Mobile device, and, endoscope system

Abstract

To materialize appropriate behavior of a slider unit and a brake unit.SOLUTION: A fluid actuator 7 of a mobile device 2 comprises: a flexible tube 15; an elastic tube 16 that is attached to an outer periphery of the flexible tube 15, and can be elastically deformed in a radial direction according to air pressure applied between the elastic tube 16 and the flexible tube 15; a slider unit 30 that presses the middle of the elastic tube 16 against the flexible tube 15 to divide the inside of the elastic tube 16 into a distal end side pressure chamber 18 and a proximal end pressure chamber 19, and can move in a longitudinal axis O direction of the elastic tube 16 according to the air pressure applied to the distal end side pressure chamber 18; and a brake unit 31 that can move in the longitudinal axis O direction of the elastic tube 16 integrally with the slider unit 30, and displaces a plurality of brake members 54 in the radial direction of the elastic tube 16 in conjunction with the radial elastic deformation of only the distal end side pressure chamber 18.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to a moving device and an endoscope system that move within narrow spaces formed by closely spaced walls, such as inside pipelines such as various types of piping, between the flanges of H-shaped steel, between the lips of I-shaped steel or channel steel, or inside rubble. [Background technology]

[0002] 2. Description of the Related Art Conventionally, mobile devices capable of moving by themselves within narrow spaces have been proposed and put to practical use for the purpose of inspecting and maintaining the inside of various types of pipes and other conduits and machines, or for performing searches during disasters.

[0003] For example, Patent Document 1 discloses a moving device including an elastic tube whose cross-sectional shape can be elastically deformed in response to internal pressure applied by a fluid, a slider unit that can move back and forth in the longitudinal direction of the elastic tube, and a brake provided on the slider unit.

[0004] The slider unit of the moving device includes a first slider and a second slider. The first and second sliders are arranged to face each other in the longitudinal direction of the outer circumference of the elastic tube. The first and second sliders each regulate the expansion of the elastic tube in the outer diameter direction. This allows the slider unit to move forward and backward in the longitudinal direction on the elastic tube depending on the supply state of fluid from the tip side and the base side to the elastic tube. The slider unit can also change the relative distance between the first slider and the second slider depending on the supply state of fluid from the tip side and the base side to the elastic tube. When the relative distance between the first and second sliders is narrow, the brake is displaced so as to protrude in the outer diameter direction of the elastic tube. When the relative distance between the first and second sliders is wide, the brake is displaced so as to retract along the longitudinal direction of the elastic tube.

[0005] By combining the movement of the slider unit and the displacement of the brake, the moving device is capable of moving by itself within a narrow space. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Patent No. 6381091 Summary of the Invention [Problem to be solved by the invention]

[0007] However, the technology of Patent Document 1 requires that operating pressure be applied to both sides of the slider unit when displacing the brake in the outer diameter direction of the outer tube. Therefore, in the technology of Patent Document 1, there is a risk that fluid leaking from the restriction of the first and second sliders may enter between the first and second sliders. The fluid thus entering between the first and second sliders may cause unnecessary expansion of the elastic tube, which may hinder proper operation of the first and second sliders and the brake.

[0008] In order to prevent the leakage of fluid, it is possible to increase the contact pressure of the first and second sliders against the elastic tube. However, increasing the contact pressure of the first and second sliders increases the rolling resistance of the first and second sliders, and even in this case, there is a risk that the proper operation of the slider unit and the brake will be hindered.

[0009] The present invention has been made in consideration of the above circumstances, and has an object to provide a moving device and an endoscope system that can realize appropriate behavior of a slider unit and a brake unit. [Means for solving the problem]

[0010] A moving device according to one embodiment of the present invention comprises a flexible tube, an elastic tube attached to the outer periphery of the flexible tube and elastically deformable in a radial direction in response to a fluid pressure applied between the flexible tube and the elastic tube, a slider unit provided on the outer periphery of the elastic tube and pressing a middle part of the elastic tube against the flexible tube to divide the inside of the elastic tube into a tip side pressure chamber and a base side pressure chamber, and movable in the longitudinal direction of the elastic tube in response to the fluid pressure applied to the tip side pressure chamber and the base side pressure chamber, and a brake unit connected to the slider unit on the outer periphery of the elastic tube and movable in the longitudinal direction of the elastic tube integrally with the slider unit, and displacing a plurality of brake members in the radial direction of the elastic tube in response to elastic deformation in the radial direction of only one of the tip side pressure chamber or the base side pressure chamber.

[0011] A moving device according to another aspect of the present invention includes a first flexible tube, a first elastic tube attached to an outer periphery of the first flexible tube and elastically deformable in a radial direction in response to a fluid pressure applied between the first flexible tube and the first elastic tube, and a pressure adjusting device provided on the outer periphery of the first elastic tube, pressing a middle portion of the first elastic tube against the first flexible tube to divide an inside of the first elastic tube into a first tip side pressure chamber and a first base side pressure chamber, and applying a pressure applied to the first tip side pressure chamber and the first base side pressure chamber. a first slider unit movable in the longitudinal direction of the first elastic tube in response to a pressure of a fluid; a first brake unit connected to the first slider unit at an outer periphery of the first elastic tube, movable integrally with the first slider unit in the longitudinal direction of the first elastic tube, and displacing a plurality of first brake members in the radial direction of the first elastic tube in conjunction with elastic deformation in the radial direction of only one of the first tip side pressure chamber or the first base side pressure chamber; a second flexible tube connected to an end of a flexible tube; a second elastic tube attached to the outer periphery of the second flexible tube and elastically deformable in a radial direction in response to a fluid pressure applied between the second flexible tube and the second elastic tube; and a pressure chamber provided on the outer periphery of the second elastic tube, pressing a middle portion of the second elastic tube against the second flexible tube to divide the inside of the second elastic tube into a second distal pressure chamber and a second proximal pressure chamber, and the pressure chamber is a pressure chamber that is a pressure chamber of the fluid applied to the second distal pressure chamber and the second proximal pressure chamber. and a second brake unit connected to the second slider unit at the outer periphery of the second elastic tube, movable integrally with the second slider unit in the longitudinal direction of the second elastic tube, and displacing a plurality of second brake members in the radial direction of the second elastic tube in response to elastic deformation in the radial direction of only one of the second tip-side pressure chamber or the second base-side pressure chamber.

[0012] An endoscopic system according to one aspect of the present invention comprises a moving device including: a flexible tube; an elastic tube attached to the outer periphery of the flexible tube and elastically deformable in the radial direction in response to a fluid pressure applied between the flexible tube and the elastic tube; a slider unit provided on the outer periphery of the elastic tube and pressing a middle part of the elastic tube against the flexible tube to divide the inside of the elastic tube into a tip pressure chamber and a base pressure chamber, and movable in the longitudinal direction of the elastic tube in response to the fluid pressure applied to the tip pressure chamber and the base pressure chamber; a brake unit connected to the slider unit on the outer periphery of the elastic tube and movable in the longitudinal direction of the elastic tube integrally with the slider unit, and displacing a plurality of brake members in the radial direction of the elastic tube in response to elastic deformation in the radial direction of only one of the tip pressure chamber or the base pressure chamber; and an endoscope equipped with an insertion portion that is inserted inside the flexible tube. Effect of the Invention

