Pipe cleaning robot

Abstract

The objective is to provide a pipe cleaning robot capable of cleaning dirt inside pipes that cannot be cleaned by conventional pipe cleaning robots. [Solution] A pipe cleaning robot 1 comprising a robot body 10 having at least three telescopic units and a cleaning body 20 provided on the outer circumference of the robot body 10 projecting radially outward, wherein the telescopic units perform a peristaltic movement in a predetermined pattern so that the robot body 10 moves inside the pipe 2 and the cleaning body 20 cleans the inside of the pipe 2, characterized in that the first reaction force generated when the outer circumference end 20a of the cleaning body 20 receives an external force directed toward one side in the axial direction is greater than the second reaction force generated when the outer circumference end 20a of the cleaning body 20 receives an external force directed toward the other side in the axial direction.

Description

Technical Field

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[0001] The present invention relates to an in-pipe cleaning robot for cleaning the inside of a pipe.

Background Art

[0002] In office buildings, factories, detached houses, etc., thin and winding pipes such as air ducts for air conditioning devices are piped. In order to clean the inside of such pipes, in-pipe cleaning robots have been developed that are configured to be able to move inside the pipe while cleaning.

[0003] For example, in Patent Document 1, a robot body having six expansion and contraction units that expand in the radial direction and contract in the axial direction when fluids are respectively supplied, and a brush-shaped cleaning body provided to project radially outward on the outer periphery of the robot body are provided. An in-pipe cleaning robot is described in which the six expansion and contraction units perform peristaltic motion in a predetermined pattern so that the robot body moves inside the pipe and the inside of the pipe is cleaned by the cleaning body.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the above conventional in-pipe cleaning robot, there are cases where the dirt inside the pipe cannot be sufficiently cleaned.

[0006] The present invention has been made in view of such problems, and an object thereof is to provide an in-pipe cleaning robot capable of cleaning dirt inside a pipe that cannot be cleaned by a conventional in-pipe cleaning robot.

Means for Solving the Problems

[0007] The pipe cleaning robot of the present invention comprises a robot body equipped with at least three expandable / contractible units, each of which expands radially and contracts axially when fluid is supplied, and a cleaning body provided on the outer circumference of the robot body, projecting radially outward, and configured such that the robot body moves inside the pipe as the expandable / contractible units perform a peristaltic movement in a predetermined pattern, and the cleaning body cleans the inside of the pipe, characterized in that a first reaction force generated when the outer circumference end of the cleaning body receives an external force directed toward one side in the axial direction is greater than a second reaction force generated when the outer circumference end of the cleaning body receives an external force directed toward the other side in the axial direction.

[0008] In the pipe cleaning robot of the present invention, it is preferable that the cleaning body is composed of brushes, and that a restricting body is attached to the robot body, which is positioned on one side of the cleaning body in the axial direction and restricts the tilt of the cleaning body to that side in the axial direction.

[0009] In the pipe cleaning robot of the present invention, it is preferable that the cleaning body is made of an umbrella-shaped elastic body in which the inner circumference end fixed to the robot body is offset to one side in the axial direction relative to the outer circumference end.

[0010] In the pipe cleaning robot of the present invention, in the above configuration, it is preferable that the cleaning body is made of a plate-shaped member that is tiltably supported on the robot body about a pivot axis, and that the robot body is equipped with a stopper body which is positioned on one side of the cleaning body in the axial direction to prevent the cleaning body from tilting to that side in the axial direction, and an elastic member which is positioned on the other side of the cleaning body in the axial direction to impart an elastic force to the cleaning body toward that side in the axial direction.

[0011] In the pipe cleaning robot of the present invention, it is preferable that a plurality of cleaning bodies are provided on the robot body at intervals in the axial direction.

[0012] In the pipe cleaning robot of the present invention, it is preferable that, in the above configuration, the first reaction force generated when the outer peripheral end of one of the pair of cleaning bodies adjacent in the axial direction is subjected to an external force directed toward the one side in the axial direction is greater than the first reaction force generated when the outer peripheral end of the cleaning body on the other side in the axial direction is subjected to an external force directed toward the one side in the axial direction. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide a pipe cleaning robot that can clean dirt inside pipes that cannot be cleaned by conventional pipe cleaning robots. [Brief explanation of the drawing]

