect that a guide wire for inspection can be properly laid from the inlet to the outlet of a pipe including a relatively small-diameter bent portion.
第１図は本発明の原理図、第２図は配管内の説明図、第
３図は本発明の側面図である。
１・・・胴体、４・・・モータ、５・・・電池、６・・
・ウオーム、７・・・軸受、８・・・ウオームホイール
、１０・・・線材、端 ２ 口FIG. 1 is a diagram showing the principle of the present invention, FIG. 2 is an explanatory diagram of the interior of the piping, and FIG. 3 is a side view of the present invention. 1...Body, 4...Motor, 5...Battery, 6...
・Worm, 7...bearing, 8...worm wheel, 10...wire, end 2 ports
Claims (1)
て、電動機および電池を胴体内に収納しかつ動力の伝達
をウオーム歯車で構成し、ウオームホイールを円周上な
らびに軸方向に複数個配置し、線材を巻取ったリールを
設けたことを特徴とする配管内走行装置。 ２、特許請求の範囲第１項において、ウオーム歯車のウ
オームを軸方向に分割し、分割された各ウオームと、回
転伝達の自在軸継手と、分割された胴体を弾性体で接続
したことを特徴とする配管内走行装置。[Claims] 1. In a self-propelled vehicle that moves inside the pipe from the inlet to the outlet of the pipe, an electric motor and a battery are housed in the body, and power transmission is configured by a worm gear, and the worm wheel is arranged on the circumference and An in-pipe traveling device characterized by having a plurality of reels arranged in the axial direction and wound with wire rods. 2. Claim 1 is characterized in that the worm of the worm gear is divided in the axial direction, and each divided worm, a rotary transmission universal joint, and the divided body are connected by an elastic body. A running device inside the piping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59098668A JPS60244669A (en) | 1984-05-18 | 1984-05-18 | Travelling device in piping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59098668A JPS60244669A (en) | 1984-05-18 | 1984-05-18 | Travelling device in piping |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60244669A true JPS60244669A (en) | 1985-12-04 |
| JPH0339858B2 JPH0339858B2 (en) | 1991-06-17 |
Family
ID=14225890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59098668A Granted JPS60244669A (en) | 1984-05-18 | 1984-05-18 | Travelling device in piping |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60244669A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56135546U (en) * | 1980-03-15 | 1981-10-14 | ||
| JPS56166348U (en) * | 1980-05-15 | 1981-12-09 | ||
| JPS5878268U (en) * | 1981-11-24 | 1983-05-26 | 日立化成工業株式会社 | In-pipe running body |
-
1984
- 1984-05-18 JP JP59098668A patent/JPS60244669A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56135546U (en) * | 1980-03-15 | 1981-10-14 | ||
| JPS56166348U (en) * | 1980-05-15 | 1981-12-09 | ||
| JPS5878268U (en) * | 1981-11-24 | 1983-05-26 | 日立化成工業株式会社 | In-pipe running body |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0339858B2 (en) | 1991-06-17 |
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