[0013] According to the present invention, appropriate behavior of the slider unit and the brake unit can be achieved. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic configuration diagram showing an endoscope system including a moving device according to a first embodiment of the present invention; [Diagram 2] FIG. 1 is a plan view showing a main part of a moving device according to a first embodiment of the present invention; [Diagram 3] FIG. 1 is an exploded perspective view of a propulsion device according to a first embodiment of the present invention; [Figure 4] FIG. 1 is a plan view showing a propulsion device according to a first embodiment of the present invention; [Diagram 5] FIG. 1 is an end view showing a propulsion device from a tip side according to a first embodiment of the present invention; [Figure 6] 1 is a cross-sectional view of a main part of a propulsion device according to a first embodiment of the present invention; [Figure 7]FIG. 1 is a plan view showing a propulsion device when a brake unit is activated in a first embodiment of the present invention; [Figure 8] FIG. 10 is an explanatory diagram illustrating how the slider unit is attached to the outer periphery of the tube unit according to the first embodiment of the present invention. [Figure 9] FIG. 1 is an exploded perspective view of a slider unit according to a first embodiment of the present invention; [Figure 10] FIG. 1 is an end view showing a slider unit from a tip side according to a first embodiment of the present invention; [Figure 11] FIG. 1 is an explanatory view showing a slider unit moving from a base end side to a tip end side of a tube unit in the first embodiment of the present invention; [Figure 12] FIG. 1 is an explanatory view showing a slider unit moving from a distal end side to a proximal end side of a tube unit in the first embodiment of the present invention; [Figure 13] FIG. 10 is an explanatory diagram showing the displacement of the roller according to the outer diameter of the tube unit in the first embodiment of the present invention. [Figure 14] FIG. 1 is an end view showing a brake unit from a tip side according to a first embodiment of the present invention; [Figure 15] FIG. 1 is an exploded perspective view of a brake mechanism according to a first embodiment of the present invention; [Figure 16] FIG. 1 is a perspective view of a brake mechanism when a brake member is laid down according to a first embodiment of the present invention; [Figure 17] FIG. 1 is a perspective view of a brake mechanism when a brake member is raised in the first embodiment of the present invention; [Figure 18] FIG. 1 is a perspective view showing a ring member disposed on an outer circumferential side of a tube unit according to a first embodiment of the present invention; [Figure 19] FIG. 10 is an explanatory diagram showing how the stopper is attached to the tube unit according to the first embodiment of the present invention; [Figure 20] FIG. 1 is a perspective view of a stopper assembled to a tube unit according to a first embodiment of the present invention; [Figure 21] FIG. 1 is a cross-sectional view of a main part of a tube unit and a stopper according to a first embodiment of the present invention. [Figure 22]FIG. 11 is a cross-sectional view of a main part of the propulsion device when the tube unit is moved toward the distal end according to the first embodiment of the present invention; [Diagram 23] FIG. 1 is a cross-sectional view of a main part of a propulsion device that advances a tube unit to a tip end side with a brake unit activated according to a first embodiment of the present invention; [Figure 24] FIG. 1 is an explanatory diagram showing a self-locking condition by a brake unit according to a first embodiment of the present invention; [Diagram 25] FIG. 1 is a plan view showing a main part of a fluid actuator inserted into a pipeline according to a first embodiment of the present invention; [Figure 26] FIG. 10 is an explanatory diagram showing the behavior of the moving unit when air is supplied to a base end side fluid supply pipe in a pipeline according to the first embodiment of the present invention; [Figure 27] FIG. 10 is an explanatory diagram showing a state of the moving unit when the supply of air to the base end side fluid supply pipe in the pipeline is stopped in the first embodiment of the present invention; [Figure 28] FIG. 10 is an explanatory diagram showing the behavior of the moving unit when air is supplied to the distal end side fluid supply pipe in the pipeline according to the first embodiment of the present invention; [Figure 29] FIG. 1 is an explanatory diagram showing the behavior of a propulsion device when passing through an elbow connection in a pipeline according to a first embodiment of the present invention. [Diagram 30] 1 is a flowchart showing a driving procedure of a moving device according to a first embodiment of the present invention. [Diagram 31] FIG. 11 is a schematic configuration diagram showing an endoscope system including a moving device according to a second embodiment of the present invention; [Diagram 32] FIG. 11 is a plan view showing a main part of a moving device according to a second embodiment of the present invention; [Diagram 33] 10 is a flowchart showing a driving procedure of a moving device according to a second embodiment of the present invention. [Diagram 34] FIG. 11 is a schematic configuration diagram showing an endoscope system including a moving device according to a third embodiment of the present invention; [Diagram 35] FIG. 11 is a plan view showing a main part of a moving device according to a third embodiment of the present invention; [Diagram 36]FIG. 13 is a plan view showing a main part of a moving device inserted into a pipeline according to a third embodiment of the present invention. [Figure 37] FIG. 13 is an explanatory diagram showing the behavior of the moving device when air is supplied to the first distal end side fluid supply pipe and the second proximal end side fluid supply pipe in the pipeline according to the third embodiment of the present invention. [Figure 38] FIG. 13 is an explanatory diagram showing the behavior of the moving device when air is supplied to the first proximal fluid supply tube and the second distal fluid supply tube in the pipeline according to the third embodiment of the present invention. [Figure 39] 10 is a flowchart showing a driving procedure of a moving device according to a third embodiment of the present invention. [Diagram 40] FIG. 13 is an explanatory view showing a state in which the moving device runs idle when air is supplied to a tip-side fluid supply pipe in a pipe line extending in the vertical direction according to the fourth embodiment of the present invention; [Diagram 41] FIG. 13 is an explanatory diagram showing a preparatory operation for preventing the moving device from running freely in a pipeline extending in the vertical direction according to the fourth embodiment of the present invention. [Diagram 42] FIG. 13 is an explanatory diagram showing the behavior of the moving device in a pipeline extending in the vertical direction after a preparatory operation in the fourth embodiment of the present invention. [Diagram 43] FIG. 13 is a perspective view showing a connecting tube that connects a first fluid actuator and a second fluid actuator according to a fifth embodiment of the present invention. [Diagram 44] FIG. 13 is a perspective view showing a guide tube according to a fifth embodiment of the present invention; [Diagram 45] FIG. 13 is an end view showing a propulsion device from the tip side according to a sixth embodiment of the present invention. [Figure 46] FIG. 13 is a plan view showing a propulsion device according to a sixth embodiment of the present invention. [Figure 47] FIG. 13 is an end view showing the propulsion device from the tip side when the brake unit is operated in a pipeline having a first inner diameter according to the sixth embodiment of the present invention. [Figure 48] FIG. 13 is a plan view showing a propulsion device according to a sixth embodiment of the present invention when a brake unit is operated in a pipeline having a first inner diameter. [Figure 49]FIG. 13 is an end view showing the propulsion device from the tip side when the brake unit is operated in a pipeline having a second inner diameter according to the sixth embodiment of the present invention. [Figure 50] FIG. 13 is a plan view showing the propulsion device when the brake unit is operated in a pipeline having a second inner diameter according to the sixth embodiment of the present invention. [Figure 51] FIG. 13 is a perspective view showing the brake mechanism when the brake member is raised according to the seventh embodiment of the present invention; [Figure 52] FIG. 13 is an end view showing the propulsion device from the tip side according to the eighth embodiment of the present invention. [Diagram 53] FIG. 13 is a plan view showing a propulsion device according to an eighth embodiment of the present invention. [Figure 54] FIG. 13 is a cross-sectional view of a main part of a propulsion device according to an eighth embodiment of the present invention. [Figure 55] FIG. 23 is an end view showing a propulsion device from the tip side according to a modified example of the eighth embodiment of the present invention. [Figure 56] FIG. 23 is a plan view showing a propulsion device according to a modified example of the eighth embodiment of the present invention. [Figure 57] FIG. 23 is a cross-sectional view of a main part of a propulsion device according to a modified example of the eighth embodiment of the present invention. [Figure 58] FIG. 13 is a perspective view showing a stopper from a tip side according to a ninth embodiment of the present invention; [Figure 59] FIG. 13 is a perspective view showing a stopper from a base end side according to a ninth embodiment of the present invention; [Figure 60] FIG. 13 is a plan view showing the propulsion device when the movement is restricted by the stopper in the ninth embodiment of the present invention; [Figure 61] FIG. 13 is a cross-sectional view of a main part of the propulsion device when the movement is restricted by a stopper according to the ninth embodiment of the present invention. [Figure 62] FIG. 23 is a plan view showing the propulsion device when the movement is restricted by the stopper according to a modification of the ninth embodiment of the present invention. [Figure 63] FIG. 13 is a cross-sectional view of a main part of the propulsion device when the movement is restricted by a stopper according to a modification of the ninth embodiment of the present invention. [Figure 64] FIG. 23 is a cross-sectional view of a main part of a slider unit according to a tenth embodiment of the present invention; [Figure 65] FIG. 17 is a characteristic diagram showing the relationship between roller displacement and spring biasing force in the tenth embodiment of the present invention. [Figure 66] FIG. 23 is a plan view showing a propulsion device according to an eleventh embodiment of the present invention; [Figure 67] FIG. 12 is a plan view showing the propulsion device when passing through the anchor portion according to the eleventh embodiment of the present invention. [Figure 68] FIG. 23 is a plan view showing a propulsion device according to a twelfth embodiment of the present invention; [Figure 69] FIG. 23 is a cross-sectional view of a main part of a propulsion device according to a twelfth embodiment of the present invention. [Figure 70] FIG. 23 is a plan view showing the propulsion device when passing through the anchor portion according to the twelfth embodiment of the present invention; [Figure 71] FIG. 23 is a cross-sectional view of a main part of the propulsion device when passing through an anchor portion according to the twelfth embodiment of the present invention. [Figure 72] FIG. 23 is a plan view showing a stopper according to the thirteenth embodiment of the present invention; [Figure 73] FIG. 23 is a plan view showing the propulsion device when the movement is restricted by the stopper in the thirteenth embodiment of the present invention; [Figure 74] FIG. 23 is a plan view showing a stopper according to a modification of the thirteenth embodiment of the present invention; [Figure 75] FIG. 23 is a perspective view showing a part of a stopper in an exploded state according to a modification of the thirteenth embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, a first embodiment of the present invention will be described with reference to Fig. 1 to Fig. 30. An endoscope system 1 shown in Fig. 1 is suitably used for inspecting the inside of a pipe 100 (see Figs. 25 to 29, etc.) installed in a building or the like. This endoscope system 1 has a moving device 2 and an endoscope 3.

[0016] The moving device 2 is a device for moving by self-propelling inside a pipeline 100 etc. The moving device 2 has a guide tube 6, a fluid actuator 7, and a fluid control device 8.

[0017] The guide tube 6 is mainly made of, for example, a long, flexible polyurethane tube. The inside of the guide tube 6 is set as a channel 6a through which the endoscope 3 or the like can be inserted.

[0018] The fluid actuator 7 is connected to the tip (front end) of the guide tube 6. The fluid actuator 7 is configured to include a tube unit 10, a propulsion device 11, and an auxiliary propulsion device 12.

[0019] The tube unit 10 is configured to include a flexible tube 15, an elastic tube 16, and a mesh tube 17.

[0020] The flexible tube 15 is, for example, a flexible polyurethane tube. The flexible tube 15 has, for example, a predetermined rigidity. The predetermined rigidity is a degree of rigidity that can prevent deformation of the flexible tube 15 in the inner diameter direction even when a predetermined pressure by a fluid is applied to the outer circumferential surface of the flexible tube 15.

[0021] The inner diameter of the flexible tube 15 is formed to be equal to the inner diameter of the guide tube 6. As a result, the inside of the flexible tube 15 is set as a channel 15a that is continuous with the channel 6a of the guide tube 6.

[0022] The elastic tube 16 is formed of, for example, an elastic silicone or rubber tube. The elastic tube 16 is attached to the outer periphery of the flexible tube 15. The inner diameter of the elastic tube 16 is set to be approximately equal to the outer diameter of the flexible tube 15 or slightly smaller than the outer diameter of the flexible tube 15. As a result, when the elastic tube 16 is in its natural state, it is supported by the flexible tube 15 in a state of being in close contact with the outer periphery of the flexible tube 15.

[0023] The mesh tube 17 is formed, for example, by a tube in which non-stretchable PET (polyethylene terephthalate) fibers or stainless steel wires are woven into a mesh shape. The mesh tube 17 is capable of deforming (expanding) in the outer diameter direction within the deformable range of the mesh. This restricts the elastic tube 16 from expanding locally. The restriction imposed by the mesh tube 17 allows the elastic tube 16 to expand to a substantially uniform predetermined outer diameter along the longitudinal direction.

[0024] A ring-shaped tip end terminating member 20 is provided on the tip ends of the flexible tube 15, elastic tube 16, and mesh tube 17. The tip end of the flexible tube 15 is adhesively fixed to the inner periphery of this tip end terminating member 20. Moreover, the tip ends of the elastic tube 16 and mesh tube 17 are adhesively fixed to the outer periphery of the tip end terminating member 20. By adhering the flexible tube 15 and elastic tube 16 to the tip end terminating member 20, the tip ends of the flexible tube 15 and elastic tube 16 are connected in an airtight state.

[0025] The tip end of a tip end fluid supply tube 22, through which air as a fluid can flow, is held by the tip end terminating member 20. The tip end opening of the tip end fluid supply tube 22 is in communication with the space formed between the flexible tube 15 and the elastic tube 16.

[0026] In order to improve ease of insertion into the pipeline 100 or the like, the distal end terminating member 20 has an outer circumferential surface formed with a tapered surface 20a having a tapered shape.

[0027] Similarly, a ring-shaped proximal end terminating member 21 is provided on the proximal ends of the flexible tube 15, the elastic tube 16, and the mesh tube 17. The proximal end of the flexible tube 15 is adhesively fixed to the inner periphery of this proximal end terminating member 21. Moreover, the proximal ends of the elastic tube 16 and the mesh tube 17 are adhesively fixed to the outer periphery of the proximal end terminating member 21. By adhering the flexible tube 15 and the elastic tube 16 to the proximal end terminating member 21, the proximal ends of the flexible tube 15 and the elastic tube 16 are connected in an airtight state.

[0028] In addition, the tip side of a base end fluid supply pipe 23, through which air as a fluid can flow, is held by the base end terminating member 21. The tip opening of this base end fluid supply pipe 23 is in communication with the space formed between the flexible tube 15 and the elastic tube 16.

[0029] Furthermore, the tip side of the guide tube 6 is adhesively fixed to the inner peripheral side of the base end terminating member 21 .

[0030] As shown in FIG. 3, the propulsion device 11 has a slider unit 30, a brake unit 31, and a distal guide member 32 and a proximal guide member 33 serving as guide members.

[0031] As shown in FIGS. 3, 6, and 8 to 13, the slider unit 30 has a slider body 40 and a plurality of rollers 41 (for example, 12 rollers).

[0032] The slider body 40 is made of a ring-shaped member. The inner diameter of the slider body 40 is set to be sufficiently larger than the outer diameter of the tube unit 10 when the elastic tube 16 is in its natural state.

[0033] The slider body 40 is configured to include a pair of arc-shaped holders 42, leaf springs 43, and spring fixing plates 44.

[0034] 9, a plurality of roller accommodating chambers 42a for individually accommodating each roller 41 are provided on the inner peripheral side of each holder 42. Each roller accommodating chamber 42a is arranged in an arc shape along the inner peripheral surface of the holder 42. Each roller accommodating chamber 42a is formed, for example, by a recess having a substantially rectangular shape. Furthermore, each roller accommodating chamber 42a is open on one end face side (for example, the front end face side) and the inner peripheral surface side of the holder 42.

[0035] Further, in each holder 42, a tapered surface 42b is formed on each wall portion that divides each roller accommodating chamber 42a. Each tapered surface 42b is, for example, formed by a plane that is linearly inclined at a predetermined depression angle from the outer diameter side to the inner diameter side of the holder 42 on one end face side of the holder 42. Furthermore, each holder 42 is formed with a stopper pin 42c at a position on the inner periphery side of each tapered surface 42b. The area surrounded by each tapered surface 42b and each stopper pin 42c is set as a bearing portion for each roller 41.

[0036] 9, the leaf spring 43 has an arc-shaped leaf spring body 43a and a plurality of spring portions 43b protruding inward from the leaf spring body 43a. When the leaf spring 43 is placed on the holder 42, each spring portion 43b is disposed in a position facing each tapered surface 42b.

[0037] The spring fixing plate 44 has an arc-shaped fixing plate body 44a and a plurality of spring restricting portions 44b protruding inward from the fixing plate body 44a. The spring fixing plate 44 is made of a material harder than the leaf spring 43. When the spring fixing plate 44 is placed on the leaf spring 43, each spring restricting portion 44b is provided at a position facing each spring portion 43b.