[0014] [Figure 1] This is a perspective view of a pipe cleaning robot according to the first embodiment of the present invention. [Figure 2] This diagram shows the operating pattern of the retractable unit during the peristaltic motion of the robot body. [Figure 3] (a) is a schematic perspective view showing the portion of the pipe cleaning robot according to the first embodiment in which the cleaning body is provided, and (b) is a cross-sectional view along the axis of the portion of the pipe cleaning robot according to the first embodiment in which the cleaning body is provided (the cross-section of the robot body is omitted). [Figure 4] (a) is a cross-sectional view showing the state of the cleaning body when it is moving inside the pipe in one axial direction, and (b) is a cross-sectional view showing the state of the cleaning body when it is moving inside the pipe in the other axial direction. [Figure 5] This is a cross-sectional view showing the state of the three cleaning bodies in a modified pipe cleaning robot, which has different reaction forces for the three cleaning bodies, as it moves inside the pipe toward the other side in the axial direction. [Figure 6]For the in-duct cleaning robot according to the modification example, (a) is a cross-sectional view showing the state of the cleaning body when moving inside the duct toward one side in the axial direction, and (b) is a cross-sectional view showing the state of the cleaning body when moving inside the duct toward the other side in the axial direction. [Figure 7] For the in-duct cleaning robot according to another modification example, (a) is a cross-sectional view showing the state of the cleaning body when moving inside the duct toward one side in the axial direction, and (b) is a cross-sectional view showing the state of the cleaning body when moving inside the duct toward the other side in the axial direction. [Figure 8] It is a perspective view schematically showing a portion where the cleaning body of the in-duct cleaning robot according to the second embodiment of the present invention is provided. [Figure 9] For the in-duct cleaning robot according to the second embodiment, (a) is a cross-sectional view showing the state of the cleaning body when moving inside the duct toward one side in the axial direction, and (b) is a cross-sectional view showing the state of the cleaning body when moving inside the duct toward the other side in the axial direction. [Figure 10] For the in-duct cleaning robot according to the third embodiment of the present invention, (a) is a cross-sectional view showing the state of the cleaning body when moving inside the duct toward one side in the axial direction, and (b) is a cross-sectional view showing the state of the cleaning body when moving inside the duct toward the other side in the axial direction.

Mode for Carrying Out the Invention

[0015] Hereinafter, the in-duct cleaning robot of the present invention will be described in detail with reference to the drawings.

[0016] The in-duct cleaning robot 1 according to the first embodiment of the present invention shown in FIG. 1 is for cleaning while moving inside a thin and winding duct such as an air duct for an air conditioning device provided in, for example, an office building, a factory, a detached house, etc.

[0017] The in-duct cleaning robot 1 has a robot main body 10 and a cleaning body 20.

[0018] The robot body 10, also known as an earthworm-type robot or a peristaltic robot, has an elongated shape extending along the axis O. The robot body 10 can move inside the tube in one axial direction and the other axial direction. That is, the robot body 10 can move forward and backward inside the tube. The axial direction is the direction along the axis O of the robot body 10, that is, the longitudinal direction.

[0019] The robot body 10 includes at least three telescopic units 11 as a driving source for moving inside the tube. In this embodiment, the robot body 10 includes seven telescopic units 11 (only four telescopic units 11 are shown in FIG. 1). Note that as long as the robot body 10 includes at least three telescopic units 11, the number of telescopic units 11 can be appropriately changed.

[0020] The telescopic unit 11 is also called an artificial muscle. The telescopic unit 11 includes a cylindrical portion 11a formed in a cylindrical shape centered on the axis O by an elastic body such as various rubbers. Both axial ends of the cylindrical portion 11a are closed. Inside the cylindrical portion 11a, a plurality of fiber bundles (not shown) having high tensile strength are arranged along the axial direction. Thereby, the cylindrical portion 11a can be elastically deformed so as to expand in the radial direction, but the elastic deformation in the direction extending in the axial direction is restricted. Therefore, when a fluid such as compressed air is supplied inside the cylindrical portion 11a of the telescopic unit 11, the telescopic unit 11 operates so as to expand in the radial direction and contract in the axial direction. Further, when the fluid is discharged from the inside of the cylindrical portion 11a of the telescopic unit 11, the telescopic unit 11 contracts in the radial direction due to the elastic force of the cylindrical portion 11a and elongates in the axial direction to return to the original shape. Each telescopic unit 11 can operate individually in a predetermined pattern.

[0021] Note that the telescopic unit 11 may have various configurations as long as it is configured to expand in the radial direction and contract in the axial direction when a fluid is supplied, such as a so-called McKibben type in which the outside of a cylindrical elastic body is covered with fibers knitted in a sleeve shape.

[0022] Adjacent telescopic units 11 are connected to each other axially by a connecting portion 12. In this embodiment, the connecting portion 12 is a universal joint. This allows the robot body 10 to bend at the portion of the connecting portion 12. Therefore, when the pipe cleaning robot 1 moves inside a pipe, even if the pipe is curved, the robot body 10 can bend at the connecting portion 12 and move along the curved pipe.

[0023] In this embodiment, a universal joint is used as the connecting portion 12, but it is not limited to this as long as it connects adjacent telescopic units 11.

[0024] A control unit 14 is connected to the robot body 10 via piping 13. The control unit 14 can individually supply fluid to the inside of the cylindrical portion 11a of each telescopic unit 11 in a predetermined pattern via piping 13. As the control unit 14 supplies fluid to the inside of the cylindrical portion 11a of each telescopic unit 11 in a predetermined pattern, the multiple telescopic units 11 move in a predetermined pattern, allowing the robot body 10 to move inside the pipe.

[0025] Figure 2 shows an example of the peristaltic motion pattern of the multiple telescopic units 11 when the robot body 10 moves axially to one side inside the pipe 2, that is, when it moves forward toward the left in Figure 2.

[0026] First, as shown in Figure 2(a), the leftmost (front) telescopic unit 11 and the second telescopic unit 11 from the left in Figure 2 are expanded radially while contracting axially. The two radially expanded telescopic units 11 each come into contact with the inner surface of the pipe 2 over their entire circumference. As a result, the robot body 10 is held axially by the two radially expanded telescopic units 11.