[0038] The leaf springs 43 and the spring fixing plate 44 are integrally attached to the holder 42, for example, using screws 45. In the slider body 40 of this embodiment, three leaf springs 43 are stacked and disposed between the holder 42 and the spring fixing plate 44. The thicknesses of the leaf springs 43 may be the same or different.

[0039] Each roller 41 has an annular roller body 41a and a shaft portion 41b connected to the inside of the roller body 41a via a bearing.

[0040] The outer circumferential surface of each roller body 41a is set as a rolling surface that can roll while contacting the outer circumferential surface of the tube unit 10. These rolling surfaces have a cross-sectional shape that is partially arcuate.

[0041] Each roller 41 is arranged in an arc shape on the holder 42 with each roller body 41a being disposed in the roller accommodating chamber 42a and each shaft portion 41b being disposed along the tapered surface 42b of the holder 42 (see FIG. 10).

[0042] Each of these rollers 41 is placed on the holder 42 before the leaf spring 43 and the spring fixing plate 44 are assembled to the holder 42. Then, when the leaf spring 43 is assembled to the holder 42, each spring portion 43b presses each shaft portion 41b against each tapered surface 42b. As a result, each roller 41 is held by the holder 42 in a state in which it is biased in the inner diameter direction of the holder 42. Note that excessive elastic deformation of each spring portion 43b is regulated by each spring regulating portion 44b. This prevents each roller 41 from falling off the holder 42.

[0043] The pair of holders 42 holding the rollers 41 in this manner are assembled from both sides of the tube unit 10, as shown in Fig. 8. The pair of holders 42 are then connected to each other using screws 46. In this way, the slider unit 30 is attached to the outer periphery of the tube unit 10.

[0044] At this time, for example, as shown in Fig. 13, the shaft portion 41b of each roller 41 moves along the tapered surface 42b toward the outer diameter side of the slider unit 30. By such movement of each shaft portion 41b, each spring portion 43b is elastically deformed according to the outer diameter of the tube unit 10. As a result, a biasing force is generated in each roller 41 of the slider unit 30, which elastically presses the elastic tube 16 against the flexible tube 15 from the outer circumferential side of the mesh tube 17. As a result, the area between the elastic tube 16 and the flexible tube 15 is divided into two: a tip side pressure chamber 18 communicating with the tip side fluid supply pipe 22, and a base side pressure chamber 19 communicating with the base side fluid supply pipe 23.

[0045] 11, when fluid is supplied from the base-end fluid supply pipe 23 to the base-end pressure chamber 19, the base-end pressure chamber 19 side of the elastic tube 16 expands. This expansion of the elastic tube 16 urges the rollers 41 toward the tip side of the tube unit 10. As a result, the slider unit 30 moves (slides) toward the tip side on the tube unit 10 while causing the rollers 41 to roll.

[0046] 12, for example, when fluid is supplied from the tip-side fluid supply pipe 22 to the tip-side pressure chamber 18, the tip-side pressure chamber 18 side of the elastic tube 16 expands. This expansion of the elastic tube 16 urges the rollers 41 toward the base end of the tube unit 10, and as a result, the slider unit 30 moves (slides) toward the base end on the tube unit 10 while causing the rollers 41 to roll.

[0047] As shown in FIGS. 3 and 6, the brake unit 31 has a casing 50 and a plurality of brake mechanisms 51 (for example, six).

[0048] The casing 50 is configured of a member having a substantially cylindrical shape. The casing 50, for example, connects the slider unit 30 to the other end side (rear end side) and holds each brake mechanism 51 at one end side (front end side).

[0049] Specifically, a holding hole 50a having an inner diameter larger than that of the one end side is formed on the other end side of the casing 50. The slider body 40 of the slider unit 30 is accommodated in the holding hole 50a. Furthermore, a base end guide member 33 described later is connected to the other end side of the casing 50. As a result, the casing 50 holds the slider unit 30 accommodated in the holding hole 50a in a state in which it is sandwiched between the base end guide member 33 and the casing 50. In this case, the outer diameter of the slider unit 30 is set slightly smaller than the inner diameter of the holding hole 50a. As a result, the slider unit 30 is freely rotatable around the axis of the tube unit 10 relative to the casing 50. In other words, the casing 50 is rotatable around the slider unit 30 which is attached to the tube unit 10 in a non-rotatable manner. In addition, during maintenance of the fluid actuator 7 or the like, the slider unit 30 can be replaced by a simple operation of simply removing the base end guide member 33 from the casing 50.

[0050] Meanwhile, one end surface of the casing 50 is set as a mounting surface for each brake mechanism 51. For this reason, for example, as shown in Fig. 3, one end surface of the casing 50 is provided with screw holes 50b for fastening each brake mechanism 51 with a screw. Furthermore, one end surface of the casing 50 is provided with a guide hole 50c for guiding an end of a link lever 59 (described later) of the brake mechanism 51 in the direction of the longitudinal axis (center axis) O.

[0051] As shown in FIGS. 3, 6, and 14 to 17, each brake mechanism 51 has a bracket 52, a link mechanism 53, and a brake member .

[0052] The bracket 52 has a pair of opposing wall portions 55 and mounting pieces 56 protruding from the other end of each of the wall portions 55 .

[0053] A link bearing hole 55a for supporting the link mechanism 53 and a brake bearing hole 55b for supporting the brake member 54 are provided in each wall portion 55 at positions corresponding to each other.

[0054] Each mounting piece 56 is provided with a screw hole 56 a corresponding to the screw hole 50 b of the casing 50 .

[0055] For example, as shown in FIGS. 6 and 15, the link mechanism 53 includes a pair of link plates 57, a roller 58, and a link lever 59.

[0056] Each link plate 57 is formed of, for example, a substantially triangular flat plate. A pivot shaft hole 57a, a roller bearing hole 57b, and a lever bearing hole 57c are provided at three corners of each link plate 57 at corresponding positions.

[0057] The pair of link plates 57 are disposed facing each other between the wall portions 55 of the bracket 52. A shaft member 60 is inserted through each link bearing hole 55a of each wall portion 55 and each pivot shaft hole 57a of each link plate 57. As a result, each link plate 57 is supported by the bracket 52 so as to be freely rotatable.

[0058] The roller 58 is rotatably supported between the pair of link plates 57 by the roller bearing hole 57b.

[0059] The link lever 59 is, for example, configured by a generally L-shaped member bent halfway. A first roller 59a functioning as a movable fulcrum is provided at one end of the link lever 59. A pivot shaft 59b functioning as a force point is provided at the middle of the link lever 59. A second roller 59c functioning as a force point is provided at the other end of the link lever 59.

[0060] The pivot shaft 59b of the link lever 59 is supported in each of the lever bearing holes 57c between the pair of link plates 57. As a result, the link lever 59 is supported by the link plate 57 so as to be able to freely swing.

[0061] The brake member 54 is, for example, a lever-shaped member having a pivot hole 54a at one end. The other end of the brake member 54 is provided with a claw portion 54b that can engage with the inner wall of a pipe or the like. A roller 54c is supported midway on the brake member 54.

[0062] The brake member 54 is disposed between the wall portions 55 of the bracket 52 with its inner surface slidable on the second roller 59c of the link lever 59. A shaft member 61 is inserted through each brake bearing hole 55b of each wall portion 55 and the brake member pivot shaft hole 54a. As a result, the brake member 54 is supported by the bracket 52 in a state in which it can swing in conjunction with the swing of the link lever 59.

[0063] The brake mechanisms 51 thus configured are attached to the casing 50 in an annular arrangement by fastening the mounting pieces 56 of the brackets 52 to one end surface of the casing 50 with screws (see FIG. 14). During this attachment, for example, as shown in FIG. 6, rollers 58 supported by link plates 57 of the brake mechanisms 51 abut against the outer circumferential surface of the tube unit 10. Also, first rollers 59a provided at one end of each link lever 59 are inserted into the respective guide holes 50c of the casing 50.

[0064] As a result, the brake unit 31 can be actuated only by elastic deformation of the tip pressure chamber 18 side of the tube unit 10 (elastic tube 16).

[0065] That is, when the elastic tube 16 expands on the tip pressure chamber 18 side, each roller 58 of each brake mechanism 51 is pushed up in the outer diameter direction of the tube unit 10. This causes the link plate 57 to rotate about the rotation shaft hole 57a. This rotation of the link plate 57 is transmitted to the rotation shaft 59b of the link lever 59, so that the link lever 59 swings around the first roller 59a as a fulcrum. Then, this swing of the link lever 59 causes the second roller 59c to push up the brake member 54 in the outer diameter direction. This causes each brake member 54 to stand at a predetermined angle with respect to the longitudinal axis O of the tube unit 10. In this case, as described above, the slider unit 30 is freely rotatable with respect to the casing 50. Therefore, when the brake member 54 stands up, the casing 50 can passively rotate with respect to the slider unit 30 (tube unit 10) without being subjected to unnecessary restrictions around the axis. As a result, the brake member 54 comes into contact with the wall surface of the pipeline 100 at an appropriate rotational position relative to the tube unit 10, effectively achieving self-locking.

[0066] Here, for example, as shown in FIG. 24, in relation to the inner diameter of the pipeline 100, it is desirable that the angle θ of each brake member 54 when standing is set to be larger than 45°. By setting such an angle, for example, as shown in FIG. 24, when a load W is generated in a direction in which the tube unit 10 is moved backward in the longitudinal axis O direction, the frictional force F (F=the sum of frictional forces F0 acting on each brake member 54) generated between the claw portion 54b of the brake member 54 and the wall surface of the pipeline 100 can be made to exceed the load W. That is, when a load in the backward direction acts on the brake unit 31 in a state in which the claw portion 54b is in contact with the wall surface, a force that moves the brake member 54 in the standing direction acts on each brake member 54 due to a so-called self-locking effect. More specifically, in the claw 54b of each brake member 54, the drag force wx acting in the pipe wall direction and contributing to the frictional force is larger than the force component wy along the pipe wall. Therefore, under typical conditions where friction occurs, a force that moves each brake member 54 in the upright direction acts on the claws 54b, resulting in a so-called self-locking effect. As a result, each claw portion 54b of each brake member 54 firmly bites into the wall surface of the pipeline 100, preventing the brake unit 31 from retracting.

[0067] When the elastic tube 16 on the tip pressure chamber 18 side contracts, the brake members 54 move in the reverse order to the above-mentioned operation, so as to fall down to a state approximately parallel to the longitudinal axis O of the tube unit 10.

[0068] The distal end guide member 32 has a guide member main body 32a and a cylindrical portion 32b that is integrally provided on the proximal end side of the guide member main body 32a.

[0069] The guide member main body 32a is configured by a cylindrical member having an outer circumferential surface that tapers from the base end side to the tip end side. More specifically, for example, as shown in Fig. 6, the outer circumferential surface of the guide member main body 32a has a substantially truncated cone shape that tapers nonlinearly from the base end side to the tip end side (i.e., toward the end side away from the brake unit 31) so that a cross section along the longitudinal axis O direction describes a circular arc.

[0070] The cylindrical portion 32b has an outer diameter that is approximately the same as the diameter of the casing 50 of the brake unit 31. This cylindrical portion 32b is provided with a plurality of notches 32c for avoiding interference with each brake mechanism 51 attached to the casing 50.

[0071] The cylindrical portion 32b is connected to the tip side of the casing 50 at a rotational position where each cutout portion 32c avoids interference with each brake mechanism 51. In this way, the tip side guide member 32 is connected to the tip side of the brake unit 31.

[0072] Here, for example, when the inner diameter of the pipeline 100 to which the moving device 2 of this embodiment is applied is A, it is preferable that the dimensions of the tip side guide member 32 satisfy the following relationships.

[0073] In other words, if the total length of the tip side guide member 32 is B, the outer diameter of the cylindrical portion 32b of the tip side guide member 32 is C, and the outer diameter of the tip of the guide member main body 32a is D (see Figure 4), it is preferable that the dimensions A to D satisfy the relationship A:B:C:D = 1:0.5 to 0.75:0.75:0.5.

[0074] The base-side guide member 33 is configured by a tubular member having an outer circumferential surface that tapers from the tip side to the base side. More specifically, for example, as shown in Fig. 6, the outer circumferential surface of the base-side guide member 33 has a substantially truncated cone shape that tapers nonlinearly from the tip side to the base side so that a cross section along the longitudinal axis O describes a circular arc.

[0075] The base end guide member 33 is connected to the base end side of the casing 50 of the brake unit 31. That is, the base end guide member 33 is connected to the base end side of the brake unit 31.

[0076] 3, the distal end guide member 32 and the proximal end guide member 33 of this embodiment are preferably divided into two along the longitudinal axis O. By configuring in this manner, the distal end guide member 32 and the proximal end guide member 33 can be easily attached to the tube unit 10.

[0077] The auxiliary propulsion device 12 is a propulsion device that is fixed to the tube unit 10 on the proximal end side of the tube unit 10, for example, as shown in FIG.

[0078] Here, the propulsion auxiliary device 12 of this embodiment has a configuration substantially similar to that of the above-described propulsion device 11. For this reason, the components of the propulsion auxiliary device 12 are basically given the same reference numerals as those of the propulsion device 11, and the description thereof will be omitted.

[0079] However, the propulsion auxiliary device 12 does not have a slider unit like the propulsion device 11. That is, the propulsion auxiliary device 12 of this embodiment is configured to have a brake unit 31, a tip side guide member 32, and a base end side guide member 33, similar to the propulsion device 11 described above.

[0080] In addition, since the propulsion auxiliary device 12 does not have a slider unit, the casing 50 constituting the brake unit 31 of the propulsion auxiliary device 12 does not have a retaining hole. Therefore, the overall length of the propulsion auxiliary device 12 is shorter than the overall length of the propulsion device 11.

[0081] In addition, in order to fix the auxiliary propulsion device 12 to the tube unit 10, the inner circumferential surfaces of the tip-side guide member 32 and the base-side guide member 33 are fixed to the mesh tube 17 by adhesive or the like.

[0082] In this embodiment, the brake unit 31 of the auxiliary propulsion device 12 corresponds to a specific example of an auxiliary brake unit, and the brake member 54 of the brake unit 31 corresponds to a specific example of an auxiliary brake member.

[0083] In the fluid actuator 7 configured as described above, in order to maintain durability and achieve suitable movement, it is preferable to prevent collision of the propulsion device 11 with the tip end terminal member 20, the propulsion auxiliary device 12, etc. For this reason, in this embodiment, the tube unit 10 is provided with stoppers 35 for defining the advanced position and the retracted position of the propulsion device 11.

[0084] As shown in FIGS. 1, 18 to 21, the stopper 35 has a ring member 65 and a stopper main body 66.

[0085] The ring member 65 is disposed on the outer circumferential side of the elastic tube 16 and on the inner circumferential side of the mesh tube 17. The inner diameter of the ring member 65 is set to be sufficiently larger than the outer diameter of the elastic tube 16 in its natural state. This allows air to flow between one side and the other side of the ring member 65 without blocking the air when air is supplied between the flexible tube 15 and the elastic tube 16.

[0086] The stopper body 66 has a pair of stopper members 66a formed in an arc shape. Each stopper member 66a has an inner peripheral surface that can be fitted onto the outer periphery of the ring member 65 with the mesh tube 17 interposed therebetween.

[0087] These stopper members 66a are attached to the outer periphery of the mesh tube 17 after the ring member 65 is positioned on the tube unit 10. These stopper members 66a are then connected to each other using screws 67. As a result, the stopper 35 can be positioned at any position on the tube unit 10.

[0088] As shown in FIG. 1, the fluid control device 8 has a compressor 70, a regulator 71, an electropneumatic proportional valve 72, and a control computer 73.

[0089] The compressor 70 compresses air, which is a working fluid.

[0090] The regulator 71 adjusts the pressure of the air compressed by the compressor 70 to a preset reference pressure.

[0091] The electropneumatic proportional valve 72 adjusts the air pressure, which has been adjusted to a reference pressure by the regulator 71, to an arbitrary control pressure P.

[0092] More specifically, the base end side of the tip side fluid supply pipe 22 and the base end side of the base end side fluid supply pipe 23 are connected to the electropneumatic proportional valve 72 .

[0093] The electropneumatic proportional valve 72 is capable of supplying air adjusted to individual control pressures P to the tip side pressure chamber 18 and the base side pressure chamber 19 via the tip side fluid supply pipe 22 and the base side fluid supply pipe 23.

[0094] In addition, the electropneumatic proportional valve 72 is capable of discharging the air supplied to the tip side pressure chamber 18 and the base side pressure chamber 19 by individually opening the tip side fluid supply pipe 22 and the base side fluid supply pipe 23 to the atmosphere.

[0095] The control computer 73 is composed of, for example, a well-known microcomputer equipped with a CPU, RAM, ROM, non-volatile storage unit, etc., and peripheral devices thereof. The ROM stores programs to be executed by the CPU and fixed data such as data tables in advance. All or part of the functions of the processor may be composed of logic circuits or analog circuits, and the processing of various programs may be realized by electronic circuits such as FPGAs.

[0096] This control computer 73 drives and controls the electro-pneumatic proportional valve 72 according to a preset program or in response to an operation input by a user or the like to an operation switch or the like (not shown).

[0097] 4 to 6, for example, when the distal pressure chamber 18 and the proximal pressure chamber 19 are open to the atmosphere, the propulsion device 11 is stationary without moving relatively in the direction of the longitudinal axis O of the tube unit 10. Also, each brake member 54 of the propulsion device 11 is in a laid-down state.

[0098] 22, when air adjusted to a predetermined control pressure P is supplied to the base end pressure chamber 19, the propulsion device 11 moves toward the tip side on the tube unit 10. That is, when air is supplied to the base end pressure chamber 19, the elastic tube 16 expands.

[0099] Here, the expansion of the elastic tube 16 in the outer diameter direction is limited to a predetermined amount by the mesh tube 17. Therefore, as the air supplied to the base end pressure chamber 19 increases, the elastic tube 16 presses the slider unit 30 toward the tip end, causing the base end pressure chamber 19 to expand toward the tip end. As a result, the propulsion device 11 moves toward the tip end on the mesh tube 17.

[0100] 23, when air adjusted to a predetermined control pressure P is supplied to the tip pressure chamber 18, the propulsion device 11 causes each brake member 54 of the brake unit 31 to stand in the radially expanding direction and moves toward the base end on the tube unit 10. That is, when air is supplied to the tip pressure chamber 18, the elastic tube 16 expands.

[0101] Due to this expansion, the elastic tube 16 displaces each roller 58 of the brake unit 31 in the outer diameter direction. Furthermore, this displacement of each roller 58 is transmitted to each brake member 54 via each link mechanism 53. As a result, each brake member 54 of the propulsion device 11 is displaced in the radial expansion direction (standing direction). In other words, each brake member 54 is displaced only by the elastic deformation of the elastic tube 16 on the tip side pressure chamber 18 side.

[0102] Here, the expansion of the elastic tube 16 in the outer diameter direction is limited to a predetermined amount by the mesh tube 17. Therefore, as the air supplied to the tip pressure chamber 18 increases, the elastic tube 16 expands the tip pressure chamber 18 toward the base end while pressing the slider unit 30 toward the base end. As a result, the propulsion device 11 moves toward the base end on the tube unit 10. However, if the propulsion device 11 is fixed in the pipeline 100 or the like by the erected brake member 54, the movement of the propulsion device 11 is converted into the operation of reeling out the tube unit 10 from the propulsion device 11.

[0103] Although not shown, the propulsion auxiliary device 12 causes each brake member 54 of the brake unit 31 to stand in the radially expanding direction due to the expansion of the base-end pressure chamber 19. That is, each brake member 54 of the propulsion auxiliary device 12 is displaced only by the elastic deformation of the elastic tube 16 on the base-end pressure chamber 19 side.

[0104] 1, the endoscope 3 is, for example, a well-known industrial endoscope. The endoscope 3 includes an insertion section 75, an operation section 76, and a display section 77.

[0105] The insertion section 75 is configured by connecting a tip section 75a, a curved section 75b, and a flexible tube section 75c in this order from the tip side.

[0106] The operation unit 76 is connected to the base end side of the insertion unit 75. The operation unit 76 includes, for example, a joystick-type bending operation lever 76a. This bending operation lever 76a can bend the bending portion 75b in any direction by a user or the like performing a tilting operation.

[0107] The display unit 77 is connected to the operation unit 76 via a cable 77a. The display unit 77 is capable of displaying an endoscopic image captured by an imaging element (not shown) provided at the distal end portion 75a.

[0108] The insertion portion 75 of the endoscope 3 configured in this manner is inserted into the channel 6 a of the guide tube 6 and the channel 15 a of the flexible tube 15 .

[0109] This allows the user or the like to operate the moving device 2 inside the pipeline 100 or the like while observing the endoscopic image.

[0110] Next, the procedure for driving the fluid actuator 7 in the pipeline 100 will be described with reference to Figures 25 to 30. In Figures 25 to 28, dotted areas indicate areas in the tube unit 10 to which air is supplied. Also, "R" shown in Figures 25 to 28 is a reference position on the pipeline 100, shown to make it easier to understand the movement of the fluid actuator 7.

[0111] The fluid actuator 7 is driven, for example, by the fluid control device 8 supplying or discharging air (opening to the atmosphere) to the tube unit 10 in accordance with the procedure shown in Fig. 30. Note that this procedure may be executed based on a preset program or the like, or may be executed by manual operation by a user or the like.

[0112] For example, as shown in FIG. 25, the initial state of the fluid actuator 7 is defined as a state in which the propulsion device 11 is located in a retracted position in which it abuts against the stopper 35 on the base end side, and each brake member 54 of the propulsion device 11 and each brake member 54 of the propulsion auxiliary device 12 are both laid down.

[0113] When the fluid actuator 7 is in the initial state, the fluid control device 8 supplies air to the base-end pressure chamber 19 via the base-end fluid supply pipe 23 in step S101.

[0114] 26, expansion of the elastic tube 16 in the base end pressure chamber 19 begins from the base end side of the tube unit 10. This expansion of the elastic tube 16 causes each brake member 54 of the propulsion assistance device 12 to be displaced in the radially expanding direction by the action of the link mechanism 53. This displacement of each brake member 54 causes each claw portion 54b of each brake member 54 to engage with the inner wall of the pipeline 100, and movement of the propulsion assistance device 12 within the pipeline 100 is prohibited.

[0115] Furthermore, the expansion of the elastic tube 16, which starts from the base end side of the tube unit 10, propagates to the tip side of the tube unit 10. As a result, the elastic tube 16 presses the slider unit 30 of the propulsion device 11 toward the tip side. This pressure causes the propulsion device 11 to move toward the tip side on the tube unit 10 while expanding the base end pressure chamber 19 toward the tip side. That is, as is clear from the relative position with respect to the reference position R on the conduit 100, the propulsion device 11 moves in the forward direction within the conduit 100.

[0116] At that time, the rollers 54c provided on the brake members 54 come into contact with the inner wall of the pipeline 100 as appropriate. This allows the propulsion device 11 to move smoothly within the pipeline 100.

[0117] This movement of the propulsion device 11 toward the tip side is performed until the propulsion device 11 abuts against a stopper 35 on the tip side of the tube unit 10, as shown in FIG.

[0118] After that, in step S102, the fluid control device 8 releases the air that was being supplied to the base-end pressure chamber 19 to the atmosphere. As a result, as shown in Fig. 27, each brake member 54 of the propulsion assistance device 12 is brought into a laid-down state, and the prohibition on the movement of the propulsion assistance device 12 within the pipeline 100 is released.

[0119] In the following step S103, the fluid control device 8 supplies air to the tip side pressure chamber 18 via the tip side fluid supply pipe 22.