[0027] Next, from the state shown in Figure 2(a), as shown in Figure 2(b), the leftmost telescopic unit 11 is returned to its original shape, while the third telescopic unit 11 from the left is expanded radially and contracted axially. At this time, the second telescopic unit 11 from the left is in contact with the inner surface of the pipe 2, maintaining its axial position. As the leftmost telescopic unit 11 contracts radially and expands axially to return to its original shape, the left end (front end) of the robot body 10 moves to the left from the position shown in Figure 2(a). Also, as the third telescopic unit 11 from the left expands radially and contracts axially while the second telescopic unit 11 from the left is in contact with the inner surface of the pipe 2 and maintaining its axial position, the right end (rear end) of the robot body 10 also moves to the left from the position shown in Figure 2(a).

[0028] Next, from the state shown in Figure 2(b), as shown in Figure 2(c), the second telescopic unit 11 from the left is returned to its original shape, while the fourth telescopic unit 11 from the left is expanded radially and contracted axially. At this time, since the third telescopic unit 11 from the left is in contact with the inner circumferential surface of the pipe 2 and its axial position is maintained, as the second telescopic unit 11 from the left contracts radially and expands axially to return to its original shape, the left end (front end) of the robot body 10 moves further to the left from the position shown in Figure 2(b). Also, since the fourth telescopic unit 11 from the left expands radially and contracts axially while the third telescopic unit 11 from the left is in contact with the inner circumferential surface of the pipe 2 and its axial position is maintained, the right end (rear end) of the robot body 10 also moves further to the left from the position shown in Figure 2(b).

[0029] The same procedure is then used to operate the telescopic units 11 in the above pattern until the rightmost telescopic unit 11 is reached. Once the pattern reaches the rightmost telescopic unit 11, the process returns to the beginning and the telescopic units 11 are operated in the above pattern, as shown in Figure 2(d).

[0030] In this way, by making the multiple telescopic units 11 perform a peristaltic motion in the pattern described above, the robot body 10 can move forward inside the pipe 2 toward the left in Figure 2. Conversely, by operating the multiple telescopic units 11 in a pattern reversed from the pattern shown in Figure 2, the robot body 10 can move backward inside the pipe 2 toward the right in Figure 2.

[0031] The peristaltic motion pattern of the multiple retractable units 11 in the robot body 10 is not limited to the above; other patterns are acceptable as long as they allow the robot body 10 to move forward and backward.

[0032] The robot body 10 can also be configured to have a transparent cover 15 at its tip (front end), and a camera (not shown) inside this cover 15 that captures images of the inside of the pipe 2.

[0033] Next, we will describe the cleaning unit 20 provided on the robot body 10.

[0034] The cleaning unit 20 is used to clean the inside of the pipe 2 by collecting foreign matter (dirt) 3 such as debris that adheres to the inner surface of the pipe 2 as the robot body 10 moves inside the pipe 2. As shown in Figure 3, the cleaning unit 20 is provided on the outer circumference of the robot body 10, protruding radially outward.

[0035] As shown in Figure 1, in this embodiment, the robot body 10 is provided with a plurality of cleaning bodies 20 spaced apart in the axial direction of the robot body 10. More specifically, a cleaning body 20 is provided at both ends in the axial direction of each telescopic unit 11. In this embodiment, the robot body 10 is provided with a plurality of cleaning bodies 20, but it is sufficient for the robot body 10 to have at least one cleaning body 20.

[0036] The cleaning body 20 has a substantially annular shape centered on the axis O of the robot body 10. The outer diameter of the cleaning body 20 is substantially the same as the inner diameter of the pipe 2 that the pipe cleaning robot 1 is cleaning. Preferably, the outer diameter of the cleaning body 20 is the same as or slightly larger than the inner diameter of the pipe 2 that the pipe cleaning robot 1 is cleaning. When the pipe cleaning robot 1 moves inside the pipe 2, the cleaning body 20 comes into contact with the inner surface of the pipe 2 at its outer peripheral end 20a. Therefore, an external force is applied to the outer peripheral end 20a of the cleaning body 20 in the opposite direction to the direction in which the pipe cleaning robot 1 is moving.

[0037] Here, the pipe cleaning robot 1 is configured such that the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 is subjected to an external force directed in one direction in the axial direction is greater than the second reaction force generated when the outer peripheral end 20a of the cleaning body 20 is subjected to an external force directed in the other direction in the axial direction. In other words, the cleaning body 20 protrudes radially outward from the outer peripheral surface of the robot body 10 in its natural state, and is configured to have anisotropic tilting reaction force so that when the outer peripheral end 20a is subjected to an external force in the axial direction from that state, it tilts more easily in the direction directed in the other direction in the axial direction than in the direction directed in one direction in the axial direction.

[0038] More specifically, in the pipe cleaning robot 1 according to the first embodiment shown in Figure 3, the cleaning body 20 is composed of brushes. That is, the cleaning body 20 has a configuration in which numerous bristles, each projecting radially outward from the outer surface of the robot body 10 around the axis O, are arranged around the entire circumference in the circumferential direction around the axis O. The numerous bristles that make up the brush are made of a flexible material such as synthetic resin. Therefore, when an axial external force is applied to the outer peripheral end 20a, which is the radially outer end of the brush that makes up the cleaning body 20, the brush can bend and collapse in the axial direction in which the external force is applied.