[0120] 28, expansion of the elastic tube 16 in the tip pressure chamber 18 starts from the tip side of the tube unit 10. As a result, each brake member 54 of the propulsion device 11 is displaced in the radially expanding direction by the action of the link mechanism 53. As a result, the claw portion 54b of each brake member 54 of the propulsion device 11 engages with the inner wall of the pipeline 100, and movement of the propulsion device 11 within the pipeline 100 is prohibited.

[0121] In addition, the expansion of the elastic tube 16, which starts from the tip side of the tube unit 10, propagates to the base side of the tube unit 10. As a result, the elastic tube 16 presses the slider unit 30 of the propulsion device 11 toward the base side. This pressing causes the tube unit 10 itself to expand the tip pressure chamber 18 toward the base side and is extended toward the tip side of the propulsion device 11. That is, since the propulsion device 11 is fixed to the inner wall of the pipeline 100 by each brake member 54, the force of the elastic tube 16 pressing the propulsion device 11 toward the base side is converted into a force that advances the tube unit 10 toward the tip side. As the tube unit 10 advances, the propulsion auxiliary device 12 fixed to the tube unit 10 also advances in the pipeline 100 in the traveling direction.

[0122] The tube unit 10 is extended in this manner until the propelling device 11 abuts against a stopper 35 on the base end side of the tube unit 10 .

[0123] Thereafter, in step S104, the fluid control device 8 releases the air that was being supplied to the tip side pressure chamber 18 to the atmosphere. This causes each brake member 54 of the propulsion device 11 to be in a collapsed state, and the prohibition on the movement of the propulsion device 11 within the pipeline 100 is released.

[0124] By repeating this series of operations, the fluid actuator 7 advances in the pipeline 100 in the traveling direction, and can reach the target location.

[0125] Here, the propulsion device 11 (and the auxiliary propulsion device 12) of this embodiment can easily pass through an elbow connection portion (bent path) 101 present in a pipeline 100, for example, as shown in FIG.

[0126] That is, the dimensional ratio of the total length B of the tip side guide member 32 of the propulsion device 11, the outer diameter C of the cylindrical portion 32b, and the outer diameter D of the tip to the inner diameter A of the pipeline 100 satisfies the relationship of A:B:C:D=1:0.5 to 0.75:0.75:0.5. Furthermore, the outer peripheral surface of the guide member main body 32a is formed by an arc-shaped concave surface. With these configurations, even when the propulsion device 11 passes through the elbow connection portion 101, the tip side guide member 32 is prevented from getting caught on a step or the like, and good turning performance is achieved by the tip side guide member 32.

[0127] According to this embodiment, the fluid actuator 7 of the moving device 2 comprises a flexible tube 15, an elastic tube 16 attached to the outer periphery of the flexible tube 15 and elastically deformable in the radial direction in response to the air pressure applied between the flexible tube 15 and the flexible tube 15, a slider unit 30 provided on the outer periphery of the elastic tube 16 and pressing the middle of the elastic tube 16 against the flexible tube 15 to divide the inside of the elastic tube 16 into a tip side pressure chamber 18 and a base side pressure chamber 19, and movable in the direction of the longitudinal axis O of the elastic tube 16 in response to the air pressure applied to the tip side pressure chamber 18, and a brake unit 31 connected to the tip side of the slider unit 30 on the outer periphery of the elastic tube 16 and movable in the direction of the longitudinal axis O of the elastic tube 16 integrally with the slider unit 30, and displacing a plurality of brake members 54 in the radial direction of the elastic tube 16 in response to the radial elastic deformation of only the tip side pressure chamber 18.

[0128] This allows the slider unit 30 and the brake unit 31 to behave appropriately.

[0129] That is, the inside of the elastic tube 16 of the tube unit 10 is divided into only two chambers, the tip pressure chamber 18 and the base pressure chamber 19, by the slider unit 30. The brake unit 31 employs a configuration in which each brake member 54 is displaced in the radial direction in conjunction with only the elastic tube 16 on the tip pressure chamber 18 side. Therefore, there is no need to provide a pair of sliders in the slider unit 30, and no other area is defined between the tip pressure chamber 18 and the base pressure chamber 19. Therefore, even if air leaks from one pressure chamber to the other pressure chamber defined by the slider unit 30, the air will not be trapped in a narrow space. As a result, the slider unit 30 and the brake unit 31 can be appropriately operated.

[0130] Next, a second embodiment of the present invention will be described with reference to Fig. 31 to Fig. 33. This embodiment describes the configuration of a moving device 2 capable of autonomous travel not only in the forward direction but also in the retreat direction opposite to the forward direction. In this embodiment, the same components as those in the first embodiment described above will be appropriately designated by the same reference numerals and the description thereof will be omitted.

[0131] As shown in FIGS. 31 and 32, the movement device 2 of this embodiment has a first fluid actuator 7A and a second fluid actuator 7B on the distal end side of the guide tube 6.

[0132] The first fluid actuator 7A and the second fluid actuator 7B are coaxially connected via a connecting tube 80 made of, for example, polyurethane.

[0133] The first fluid actuator 7A and the second fluid actuator 7B basically have the same configuration as the fluid actuator 7 described in the above-mentioned first embodiment.

[0134] That is, the first fluid actuator 7A is configured to include a first tube unit 10A, a first propulsion device 11A, and a first auxiliary propulsion device 12A.

[0135] The first tube unit 10A includes a first flexible tube 15A, a first elastic tube 16A, and a first mesh tube 17A.

[0136] The first propulsion device 11A is configured to have a first slider unit 30A, a first brake unit 31A, a first tip-end side guide member 32A, and a first base-end side guide member 33A.

[0137] The first propulsion auxiliary device 12A is configured to include a first brake unit 31A, a first tip-end side guide member 32A, and a first base-end side guide member 33A.

[0138] A first tip side fluid supply pipe 22A is connected to a first tip side pressure chamber 18A formed between the first flexible tube 15A and the first elastic tube 16A at the tip side of the first tube unit 10A.

[0139] Further, a first base end fluid supply pipe 23A is connected to a first base end pressure chamber 19A formed between the first flexible tube 15A and the first elastic tube 16A on the base end side of the first tube unit 10A.

[0140] The base ends of the first distal fluid supply pipe 22A and the first proximal fluid supply pipe 23A are connected to an electropneumatic proportional valve 72 of the fluid control device 8.

[0141] Similarly, the second fluid actuator 7B is configured to include a second tube unit 10B, a second propulsion device 11B, and a second auxiliary propulsion device 12B.

[0142] The second tube unit 10B is configured to include a second flexible tube 15B, a second elastic tube 16B, and a second mesh tube 17B.

[0143] The second propulsion device 11B is configured to have a second slider unit 30B, a second brake unit 31B, a second tip-end guide member 32B, and a second base-end guide member 33B.

[0144] The second propulsion auxiliary device 12B is configured to include a second brake unit 31B, a second tip-end side guide member 32B, and a second base-end side guide member 33B.

[0145] A second tip side fluid supply pipe 22B is connected to a second tip side pressure chamber 18B formed between the second flexible tube 15B and the second elastic tube 16B at the tip side of the second tube unit 10B.

[0146] Further, at the base end side of the second tube unit 10B, a second base end pressure chamber 19B is formed between the second flexible tube 15B and the second elastic tube 16B, and a second base end fluid supply pipe 23B is connected to the second base end pressure chamber 19B.

[0147] The base ends of the second distal fluid supply pipe 22B and the second proximal fluid supply pipe 23B are connected to an electropneumatic proportional valve 72 of the fluid control device 8.

[0148] In the above-mentioned first fluid actuator 7A and second fluid actuator 7B, each component having a reference number suffixed with "A" or "B" corresponds to each component having the same reference number but without the "A" or "B" in the fluid actuator 7 of the first embodiment.

[0149] However, in this embodiment, the arrangement and direction of each component of the first fluid actuator 7A and the second fluid actuator 7B are partially reversed. Specifically, in the second fluid actuator 7B, the arrangement and direction of the second propulsion device 11B and the second propulsion auxiliary device 12B provided on the second tube unit 10B are reversed with respect to the first fluid actuator 7A. In accordance with this reversal, the positions of the pair of stoppers 35 in the second fluid actuator 7B are also reversed with respect to the first fluid actuator 7A.

[0150] Due to these arrangement relationships, the first fluid actuator 7A has a first propulsion device 11A at the tip side in the longitudinal axis O direction of the first tube unit 10A, and a first auxiliary propulsion device 12A at the base end side in the longitudinal axis O direction. The first propulsion device 11A and the first auxiliary propulsion device 12A contribute to the forward movement of the moving device 2 inside the pipeline 100.

[0151] On the other hand, the second fluid actuator 7B has a second propulsion device 11B at the base end side in the longitudinal axis O direction of the second tube unit 10B, and has a second auxiliary propulsion device 12B at the tip end side in the longitudinal axis O direction. The second propulsion device 11B and the second auxiliary propulsion device 12B contribute to the backward movement of the moving device 2 inside the pipeline 100.

[0152] Next, a procedure for driving the first and second fluid actuators 7A, 7B in the pipeline 100 will be described with reference to FIG.

[0153] In the driving procedure of this embodiment, first, in step S201, it is determined whether the current movement direction of the movement device 2 (first and second fluid actuators 7A, 7B) relative to the pipeline 100 is the forward direction or the backward direction.

[0154] Then, in step S201, if it is determined that the movement direction of the movement device 2 is a forward direction (step S201: YES), the fluid control device 8 performs the processes of steps S202 to S205.

[0155] That is, in step S202, the fluid control device 8 supplies air to the first base end pressure chamber 19A.

[0156] In the next step S203, the fluid control device 8 releases the air that has been supplied to the first base end pressure chamber 19A to the atmosphere.

[0157] In the following step S204, the fluid control device 8 supplies air to the first tip side pressure chamber 18A.

[0158] In the next step S205, the fluid control device 8 releases the air that has been supplied to the first tip side pressure chamber 18A to the atmosphere.

[0159] By carrying out this series of processes, the movement device 2 advances within the pipeline 100 using the first fluid actuator 7A.

[0160] On the other hand, in step S201, if it is determined that the moving direction of the moving device 2 is the backward direction (step S201: NO), the fluid control device 8 performs the processes of steps S206 to S209.

[0161] That is, in step S206, the fluid control device 8 supplies air to the second tip side pressure chamber 18B.

[0162] In the next step S207, the fluid control device 8 releases the air that has been supplied to the second tip side pressure chamber 18B to the atmosphere.

[0163] In the following step S208, the fluid control device 8 supplies air to the second base end pressure chamber 19B.

[0164] In the next step S209, the fluid control device 8 releases the air that has been supplied to the second base end pressure chamber 19B to the atmosphere.

[0165] By carrying out this series of processes, the moving device 2 moves backward within the pipeline 100 using the second fluid actuator 7B.

[0166] According to this embodiment, in addition to the effects obtained in the first embodiment described above, it is also possible to realize the reverse movement in the pipeline 100.

[0167] Next, a third embodiment of the present invention will be described with reference to Figures 34 to 39. Here, this embodiment describes the configuration of a movement device 2 using two fluid actuators that do not have a propulsion auxiliary device. In this embodiment, the same components as those in the above-mentioned first embodiment will be appropriately designated by the same reference numerals and the description thereof will be omitted.

[0168] As shown in FIGS. 34 and 35, the movement device 2 of this embodiment has a first fluid actuator 7A and a second fluid actuator 7B on the distal end side of the guide tube 6.

[0169] The first fluid actuator 7A and the second fluid actuator 7B are coaxially connected via a connecting tube 80 made of, for example, polyurethane.

[0170] The first fluid actuator 7A and the second fluid actuator 7B basically have the same configuration as the fluid actuator 7 described in the above-mentioned first embodiment. However, the first fluid actuator 7A and the second fluid actuator 7B do not have a propulsion assist device.

[0171] That is, the first fluid actuator 7A includes a first tube unit 10A and a first propulsion device 11A.

[0172] The first tube unit 10A includes a first flexible tube 15A, a first elastic tube 16A, and a first mesh tube 17A.

[0173] The first propulsion device 11A is configured to have a first slider unit 30A, a first brake unit 31A, a first tip-end side guide member 32A, and a first base-end side guide member 33A.

[0174] A first tip side fluid supply pipe 22A is connected to a first tip side pressure chamber 18A formed between the first flexible tube 15A and the first elastic tube 16A at the tip side of the first tube unit 10A.

[0175] Further, a first base end fluid supply pipe 23A is connected to a first base end pressure chamber 19A formed between the first flexible tube 15A and the first elastic tube 16A on the base end side of the first tube unit 10A.

[0176] The base ends of the first distal fluid supply pipe 22A and the first proximal fluid supply pipe 23A are connected to an electropneumatic proportional valve 72 of the fluid control device 8.

[0177] Similarly, the second fluid actuator 7B is configured to include a second tube unit 10B and a second propulsion device 11B.

[0178] The second tube unit 10B is configured to include a second flexible tube 15B, a second elastic tube 16B, and a second mesh tube 17B.

[0179] The second propulsion device 11B is configured to have a second slider unit 30B, a second brake unit 31B, a second tip-end guide member 32B, and a second base-end guide member 33B.

[0180] A second tip side fluid supply pipe 22B is connected to a second tip side pressure chamber 18B formed between the second flexible tube 15B and the second elastic tube 16B at the tip side of the second tube unit 10B.

[0181] Further, on the base end side of the second tube unit 10B, a second base end pressure chamber 19B is formed between the second flexible tube 15B and the second elastic tube 16B, and a second base end fluid supply pipe 23b is connected to the second base end pressure chamber 19B.

[0182] The base ends of the second distal fluid supply pipe 22B and the second proximal fluid supply pipe 23B are connected to an electropneumatic proportional valve 72 of the fluid control device 8.

[0183] In the above-mentioned first fluid actuator 7A and second fluid actuator 7B, each component having a reference number suffixed with "A" or "B" corresponds to each component having the same reference number but without the "A" or "B" in the fluid actuator 7 of the first embodiment.

[0184] In the following description, when distinguishing between the configuration related to the first fluid actuator 7A and the configuration related to the second fluid actuator 7B, the letter "A" or "B" will be added to the end of the reference numerals as appropriate.

[0185] Next, a procedure for driving the first and second fluid actuators 7A, 7B in the pipeline 100 will be described with reference to FIGS.

[0186] In the driving procedure of this embodiment, the first and second fluid actuators 7A and 7B cooperate to advance within the pipeline 100.

[0187] Here, in the movement device 2 of this embodiment, for example, as shown in Fig. 36, the initial state of the first fluid actuator 7A is a state in which the first propulsion device 11A is located at an advanced position where it abuts against the tip-end stopper 35A and each brake member 54A of the first propulsion device 11A is laid down. The initial state of the second fluid actuator 7B is a state in which the second propulsion device 11B is located at a retracted position where it abuts against the base-end stopper 35B and each brake member 54B of the second propulsion device 11B is laid down.

[0188] In this state, for example, as shown in FIG. 39, the fluid control device 8 supplies air to the first distal end pressure chamber 18A, and also supplies air to the second proximal end pressure chamber 19B in step S301.

[0189] As a result, as shown in Fig. 37, expansion of the elastic tube 16A in the first tip pressure chamber 18A starts from the tip side of the first tube unit 10A. This expansion of the elastic tube 16A displaces each brake member 54A of the first propulsion device 11A in the radially expanding direction. This displacement of each brake member 54A causes each claw portion 54bA of each brake member 54A to engage with the inner wall of the pipeline 100, and movement of the first propulsion device 11A within the pipeline 100 is prohibited.

[0190] In addition, the expansion of the elastic tube 16A, which starts from the tip side of the first tube unit 10A, propagates to the base end side of the first tube unit 10A. As a result, the elastic tube 16A presses the first thrust device 11A toward the base end. Due to this pressing, the first tube unit 10A itself is advanced toward the tip side of the first thrust device 11A while expanding the first tip pressure chamber 18A toward the base end side.

[0191] Furthermore, the expansion of the elastic tube 16B in the second base end pressure chamber 19B starts from the base end side of the second tube unit 10B. This expansion of the elastic tube 16B propagates to the tip end side of the second tube unit 10B. As a result, the elastic tube 16B presses the second propulsion device 11B toward the tip end side. Due to this pressing, the second propulsion device 11B moves toward the tip end side on the second tube unit 10B.

[0192] In the next step S302, the fluid control device 8 releases the air supplied to the first distal end pressure chamber 18A to the atmosphere, and also releases the air supplied to the second proximal end pressure chamber 19B to the atmosphere.

[0193] As a result, the brake members 54A of the first propulsion device 11A are brought into a laid-down state, and the prohibition on the movement of the first propulsion device 11A within the pipeline 100 is lifted.

[0194] Furthermore, the unwinding of the first tube unit 10A itself from the first propulsion device 11A is completed.

[0195] Furthermore, the movement of the second propulsion device 11B toward the tip side of the second tube unit 10B is completed.

[0196] In the following step S304, the fluid control device 8 supplies air to the first base end pressure chamber 19A, and also supplies air to the second tip end pressure chamber 18B.

[0197] As a result, as shown in Fig. 38, expansion of the elastic tube 16A in the first base end pressure chamber 19A starts from the base end side of the first tube unit 10A. This expansion of the elastic tube 16A propagates to the tip end side of the first tube unit 10A. As a result, the elastic tube 16A presses the first propulsion device 11A toward the tip end side. This pressing force causes the first propulsion device 11A to move toward the tip end side on the first tube unit 10A.

[0198] Further, the expansion of the elastic tube 16B in the second tip pressure chamber 18B starts from the tip side of the second tube unit 10B. Due to the expansion of the elastic tube 16B, each brake member 54B of the second propulsion device 11B is displaced in the radially expanding direction. Due to the displacement of each brake member 54B, each claw portion 54bB of each brake member 54B engages with the inner wall of the pipeline 100, and the movement of the second propulsion device 11B within the pipeline 100 is prohibited.

[0199] In addition, the expansion of the elastic tube 16B, which starts from the tip side of the second tube unit 10B, propagates to the base side of the second tube unit 10B. As a result, the elastic tube 16B presses the second thrust device 11B toward the base side. Due to this pressing, the second tube unit 10B itself is extended toward the tip side of the second thrust device 11B while expanding the second tip side pressure chamber 18B toward the base side.

[0200] In the next step S304, the fluid control device 8 releases the air supplied to the first base end pressure chamber 19A to the atmosphere, and also releases the air supplied to the second tip end pressure chamber 18B to the atmosphere.

[0201] This completes the movement of the first propulsion device 11A toward the tip side of the first tube unit 10A.

[0202] Furthermore, each of the brake members 54B of the second propulsion device 11B is brought into a laid-down state, and the prohibition on the movement of the second propulsion device 11B within the pipeline 100 is lifted.

[0203] Furthermore, the unwinding of the second tube unit 10B itself from the second propulsion device 11B is completed.

[0204] According to this embodiment, since the tube is paid out at every step, it is possible to obtain an effect that the moving speed is doubled compared to the first embodiment described above.

[0205] Next, a fourth embodiment of the present invention will be described with reference to Figures 40 to 42. Here, this embodiment describes a method of supplying air to prevent the first propulsion device 11A and the second propulsion device 11B shown in the above-mentioned third embodiment from falling, for example, in an area on a pipe 100 extending in a vertical direction. Note that in this embodiment, the method of supplying air to the first propulsion device 11A will be described as a representative of the first and second propulsion devices 11A and 11B.

[0206] When the first fluid actuator 7A moves in a vertical region on the pipeline 100, the first propulsion device 11A is subjected to gravitational acceleration in a direction that moves the first propulsion device 11A toward the base end on the first tube unit 10A. Therefore, for example, as shown in Fig. 40, when air is supplied to the first tip pressure chamber 18A, the first propulsion device 11A may move backward due to gravity before the expansion of the elastic tube 16A is transmitted to each brake mechanism 51A. That is, the first propulsion device 11A may move backward due to gravity before each brake member 54A abuts against the inner wall of the pipeline 100 due to the expansion of the elastic tube 16A.

[0207] To deal with such a case, for example, as shown in Fig. 41, the fluid control device 8 supplies air to the first tip side pressure chamber 18A at a timing before the air supplied to the first base end pressure chamber 19A is released to the atmosphere. As a result, the expansion of the elastic tube 16A is transmitted to each brake mechanism 51A before the first propulsion device 11A starts to move relative to the base end side of the first tube unit 10A. Therefore, each brake member 54A of the first propulsion device 11A is appropriately engaged with the inner circumferential surface of the pipeline 100.

[0208] 42, the fluid control device 8 releases the air that was being supplied to the first base end pressure chamber 19A to the atmosphere. As a result, with the first propulsion device 11A being held accurately within the pipeline 100, the first tube unit 10A is accurately advanced toward the distal end side of the first propulsion device 11A.

[0209] Next, a fifth embodiment of the present invention will be described with reference to Figures 43 and 44. Here, in this embodiment, the configurations of the guide tube 6 and the connecting tube 80 in each of the above-mentioned embodiments are modified. In this embodiment, the same components as those in each of the above-mentioned embodiments are appropriately designated by the same reference numerals and the description thereof will be omitted.

[0210] As shown in FIG. 43, a connecting tube 80 of this embodiment includes a densely wound coil 81 and a mesh tube 82 that covers the outer periphery of the densely wound coil 81.

[0211] With this configuration, even when the connecting tube 80 is pulled, the extension of the connecting tube 80 can be restricted to a certain amount.

[0212] 44, the guide tube 6 of this embodiment also includes a densely wound coil 83 and a mesh tube 84 that covers the outer periphery of the densely wound coil 83. The mesh tube 84 is preferably made of a material with good slipperiness.

[0213] Furthermore, a metal wire 85 is inserted inside the guide tube 6 .

[0214] This metal wire 85 is integrally bundled with the first and second distal fluid supply pipes 22A, 22B and the first and second proximal fluid supply pipes 23A, 23B, etc., inside the guide tube 6. In addition, the distal end of the metal wire 85 is coupled to, for example, the proximal terminating member 21B of the second fluid actuator 7B, etc.

[0215] By configuring in this manner, excessive deformation and stretching of the guide tube 6 can be suppressed when the moving device 2 is inserted into and removed from the pipeline 100, etc., and damage to the first and second tip-side fluid supply pipes 22A, 22B and the first and second base-side fluid supply pipes 23A, 23B, etc. can be appropriately suppressed.

[0216] 44, in this embodiment, an endoscope insertion hole 86 is provided in the base end terminal member 21B of the second fluid actuator 7B. The insertion portion 75 of the endoscope 3 can be inserted into the first and second tube units 10A and 10B from the outside of the guide tube 6 through the endoscope insertion hole 86.

[0217] Next, a sixth embodiment of the present invention will be described with reference to Figs. 45 to 50. Here, this embodiment describes a configuration in which, for example, the propulsion device 11 and the propulsion auxiliary device 12 shown in the above-mentioned first embodiment are provided with two types of brake members with different lengths. In this embodiment, the same components as those in the above-mentioned first embodiment are appropriately denoted with the same reference numerals and description thereof will be omitted. Note that in this embodiment, the configuration of the propulsion device 11 will be described as a representative of the propulsion device 11 and the propulsion auxiliary device 12.

[0218] As shown in FIGS. 45 and 46, in this embodiment, the brake unit 31 of the propulsion device 11 has, for example, a plurality of (eg, three) first brake members 54s and a plurality of (eg, three) second brake members 54l.

[0219] The first brake member 54s and the second brake member 54l are configured by lever-like members having different lengths. Specifically, the length of the second brake member 54l is set to be relatively longer than the length of the first brake member 54s. The length of the first brake member 54s is set to a length that can provide a self-locking effect when the inner diameter of the pipeline 100 is at a first inner diameter A1. The length of the second brake member 54l is set to a length that can provide a self-locking effect when the inner diameter of the pipeline 100 is at a second inner diameter A2 that is larger than the first inner diameter A1.