[0039] A restrictor 21 is attached to the robot body 10, positioned on one side in the axial direction of the cleaning body 20. In this embodiment, the restrictor 21 is an annular member with a smaller diameter than the cleaning body 20. More specifically, the restrictor 21 is a thin sheet of synthetic resin with a smaller diameter than the cleaning body 20. The restrictor 21 is positioned at an axial distance from the cleaning body 20.

[0040] The restrictor 21 may have various configurations, such as a thin rubber sheet or a block-shaped object with a predetermined rigidity. The restrictor 21 may also be placed in contact with the cleaning body 20 without any gaps between them.

[0041] The restrictor 21 restricts the tilting of the cleaning body 20 to one side in the axial direction (the left side in Figure 3). More specifically, the restrictor 21 contacts the radially intermediate portion of the cleaning body 20 when the cleaning body 20 tilts to one side in the axial direction. As a result, when an axial external force is applied to the outer peripheral end 20a of the cleaning body 20, the portion that protrudes radially outward from the restrictor 21 will attempt to tilt to one side in the axial direction. Therefore, the first reaction force generated by the outer peripheral end 20a of the cleaning body 20 in response to an external force directed to one side in the axial direction is larger than when the restrictor 21 is not provided. On the other hand, since the restrictor 21 is not located on the other side in the axial direction of the cleaning body 20, the second reaction force generated by the outer peripheral end 20a of the cleaning body 20 in response to an external force directed to the other side in the axial direction is smaller than the first reaction force.

[0042] Thus, in the pipe cleaning robot 1 according to the first embodiment, a restrictor 21 is provided on one side of the cleaning body 20 in the axial direction, so that the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 is subjected to an external force directed toward one side in the axial direction is greater than the second reaction force generated when the outer peripheral end 20a of the cleaning body 20 is subjected to an external force directed toward the other side in the axial direction.

[0043] The first reaction force, or the difference between the first and second reaction forces, generated when the outer peripheral end 20a of the cleaning body 20 is subjected to an external force directed in one axial direction, can be adjusted to a desired value by changing the outer diameter of the regulating body 21, the axial distance between the cleaning body 20 and the regulating body 21, and the rigidity of the regulating body 21 (ease of deformation in the axial direction).

[0044] According to the pipe cleaning robot 1 of the first embodiment described above, the brush constituting the cleaning body 20 is made flexible enough to easily bend over foreign matter 3 adhering to the inner surface of the pipe 2. This makes it possible to select whether the cleaning body 20 sweeps out (scrapes out) the foreign matter 3 adhering to the inner surface of the pipe 2 to one side or the other side in the axial direction when moving inside the pipe 2. For example, when cleaning a pipe 2 that is open at one end and closed at the other end, the cleaning body 20 can sweep out the foreign matter 3 adhering to the inner surface of the pipe 2 from the opening of the pipe 2 without leaving any inside the pipe 2.

[0045] In other words, when cleaning a pipe 2 that is open at one end and closed at the other, a conventional pipe cleaning robot that simply has a cleaning body attached to the outer circumference of the robot body will have foreign matter 3 attached to the inner surface of pipe 2 pushed by the cleaning body and into the closed end of pipe 2 as the pipe cleaning robot moves forward from the opening of pipe 2 toward the closed end of pipe 2. Then, when the pipe cleaning robot moves backward from the closed end of pipe 2 toward the opening and returns to the opening, the foreign matter 3 that was pushed into the closed end of pipe 2 during the forward movement will remain inside pipe 2. Therefore, the inside of pipe 2 cannot be effectively cleaned.

[0046] In contrast, in the pipe cleaning robot 1 according to the first embodiment, as shown in Figure 4(a), when the cleaning body 20 moves forward from the opening of the pipe 2 towards the closed other end of the pipe 2 (left side in Figure 4), it is not restricted by the restricting body 21 and can easily tilt toward the other side in the axial direction to overcome the foreign matter 3 adhering to the inner surface of the pipe 2. Therefore, the foreign matter 3 adhering to the inner surface of the pipe 2 remains attached to the inner surface of the pipe 2 without being pushed towards the closed other end of the pipe 2 by the cleaning body 20. On the other hand, as shown in Figure 4(b), when the pipe cleaning robot 1 moves backward from the closed other end of the pipe 2 towards the end with the opening (right side in Figure 4) and returns to the opening, the cleaning body 20 is restricted by the restricting body 21 from tilting toward one side in the axial direction, making it difficult to tilt. Therefore, the foreign matter 3 remaining attached to the inner surface of the pipe 2 is scraped off by the cleaning body 20 and pushed toward the opening of the pipe 2 as the pipe cleaning robot 1 moves backward. Therefore, according to the pipe cleaning robot 1 of this embodiment, when cleaning a pipe 2 that is open at one end and closed at the other end, foreign matter 3 adhering to the inner circumferential surface of the pipe 2 can be swept out to the outside from the opening of the pipe 2 by the cleaning body 20 without leaving any foreign matter 3 inside the pipe 2.

[0047] Thus, the pipe cleaning robot 1 has a configuration in which the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 is subjected to an external force directed toward one side in the axial direction is greater than the second reaction force generated when the outer peripheral end 20a of the cleaning body 20 is subjected to an external force directed toward the other side in the axial direction. Therefore, for example, when cleaning a pipe 2 that is open at one end and closed at the other end, it is possible to sweep out foreign matter 3 inside the pipe 2 without leaving any inside the pipe 2.

[0048] Furthermore, if the pipe cleaning robot 1 is configured such that multiple cleaning bodies 20 are provided on the robot body 10 at axial intervals, each cleaning body 20 can sweep out foreign matter 3 from inside the pipe 2 without leaving any behind.

[0049] Furthermore, if the pipe cleaning robot 1 is configured such that a plurality of cleaning bodies 20 are provided on the robot body 10 at axial intervals, then, as shown in Figure 5, the first reaction force generated when the outer peripheral end 20a of one of a pair of axially adjacent cleaning bodies 20 (left side in Figure 5) receives an external force directed toward that axial side is greater than the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 (right side in Figure 5) receives an external force directed toward that axial side.

[0050] In the case shown in Figure 5, the outer diameter of the restrictor 21 located on one side (left side in Figure 5) of the cleaning body 20 on one side (left side in Figure 5) of the pair of cleaning bodies 20 adjacent in the axial direction is made larger than the outer diameter of the restrictor 21 located on one side (left side in Figure 5) of the cleaning body 20 on the other side (right side in Figure 5). This ensures that the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 on one side (left side in Figure 5) is subjected to an external force directed toward one side in the axial direction becomes larger.

[0051] With this configuration, as the pipe cleaning robot 1 retracts from the closed end of the pipe 2 towards the open end (right side in Figure 5) and returns to the opening, any foreign matter 3 remaining attached to the inner surface of the pipe 2 is gradually scraped off by the cleaning body 20 at the front (rightmost side in Figure 5) and rearmost positions of the retracting pipe cleaning robot 1. This ensures that the foreign matter 3 is evenly swept out toward the opening by all parts of the pipe cleaning robot 1 along its longitudinal direction. As a result, the foreign matter 3 inside the pipe 2 is swept out of the pipe 2 without being left inside.

[0052] Furthermore, the method is not limited to the above-described method of varying the outer diameter of the restricting body 21. By varying the axial distance between the cleaning body 20 and the restricting body 21, and the rigidity of the restricting body 21 (ease of deformation in the axial direction) for each cleaning body 20, the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 located on one side in the axial direction (left side in Figure 5) is subjected to an external force directed toward that side in the axial direction may be larger.

[0053] As shown in Figure 6 as a modified example, the pipe cleaning robot 1 according to the first embodiment can also be configured in which a sub-regulating body 22 is attached to the robot body 10 on the opposite side of the regulating body 21, with the cleaning body 20 in between. In this case, the sub-regulating body 22 is configured such that the second reaction force applied to the cleaning body 20 is not greater than the first reaction force. In the case shown in Figure 6, the sub-regulating body 22 has a smaller outer diameter than the regulating body 21, and the axial distance between it and the cleaning body 20 is greater than the axial distance between the cleaning body 20 and the regulating body 21.

[0054] Furthermore, the sub-regulating body 22 may be configured such that the second reaction force applied to the cleaning body 20 is not greater than the first reaction force applied to the cleaning body 20, either by making its outer diameter smaller than that of the regulating body 21, or by making its axial distance from the cleaning body 20 larger, or by both of these factors.

[0055] The pipe cleaning robot 1 is configured with a sub-regulating body 22, which allows the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 receives an external force directed toward one side in the axial direction by the regulating body 21 to be set to a desired value, while the second reaction force generated when the outer peripheral end 20a of the cleaning body 20 receives an external force directed toward the other side in the axial direction to be set to a desired value. As a result, as shown in Figure 6(a), when the pipe cleaning robot 1 moves forward inside the pipe 2 toward one side in the axial direction (left side in Figure 6), the sub-regulating body 22 appropriately suppresses the tilt of the cleaning body 20, allowing the cleaning body 20 to overcome foreign matter 3 adhering to the inside of the pipe 2, while ensuring that almost the entire outer peripheral end 20a of the cleaning body 20 contacts the inner surface of the pipe 2 in the parts of the pipe 2 where no foreign matter 3 is adhering. Therefore, when the pipe cleaning robot 1 moves forward inside the pipe 2, the robot body 10 is held more precisely in the center of the pipe 2 by the cleaning body 20 (centering), allowing the pipe cleaning robot 1 to move more efficiently inside the pipe 2. Furthermore, as shown in Figure 6(b), when the pipe cleaning robot 1 moves backward through the inside of the pipe 2 toward the other axial direction (right side in Figure 6), the cleaning body 20 pushes out the foreign matter 3 from the pipe 2, similar to the case shown in Figure 4(b), sweeping out the foreign matter 3 from inside the pipe 2 without leaving any behind.