[0220] The plurality of first brake members 54s and the plurality of second brake members 54l are alternately and equally spaced along the casing 50.

[0221] Next, the operation of the propulsion device 11 configured as described above when it is present in a pipeline 100 having a first inner diameter A1 will be described. When air is supplied to the tip pressure chamber 18, for example, as shown in Figs. 47 and 48, each of the first brake members 54s and each of the second brake members 54l stand up and abut against the inner wall of the pipeline 100. However, since the second brake member 54l has an excessive length compared to the first inner diameter A1, it abuts against the inner wall of the pipeline 100 at a shallow angle. Therefore, the propulsion device 11 is held in the pipeline 100 mainly by the self-locking effect of each of the first brake members 54s.

[0222] Next, the operation of the propulsion device 11 when it is present in the pipeline 100 having the second inner diameter A2 will be described. When air is supplied to the tip pressure chamber 18, for example, as shown in Figs. 49 and 50, each of the first brake members 54s and each of the second brake members 54l stand up. However, the length of the first brake members 54s is insufficient relative to the second inner diameter A2. Therefore, the propulsion device 11 is held in the pipeline 100 by the self-locking effect of the second brake members 54l.

[0223] According to this embodiment, for example, suitable autonomous travel can be achieved even in a pipeline 100 whose inner diameter changes midway.

[0224] In this embodiment, by differentiating the settings of the link mechanism 53 between the brake mechanism 51 having the first brake member 54s and the brake mechanism having the second brake member 54l, it is possible to operate each brake mechanism 51 at a different operating pressure.

[0225] Specifically, the brake mechanism 51 having the first brake member 54s can be set to operate at a relatively lower operating pressure than the brake mechanism 51 having the second brake member 54l.

[0226] By configuring in this manner and controlling the operating pressure of the air when the propulsion device 11 is in the pipeline 100 of the first inner diameter A1 to be lower than the operating pressure of the air when the propulsion device 11 is in the pipeline 100 of the second inner diameter A2, each of the first brake members 54s and each of the second brake members 54l can be individually abutted against the inner wall of the pipeline 100.

[0227] Next, a seventh embodiment of the present invention will be described with reference to Fig. 51. Here, in this embodiment, a configuration in which a biasing member is provided in a brake mechanism 51 will be described. In this embodiment, the same components as those in the above-mentioned embodiments will be appropriately designated by the same reference numerals and description thereof will be omitted.

[0228] For example, as shown in Fig. 51, the brake mechanism 51 of this embodiment has a pair of return springs 88 as biasing members. Each return spring 88 is formed of, for example, a coil spring.

[0229] One end of each return spring 88 is connected to, for example, a rotation shaft of a roller 54c provided in the brake member 54. The other end of each return spring 88 is connected to, for example, a wall portion 55 of the bracket 52.

[0230] These return springs 88 bias the brake members 54 in the collapsed direction. This allows the brake members 54 to be accurately held in the collapsed position when the brake unit 31 is not in operation, thereby reducing the movement resistance within the pipeline 100.

[0231] The biasing member is not limited to a coil spring, and for example, elastic rubber or the like may be used.

[0232] Next, an eighth embodiment of the present invention will be described with reference to Figures 52 to 54. Here, in this embodiment, a configuration for protecting the brake member 54 in the brake unit 31 will be described. In this embodiment, the same components as those in the above-mentioned first embodiment will be appropriately designated by the same reference numerals and will not be described. Note that in this embodiment, the configuration of the propulsion device 11 will be described as a representative of the propulsion device 11 and the propulsion auxiliary device 12.

[0233] As shown in FIGS. 52 to 54, in the casing 50 of the present embodiment, protective members 89 are provided at positions corresponding to the respective brake members 54. As shown in FIG.

[0234] The shape of each protective member 89 in plan view is, for example, a substantially U-shape with the tip side extending to the tip side guide member 32 and the base end side closed in a bag shape. Each protective member 89 has a curved surface shape that gently rises in the outer radial direction of the casing 50 and the tip side guide member 32. That is, each protective member 89 is configured as a gentle protrusion having a slit 89a capable of accommodating each brake member 54.

[0235] Due to these shapes, each protective member 89 surrounds the periphery of each brake member 54 in the laid down state.

[0236] By providing such protective members 89, it is possible to prevent the brake members 54 from getting caught on steps or the like in the pipeline 100, thereby achieving smooth movement of the propulsion device 11. Such protective members 89 are particularly effective in cases where the brake members 54 do not return to a sufficiently lowered position after activation.

[0237] Here, for example, as shown in FIGS. 55 to 57, the protective member 89 can be formed of a single tubular member that is continuous with the outer periphery of the casing 50.

[0238] Next, a ninth embodiment of the present invention will be described with reference to Figs. 58 to 61. Here, in this embodiment, the configuration of the stopper 35 of the tube unit 10 will be described. In this embodiment, the same components as those in the above-mentioned first embodiment will be appropriately denoted by the same reference numerals and the description thereof will be omitted.

[0239] In this embodiment, a stopper body 66 constituting the stopper 35 has a fitting portion 66b and a cylindrical portion 66c.

[0240] The fitting portion 66b has an inner peripheral surface that can be fitted onto the outer periphery of the ring member 65 with the mesh tube 17 interposed therebetween.

[0241] The cylindrical portion 66c has a cylindrical shape that protrudes from the fitting portion 66b toward the propulsion device 11. This cylindrical portion 66c is capable of covering a portion of the rotation shaft hole 54a side of each brake member 54 when it abuts against the propulsion device 11. As a result, the cylindrical portion 66c forcibly displaces each brake member 54 to a laid-down position when it abuts against the propulsion device 11.

[0242] According to this embodiment, when the propulsion device 11 abuts against the stopper 35, it is possible to prevent each brake member 54 from getting caught on a step or the like in the pipeline 100, thereby achieving smooth movement of the propulsion device 11.

[0243] Here, it goes without saying that such a stopper body 66 can also be applied to a propulsion device 11 having a protective member 89 on the outer periphery of the casing 50, as shown in, for example, FIGS.

[0244] Next, a tenth embodiment of the present invention will be described with reference to Figures 64 and 65. Here, this embodiment describes the configuration of the tapered surface 42b provided on each holder 42 of the slider unit 30. In this embodiment, the same components as those in the first embodiment described above will be appropriately designated by the same reference numerals and the description thereof will be omitted.

[0245] 64, each tapered surface 42b formed on each holder 42 of the slider unit 30 of the present embodiment has, for example, a nonlinear curved shape. More specifically, each tapered surface 42b of the present embodiment has a nonlinear concave curved shape.

[0246] This tapered surface 42b changes the biasing force of the spring portion 43b of the leaf spring 43 nonlinearly with respect to the displacement of the roller 41 in the radial direction of the slider unit 30, as shown in FIG.

[0247] That is, as the roller 41 is displaced in the radial direction of the slider unit 30, the shaft portion 41b of the roller 41 moves in the radial direction of the slider unit 30 along the tapered surface 42b. At that time, because the tapered surface 42b has a nonlinear curved shape, the amount of movement of the shaft portion 41b in the direction of the central axis O of the slider unit 30 changes nonlinearly with respect to the amount of movement in the radial direction of the slider unit 30. As a result, the biasing force of the spring portion 43b changes nonlinearly with respect to the displacement of the roller 41.

[0248] With this configuration, even if an error occurs in the outer diameter dimension of the tube unit 10 due to a dimensional error of each component that constitutes the tube unit 10, a sudden change in the biasing force characteristics of the leaf spring 43 can be suppressed.

[0249] The shape of the tapered surface 42b can be set arbitrarily according to the characteristics of the spring biasing force with respect to the desired roller displacement. For example, the tapered surface 42b may be a convex curved surface. Here, if the tapered surface 42b is a flat surface, when the shaft portion 41b of the [0] roller 41 is displaced in a direction away from the O axis, a strong biasing force acts by being biased at the base side of the leaf spring 43. In contrast, by making the tapered surface 42b a convex curved surface, the displacement in the leaf spring direction when the roller shaft 41b is displaced in a direction away from the tube becomes gentle, and the spring biasing force becomes gentle. That is, as shown in FIG. 65, the change in the spring biasing force as shown by the dashed line can be made to have characteristics as shown by the solid line.

[0250] Next, an eleventh embodiment of the present invention will be described with reference to Figures 66 and 67. Here, in this embodiment, a configuration in which a coil spring 90 (close coil spring) is added to the propulsion device 11 will be described. In this embodiment, the same components as those in the first embodiment described above will be appropriately designated by the same reference numerals and description thereof will be omitted.

[0251] In the propulsion device 11 of the present embodiment, a coil spring 90 is interposed between the brake unit 31 and the base end side guide member 33 .

[0252] The coil spring 90 allows the middle of the propulsion device 11 to be elastically bent. This configuration can improve the passability of the elbow connection portion 101 of the pipe 100, particularly when removing the fluid actuator 7.

[0253] That is, when removing the fluid actuator 7, it is necessary to prevent the base end of the propulsion device 11 from getting caught on a step or the like in the pipeline 100. For this reason, the propulsion device 11 of this embodiment is provided with a base end guide member 33 on the base end side of the brake unit 31.

[0254] On the other hand, in a configuration having such a base-end guide member 33, the series of rigid lengths in the propulsion device 11 increases. For this reason, the propulsion device 11 of the present embodiment has a coil spring 90 interposed between the brake unit 31 and the base-end guide member 33, thereby suppressing the propulsion device 11 from getting caught on steps or the like in the pipeline 100 without increasing the series of rigid lengths in the propulsion device 11.

[0255] Furthermore, when the propulsion device 11 passes through the elbow connection part 101, the propulsion device 11 is urged outward in the bending direction of the elbow connection part 101 by the urging force of the elastically deformed coil spring 90. This urging allows the propulsion device 11 to turn with a large turning radius inside the elbow connection part 101. Therefore, the passage of the propulsion device 11 through the elbow connection part 101 is further improved.

[0256] Next, a twelfth embodiment of the present invention will be described with reference to Figures 68 to 71. Here, in this embodiment, a configuration in which an auxiliary guide member 91 is added to a base end guide member 33 is described. In this embodiment, the same components as those in the above-mentioned first embodiment are appropriately designated by the same reference numerals and description thereof will be omitted.

[0257] In this embodiment, an auxiliary guide member 91 that can be bent in any direction with respect to the central axis O of the propulsion device 11 is provided at the base end of the base end side guide member 33.

[0258] The auxiliary guide member 91 is connected to the base end of the base end side guide member 33 by a ball joint.

[0259] That is, for example, as shown in Figure 69, a socket side spherical surface 33a is formed on the inner circumference of the base end of the base end side guide member 33. Also, a ball side spherical surface 91a is formed on the outer circumference on the tip side of the auxiliary guide member 91. Then, the ball side spherical surface 91a is fitted into the socket side spherical surface 33a, whereby the auxiliary guide member 91 is connected to the base end side guide member 33. Note that such an auxiliary guide member can also be connected to the tip side guide member 32.

[0260] According to this embodiment, the effective length of the base end side guide member 33 can be secured while ensuring the swivelability of the elbow connection portion 101 and the like.

[0261] Next, a thirteenth embodiment of the present invention will be described with reference to Figures 72 and 73. Here, in this embodiment, a configuration in which a buffer mechanism is added to the stopper 35 will be described. In this embodiment, the same components as those in the first embodiment will be appropriately designated by the same reference numerals and the description thereof will be omitted.

[0262] The stopper 35 of the present embodiment has a shock absorbing mechanism 92 including a compression coil spring 93 and a shock absorbing member 94 .

[0263] The compression coil spring 93 is disposed on the outer periphery of the tube unit 10, closer to the propulsion device 11 than the stopper body 66. One end of the compression coil spring 93 is connected to the stopper body 66.

[0264] The buffer member 94 is made of, for example, a flexible resin material. The buffer member 94 is disposed on the outer periphery of the tube unit 10, closer to the propulsion device 11 than the compression coil spring 93. The buffer member 94 is further connected to the other end of the compression coil spring 93. Here, it is preferable that the outer surface of the buffer member 94 has a spherical shape.