[0056] As shown in Figure 7 as another modified example, the restrictor 21 and the sub-restrictor 22 may each be configured as annular block bodies with equal outer diameters. In this case, the chamfered portion 21a formed between the surface of the restrictor 21 facing the cleaning body 20 and the surface facing radially outward may be made smaller than the chamfered portion 22a formed between the surface of the sub-restrictor 22 facing the cleaning body 20 and the surface facing radially outward, so that the second reaction force applied to the cleaning body 20 does not become larger than the first reaction force. Note that the chamfered portions 21a and 22a are not limited to the straight shape in cross-sectional view shown in Figure 7, but may also be curved shapes with a convex shape in cross-section. Even with such a configuration, the same effect as the pipe cleaning robot 1 shown in Figure 6 can be obtained. In other words, as shown in Figure 7(a), when the pipe cleaning robot 1 moves forward axially towards one side (left side in Figure 7) inside the pipe 2, the sub-regulating body 22 moderately suppresses the tilt of the cleaning body 20, allowing the cleaning body 20 to overcome foreign matter 3 adhering to the inside of the pipe 2, while ensuring that almost the entire outer edge 20a of the cleaning body 20 contacts the inner surface of the pipe 2 in the parts of the pipe 2 where no foreign matter 3 is adhering. Therefore, when the pipe cleaning robot 1 moves forward inside the pipe 2, the robot body 10 is held more precisely in the center of the pipe 2 by the cleaning body 20 (centering), allowing the pipe cleaning robot 1 to move more efficiently inside the pipe 2. Also, as shown in Figure 7(b), when the pipe cleaning robot 1 moves backward axially towards the other side (right side in Figure 7) inside the pipe 2, the cleaning body 20 pushes the foreign matter 3 out of the pipe 2, sweeping out the foreign matter 3 from inside the pipe 2 without leaving any inside.

[0057] Next, a pipe cleaning robot 100 according to the second embodiment of the present invention will be described based on Figures 8 and 9. In Figures 8 and 9, the same reference numerals are used for the components or parts corresponding to those described above. Furthermore, in the pipe cleaning robot 100 according to the second embodiment, the configuration of the robot body 10 is the same as that of the robot body 10 of the pipe cleaning robot 1 according to the first embodiment, so a further explanation will be omitted.

[0058] The pipe cleaning robot 100 according to the second embodiment differs from the pipe cleaning robot 1 according to the first embodiment in the configuration of the cleaning body 20. The pipe cleaning robot 100 according to the second embodiment does not have a restrictor 21 or a sub-restrictor 22.

[0059] In the pipe cleaning robot 100 according to the second embodiment, the cleaning body 20 is made of an umbrella-shaped elastic body in which the inner circumference end 20b fixed to the robot body 10 is offset to one side in the axial direction (left side in Figure 8) relative to the outer circumference end 20a. Various types of rubber and elastomers can be used as the elastic body that makes up the cleaning body 20. The portion between the outer circumference end 20a and the inner circumference end 20b of the cleaning body 20 is truncated cone-shaped. Furthermore, the thickness of the truncated cone-shaped portion gradually increases from the radial center toward the inner circumference end 20b. Note that the portion between the outer circumference end 20a and the inner circumference end 20b of the cleaning body 20 is not limited to a truncated cone shape, but may be dome-shaped, for example, as long as the entire cleaning body 20 has an umbrella-like shape.

[0060] With this configuration, the cleaning body 20 is less likely to tilt to one side in the axial direction (left side in Figure 8) and more likely to tilt to the other side in the axial direction (right side in Figure 8). In other words, the pipe cleaning robot 100 according to the second embodiment is also configured such that the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 receives an external force directed to one side in the axial direction is greater than the second reaction force generated when the outer peripheral end 20a of the cleaning body 20 receives an external force directed to the other side in the axial direction.

[0061] According to the pipe cleaning robot 1 of the second embodiment described above, by making the cleaning body 20 flexible enough to easily bend over foreign matter 3 adhering to the inner surface of the pipe 2, when cleaning a pipe 2 that is open at one end and closed at the other end, the foreign matter 3 adhering to the inner surface of the pipe 2 can be swept out to the outside from the opening of the pipe 2 by the cleaning body 20 without leaving any foreign matter 3 inside the pipe 2.

[0062] In other words, in the pipe cleaning robot 100 according to the second embodiment, as shown in Figure 9(a), when the cleaning body 20 moves forward from the opening of the pipe 2 towards the closed other end of the pipe 2 (left side in Figure 9), it can easily deform like closing an umbrella and overcome foreign matter 3 adhering to the inner surface of the pipe 2. As a result, the foreign matter 3 adhering to the inner surface of the pipe 2 remains attached to the inner surface of the pipe 2 without being pushed into the closed other end of the pipe 2 by the cleaning body 20. On the other hand, as shown in Figure 9(b), when the pipe cleaning robot 100 moves backward from the closed other end of the pipe 2 towards the opening (right side in Figure 9) and returns to the opening, the cleaning body 20 is less likely to tilt to one side in the axial direction, so the foreign matter 3 remaining attached to the inner surface of the pipe 2 is scraped off by the cleaning body 20 and pushed towards the opening of the pipe 2. Thus, even with the pipe cleaning robot 100 according to the second embodiment, when cleaning a pipe 2 that is open at one end and closed at the other end, the cleaning body 20 can sweep out foreign matter 3 adhering to the inner surface of the pipe 2 from the opening of the pipe 2 to the outside without leaving any foreign matter 3 inside the pipe 2.

[0063] In the pipe cleaning robot 100 according to the second embodiment, the umbrella-shaped cleaning body 20 may be configured to be divided radially around the axis O. That is, the umbrella-shaped cleaning body 20 may be divided into multiple parts arranged in the circumferential direction. This configuration makes it easier for the cleaning body 20 to tilt when the pipe cleaning robot 100 moves forward.

[0064] Next, a pipe cleaning robot 200 according to the third embodiment of the present invention will be described with reference to Figure 10. In Figure 10, the same reference numerals are used for the components or parts corresponding to those described above. Furthermore, in the pipe cleaning robot 1 according to the third embodiment, the configuration of the robot body 10 is the same as that of the robot body 10 of the pipe cleaning robot 1 according to the first embodiment, so a further explanation will be omitted.

[0065] The pipe cleaning robot 200 according to the third embodiment differs from the pipe cleaning robot 1 according to the first embodiment in the configuration of the cleaning body 20. The pipe cleaning robot 200 according to the third embodiment does not have a restrictor 21 or a sub-restrictor 22.

[0066] In the pipe cleaning robot 200 according to the third embodiment, the cleaning body 20 is composed of a plate-shaped member that is supported on the robot body 10 so as to be tiltable around a pivot axis 23. Multiple cleaning bodies 20 composed of plate-shaped members are provided on the outer circumferential surface of the robot body 10, arranged in a circumferential direction around the axis O. That is, multiple cleaning bodies 20, each composed of a plate-shaped member, are arranged radially on the outer circumferential surface of the robot body 10.

[0067] The plate-shaped members constituting the cleaning body 20 can be made from various materials, such as metal plates that are substantially rigid and do not undergo elastic deformation, such as aluminum alloys or steel, or elastically deformable plates made of synthetic resins. Furthermore, the plate-shaped members constituting the cleaning body 20 can be made mostly of rigid material, with the outer peripheral end 20a being made of elastic material.

[0068] The pivot shaft 23 is attached to the robot body 10 in a position aligned with the tangential direction of the outer surface of the robot body 10 at the portion of the robot body 10 on which the cleaning body 20 is provided. The cleaning body 20 is rotatably supported on the pivot shaft 23 at the side of its inner circumferential end 20b. Therefore, the cleaning body 20 can tilt around the pivot shaft 23 in a direction that moves toward and away from the outer surface of the robot body 10 while its outer circumferential end 20a moves axially.

[0069] A stopper body 24 is attached to the robot body 10. The stopper body 24 is an annular block extending along the circumferential direction and is fixed to one side of the cleaning body 20 in the axial direction (left side in Figure 10). The stopper body 24 prevents the cleaning body 20 from tilting to one side in the axial direction from its upright position along the radial direction. In other words, by contacting the stopper body 24, the cleaning body 20 is prevented from tilting to one side in the axial direction from its upright position along the radial direction.

[0070] Furthermore, the stopper body 24 is not limited to the above configuration, and can be configured in various ways, such as restricting the rotation range of the pivot shaft 23, as long as it can prevent the cleaning body 20 from tilting to one side in the axial direction from its upright position along the radial direction.

[0071] An elastic member 25 is further attached to the robot body 10. The elastic member 25 is positioned on the other axial side of the cleaning body 20 (right side in Figure 10) and is designed to impart an elastic force to the cleaning body 20 directed in one axial direction. In the illustrated example, the elastic member 25 is a torsion spring and is positioned between the cleaning body 20 and the outer circumferential surface of the robot body 10. Note that the elastic member 25 is not limited to a torsion spring; various types of springs, elastic materials such as rubber, etc., can be used as long as they can impart an elastic force to the cleaning body 20 directed in one axial direction.

[0072] With this configuration, the cleaning body 20 cannot tilt to one side in the axial direction (left side in Figure 10), but can easily tilt to the other side in the axial direction (right side in Figure 10). In other words, the pipe cleaning robot 200 according to the third embodiment is also configured such that the first reaction force generated when the outer peripheral end 20a of the cleaning body 20 receives an external force directed to one side in the axial direction is greater than the second reaction force generated when the outer peripheral end 20a of the cleaning body 20 receives an external force directed to the other side in the axial direction.

[0073] According to the pipe cleaning robot 1 of the third embodiment described above, by providing the elastic member 25 with an elastic force such that it can easily bend over so that the cleaning body 20 can overcome foreign matter 3 adhering to the inner surface of the pipe 2, when cleaning a pipe 2 that is open at one end and closed at the other end, the cleaning body 20 can sweep out the foreign matter 3 adhering to the inner surface of the pipe 2 from the opening of the pipe 2 without leaving any inside the pipe 2.

[0074] In other words, in the pipe cleaning robot 200 according to the third embodiment, as shown in Figure 10(a), when the cleaning body 20 moves forward from the opening of the pipe 2 towards the closed other end of the pipe 2 (left side in Figure 10), the cleaning body 20 can overcome foreign matter 3 adhering to the inner surface of the pipe 2 by tilting due to the elastic deformation of the elastic member 25. As a result, the foreign matter 3 adhering to the inner surface of the pipe 2 remains attached to the inner surface of the pipe 2 without being pushed into the closed other end of the pipe 2 by the cleaning body 20. On the other hand, as shown in Figure 10(b), when the pipe cleaning robot 200 moves backward from the closed other end of the pipe 2 towards the opening at the other end (right side in Figure 10) and returns to the opening, the cleaning body 20 cannot tilt to one side in the axial direction, so the foreign matter 3 remaining attached to the inner surface of the pipe 2 is scraped off by the cleaning body 20 and pushed towards the opening of the pipe 2. Thus, even with the pipe cleaning robot 200 according to the third embodiment, when cleaning a pipe 2 that is open at one end and closed at the other end, the cleaning body 20 can sweep out foreign matter 3 adhering to the inner circumferential surface of the pipe 2 from the opening of the pipe 2 to the outside without leaving any foreign matter 3 inside the pipe 2.