[0265] In such an embodiment, for example, as shown in FIG. 73, the propulsion device 11 abuts against the stopper 35 while elastically deforming the compression coil spring 93 and the buffer member 94. This makes it possible to reliably prevent damage to the propulsion device 11. That is, the movement speed of the propulsion device 11 is assumed to be about 300 to 500 mm / s, and even if the propulsion device 11 collides with the stopper 35 at such a speed, damage to the propulsion device 11 can be reliably prevented. In addition, since damage to the propulsion device 11 can be prevented in this way, it is possible to reduce the thickness of each component of the propulsion device 11. Therefore, it is possible to realize a reduction in size and weight of the propulsion device 11.

[0266] Here, for example, as shown in Figures 74 and 75, the stopper 35 of this embodiment can also adopt a configuration in which the ring member 65 and the stopper body 66 are omitted and the compression coil spring 93 of the buffer mechanism 92 is connected to the tip end terminal member 20, etc.

[0267] The present invention is not limited to the above-described embodiments and modifications, and various modifications and variations are possible within the technical scope of the present invention. In addition, it is of course possible to combine the configurations of the above-described embodiments and modifications as appropriate. [Explanation of symbols]

[0268] 1. Endoscope system 2 … Mobility devices 3. Endoscope 6 … Guide tube 6a … Channel 7... Fluid actuator 7A … First fluid actuator 7B ... Second fluid actuator 8... Fluid control device 10 … Tube unit 10A … 1st tube unit 10B … Second tube unit 11... Propulsion device 11A … First propulsion unit 11B … Secondary propulsion unit 12 … Propulsion auxiliary device 12A … First propulsion auxiliary 12B … Second propulsion auxiliary 15 ... Flexible tube 15A … First flexible tube 15B ... Second flexible tube 15a … Channel 16 ... Elastic tube 16A … First elastic tube 16B … Second elastic tube 17 ... Mesh tube 17A … 1st mesh tube 17B … 2nd mesh tube 18 … Tip pressure chamber 18A … First tip pressure chamber 18B: Second tip pressure chamber 19 … Base end pressure chamber 19A ... First base end pressure chamber 19B: Second base end pressure chamber 20 … Tip end member 20a … Tapered surface 21 ... Base end termination member 21B … Base end side termination member 22 … Tip side fluid supply pipe 22A … First tip side fluid supply pipe 22B: Second tip side fluid supply pipe 23 … Proximal fluid supply pipe 23A … First base end side fluid supply pipe 23B … 2 base end fluid supply pipe 30 ... Slider unit 30A … 1st slider unit 30B ... second slider unit 31 ... Brake unit 31A … First brake unit 31B … Second brake unit 32 … Tip guide member 32A ... First tip guide member 32B: Second tip guide member 32a ... Guide member body 32b … Cylindrical section 32c … Notch 33 ... Base end guide member 33A ... First base end guide member 33B: Second base end guide member 33a … Socket side spherical surface 35 ... Stopper 35A ... Stopper 35B ... Stopper 40 ... Slider body 41 ... Laura 41a ... Roller body 41b … Shaft part 42 … Holder 42a … Laura Containment Room 42b … Tapered surface 42c ... stopper pin 43 ... Leaf spring 43a ... Leaf spring body 43b ... Spring part 44 ... Spring fixing plate 44a … Fixing plate body 44b ... Spring restriction part 45 ... Bis 46 ... Bis 50 ... Casing 50a … Retaining hole 50b ... screw hole 50c ... guide hole 51 ... Brake mechanism 51A ... Brake mechanism 52 ... Bracket 53 ... Link mechanism 54 ... Brake member 54A … Brake member 54B ... Brake member 54a … Pivot shaft hole 54b … Claw part 54bA … Claw part 54bB … Claw part 54c ... Lola 54l Second brake member 54s ... First brake member 55 … Wall part 55a … Link bearing hole 55b … Brake bearing hole 56 … Mounting piece 56a ... screw hole 57 ... Link plate 57a … Pivot shaft hole 57b ... roller bearing hole 57c … Lever bearing hole 58 ... Laura 59 ... Link lever 59a … First Roller 59b ... Rotating shaft 59c ... Second Roller 60 … Shaft member 61 … Shaft member 65 ... Ring member 66 ... Stopper body 66a ... Stopper member 66b ... Fitting part 66c … Cylindrical section 67 ... Bis 70 ... Compressor 71 ... Regulator 72 … Electro-pneumatic proportional valve 73... Control computer 75 … Insertion section 75a … Tip part 75b … curved section 75c…Flexible tube section 76 … Operation section 76a … Bending operation lever 77 … Display section 77a … Cable 80 … Connecting tube 81 ... Closely wound coil 82 ... Mesh tube 83 ... Closely wound coil 84 ... Mesh tube 85 … Metal wire 86 … Endoscope insertion hole 88 ... Return spring 89 ... Protective material 89a … Slit 90... Coil spring 91 ... Auxiliary guide member 91a … Ball side spherical surface 92 … Buffer mechanism 93...Compression coil spring 94 … Cushioning material 100 … Pipeline 101 … Elbow connection

Claims

1. A flexible tube; an elastic tube attached to an outer periphery of the flexible tube and elastically deformable in a radial direction in response to a fluid pressure applied between the elastic tube and the flexible tube; a slider unit provided on an outer periphery of the elastic tube, pressing a middle portion of the elastic tube against the flexible tube to divide the inside of the elastic tube into a tip side pressure chamber and a base side pressure chamber, and movable in a longitudinal direction of the elastic tube in response to pressure of the fluid applied to the tip side pressure chamber and the base side pressure chamber; a brake unit that is connected to the slider unit at an outer periphery of the elastic tube, is movable integrally with the slider unit in the longitudinal axial direction of the elastic tube, and displaces a plurality of brake members in the radial direction of the elastic tube in conjunction with elastic deformation in the radial direction of only one of the tip end pressure chamber or the base end pressure chamber; A mobile device comprising:

2. The moving device according to claim 1, further comprising an auxiliary brake unit arranged on the outer periphery of the elastic tube at either the tip side or the base side of the slider unit, unable to move in the longitudinal direction of the elastic tube, and displacing a plurality of auxiliary brake members in the radial direction of the elastic tube in response to elastic deformation in the radial direction of only the other of the tip side pressure chamber or the base side pressure chamber.

3. 2. The moving device according to claim 1, wherein the brake member is a lever-like member having one end supported by a shaft member so as to be able to swing freely and having a claw portion provided at the other end.

4. 4. The moving device according to claim 3, wherein the brake unit has a link mechanism that causes the brake member to swing between an upright position and a laid-down position in response to elastic deformation in the radial direction of only one of the tip-side pressure chamber or the base-side pressure chamber.

5. 2. The moving device according to claim 1, wherein the brake member is a plurality of brake members arranged around a central axis of the elastic tube.

6. 5. The moving device according to claim 4, wherein the brake unit has a biasing member for biasing the brake member to the laid-down position.

7. 5. The moving device according to claim 4, wherein the brake unit has a protective member that surrounds the periphery of the brake member when the brake member is in the laid-down position.

8. a stopper for restricting movement of the slider unit and the brake unit on an outer circumferential side of the elastic tube; 5. The moving device according to claim 4, wherein the stopper has a cylindrical portion that displaces the brake member to the laid-down position.

9. the slider unit includes an annular slider body and a plurality of rollers disposed on an inner peripheral side of the slider body, the slider body includes a tapered surface against which the shaft portion of the roller abuts, and a leaf spring that presses the shaft portion against the tapered surface, 2. The moving device according to claim 1, wherein the roller is displaceable in a radial direction of the slider body along the tapered surface.

10. A guide member is connected to an end of the brake unit, 2. The moving device according to claim 1, wherein the guide member has a cylindrical shape whose diameter decreases toward an end side remote from the brake unit.

11. The moving device according to claim 10, characterized in that the guide member satisfies a relationship of A:B:C:D=1:0.5 to 0.75:0.75:0.5, where B is the overall length of the guide member, C is the outer diameter of the end of the guide member on the brake unit side, D is the outer diameter of the end of the guide member on the side away from the brake unit, and A is the inner diameter of a pipeline into which the brake unit is inserted.

12. 11. The moving device according to claim 10, wherein the guide member is connected to the brake unit via a coil spring.

13. 11. The moving device according to claim 10, further comprising an auxiliary guide member connected to an end of the guide member on a side remote from the brake unit by a ball joint.

14. A first flexible tube; a first elastic tube attached to an outer periphery of the first flexible tube and elastically deformable in a radial direction in response to a fluid pressure applied between the first elastic tube and the first flexible tube; a first slider unit that is provided on an outer periphery of the first elastic tube, presses a middle portion of the first elastic tube against the first flexible tube to divide the inside of the first elastic tube into a first tip side pressure chamber and a first base side pressure chamber, and is movable in a longitudinal direction of the first elastic tube in response to pressure of the fluid applied to the first tip side pressure chamber and the first base side pressure chamber; a first brake unit that is connected to the first slider unit at an outer periphery of the first elastic tube, is movable integrally with the first slider unit in a longitudinal axial direction of the first elastic tube, and displaces a plurality of first brake members in the radial direction of the first elastic tube in conjunction with elastic deformation in the radial direction of only one of the first tip-side pressure chamber or the first base-side pressure chamber; a second flexible tube connected to an end of the first flexible tube; a second elastic tube attached to an outer periphery of the second flexible tube and elastically deformable in a radial direction in response to a fluid pressure applied between the second elastic tube and the second flexible tube; a second slider unit that is provided on an outer periphery of the second elastic tube, presses a middle portion of the second elastic tube against the second flexible tube to divide the inside of the second elastic tube into a second tip side pressure chamber and a second base side pressure chamber, and is movable in the longitudinal direction of the second elastic tube in response to pressure of the fluid applied to the second tip side pressure chamber and the second base side pressure chamber; a second brake unit that is connected to the second slider unit at an outer periphery of the second elastic tube, is movable integrally with the second slider unit in the longitudinal axial direction of the second elastic tube, and displaces a plurality of second brake members in the radial direction of the second elastic tube in conjunction with elastic deformation in the radial direction of only one of the second tip-side pressure chamber or the second base-side pressure chamber; A mobile device comprising:

15. a first auxiliary brake unit that is disposed on the outer periphery of the first elastic tube at either the tip end side or the base end side of the first slider unit, that is immovable in the longitudinal axial direction of the first elastic tube, and that displaces a plurality of first auxiliary brake members in the radial direction of the first elastic tube in response to elastic deformation in the radial direction of only the other of the first tip end pressure chamber or the first base end pressure chamber; a second auxiliary brake unit that is disposed on the outer periphery of the second elastic tube at the other of the tip end side or the base end side of the second slider unit, that is immovable in the longitudinal axial direction of the second elastic tube, and that displaces a plurality of second auxiliary brake members in the radial direction of the second elastic tube in conjunction with elastic deformation in the radial direction of only the other of the second tip end side pressure chamber or the second base end side pressure chamber; The mobile device according to claim 14, further comprising:

16. a moving device comprising: a flexible tube; an elastic tube attached to an outer periphery of the flexible tube and elastically deformable in a radial direction in response to a fluid pressure applied between the flexible tube and the elastic tube; a slider unit provided on the outer periphery of the elastic tube, pressing a middle portion of the elastic tube against the flexible tube to divide an inside of the elastic tube into a tip side pressure chamber and a base side pressure chamber, and movable in a longitudinal direction of the elastic tube in response to the fluid pressure applied to the tip side pressure chamber and the base side pressure chamber; and a brake unit connected to the slider unit at the outer periphery of the elastic tube, movable in the longitudinal direction of the elastic tube integrally with the slider unit, and displacing a plurality of brake members in the radial direction of the elastic tube in conjunction with elastic deformation in the radial direction of only one of the tip side pressure chamber or the base side pressure chamber; an endoscope having an insertion portion that is inserted into the flexible tube; An endoscope system comprising:

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