[0075] The pipe cleaning robot 1 according to the first embodiment, the pipe cleaning robot 100 according to the second embodiment, and the pipe cleaning robot 200 according to the third embodiment described above can all be used for cleaning pipes with open ends. In this case, the pipe cleaning robots 1, 100, and 200 are configured such that the cleaning body 20 generates a first reaction force when inserted from one end of the pipe and moves forward inside the pipe, and generates a second reaction force when it moves backward inside the pipe. This configuration ensures that when the cleaning body 20 moves forward inside the pipe, it can reliably sweep out and remove foreign matter adhering to the inner surface of the pipe from the other end of the pipe. Furthermore, the resistance between the cleaning body 20 and the inner surface of the pipe is reduced when the pipe cleaning robots 1, 100, and 200 move backward inside the pipe after cleaning, thereby increasing the speed at which the pipe cleaning robots 1, 100, and 200 move backward inside the pipe. This allows the pipe cleaning robots 1, 100, and 200 to be quickly retrieved from one end of the pipe after cleaning.

[0076] The present invention is not limited to the embodiments described above, and it goes without saying that various modifications are possible without departing from the spirit of the invention.

[0077] For example, in the first embodiment, a restrictor 21 is placed on one side in the axial direction of the cleaning body 20 which is made up of brushes; in the second embodiment, the cleaning body 20 is made up of an umbrella-shaped elastic body in which the inner circumference end 20b fixed to the robot body 10 is shifted to one side in the axial direction relative to the outer circumference end 20a; and in the third embodiment, a stopper body 24 is placed on one side in the axial direction of the cleaning body 20 which is made up of a plate-shaped member that is tiltably supported on a pivot axis 23, and an elastic member 25 is placed on the other side, so that the first reaction force generated when the outer circumference end 20a of the cleaning body 20 is subjected to an external force directed to one side in the axial direction is greater than the second reaction force generated when the outer circumference end 20a of the cleaning body 20 is subjected to an external force directed to the other side in the axial direction. However, the invention is not limited to these, and other configurations may be used to ensure that the first reaction force generated when the outer circumference end 20a of the cleaning body 20 is subjected to an external force directed to one side in the axial direction is greater than the second reaction force generated when the outer circumference end 20a of the cleaning body 20 is subjected to an external force directed to the other side in the axial direction. [Explanation of Symbols]

[0078] 1. Pipe cleaning robot 2 tubes 3 Foreign object 10 Robot body 11 Extendable Unit 11a Cylindrical part 12 Connecting part 13 Piping 14 Control Unit 15 Cover 20 Cleaning Unit 20a Outer edge 20b Inner edge 21 Regulatory bodies 21a Chamfered section 22 Sub-regulatory bodies 22a Chamfered section 23 Rotating shafts 24 Stopper body 25 Elastic members 100 Pipe Cleaning Robots 200 Pipe Cleaning Robots O axis

Claims

1. A pipe cleaning robot comprising a robot body having at least three expandable / contractible units, each of which expands radially and contracts axially when fluid is supplied, and a cleaning body provided on the outer circumference of the robot body, projecting radially outward, wherein the expandable / contractible units perform a peristaltic movement in a predetermined pattern, causing the robot body to move inside the pipe and the cleaning body to clean the inside of the pipe, A pipe cleaning robot characterized in that the first reaction force generated when the outer peripheral end of the cleaning body receives an external force directed toward one side in the axial direction is greater than the second reaction force generated when the outer peripheral end of the cleaning body receives an external force directed toward the other side in the axial direction.

2. The cleaning body is composed of brushes, The pipe cleaning robot according to claim 1, wherein a restricting body is attached to the robot body, which is positioned on one side of the cleaning body in the axial direction and restricts the tilt of the cleaning body to that side in the axial direction.

3. The pipe cleaning robot according to claim 1, wherein the cleaning body is made of an umbrella-shaped elastic body whose inner circumferential end, which is fixed to the robot body, is offset to one side in the axial direction relative to its outer circumferential end.

4. The cleaning body is composed of a plate-shaped member that is supported on the robot body so as to be able to tilt around a pivot axis, The pipe cleaning robot according to claim 1, wherein the robot body is equipped with a stopper body positioned on one side of the cleaning body in the axial direction to prevent the cleaning body from tilting to that side in the axial direction, and an elastic member positioned on the other side of the cleaning body in the axial direction to impart an elastic force to the cleaning body toward that side in the axial direction.

5. A pipe cleaning robot according to any one of claims 1 to 4, wherein a plurality of cleaning bodies are provided on the robot body at intervals in the axial direction.

6. The pipe cleaning robot according to claim 5, wherein, of the pair of cleaning bodies adjacent in the axial direction, the first reaction force generated when the outer peripheral end of the cleaning body on one side in the axial direction is subjected to an external force directed toward the one side in the axial direction is greater than the first reaction force generated when the outer peripheral end of the cleaning body on the other side in the axial direction is subjected to an external force directed toward the one side in the axial direction.

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