Pipe travel device

Abstract

To provide an in-pipe running device which improves tractional force, thereby realizing high running performance.SOLUTION: A rotary shaft 2 is so provided as to extend along a pipe axis direction of a piping H. A plurality of running bodies 3 are provided at prescribed intervals with respect to the rotary shaft 2. The running body 3 comprises a hub 30 fixed to the rotary shaft 2. A disc part 31 is fixed to the hub 30 in a direction crossing the rotary shaft 2. Further, a fluid film 33 is attached in a circumferential direction of the disc part 31, inflates when a prescribed fluid flows in from an exterior, and contracts when the prescribed fluid is discharged. In addition, a bearing is provided between the disc part 31 and the fluid film 33.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an in-pipe traveling device.

Background Art

[0002] In recent years, the aging of pipes such as gas pipes, water pipes, and plant pipes has become increasingly serious, making it necessary to inspect the inside of pipes. However, when the inner diameter of the pipe is φ50 mm or less, there is a problem that inspection of the inside of the pipe is difficult because there are almost no in-pipe traveling devices with high traveling performance.

[0003] As such an in-pipe traveling device having high traveling performance, for example, an in-pipe traveling device as described in Patent Document 1 is known. The invention described in Patent Document 1 is a rotary wave mechanism, comprising: a drive rotating shaft to which rotational power from a driving force supply unit is transmitted; a plurality of oscillating disks fixed to the drive rotating shaft so as to intersect the axis of the drive rotating shaft at a predetermined interval along the axis of the drive rotating shaft; a rotating member rotatably disposed on the outer periphery of each oscillating disk and following the motion of the oscillating disk; and a flexible connecting member that limits the rotation of the rotating member to a predetermined rotation angle and connects the rotating members in series. Accordingly, the mechanism for generating propulsion does not require a complicated configuration, generates surface waves at all portions of the outer circumference in contact with the outside, and furthermore, the flexible connecting member can also cover the drive rotating shaft, the plurality of oscillating disks, and the rotating members, so that dust resistance and waterproofness can be achieved for the working robot to which the mechanism is applied.

Prior Art Literature

Patent Literature

[0004]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0005] However, the pipe-running devices described above do not always maintain contact with the inner wall of the pipe; they come into contact and then separate. Therefore, when applied to pipes, there is a problem in that the traction force may be low, and high off-road capability may not be achieved.

[0006] Therefore, in view of the above problems, the present invention aims to provide a pipe-running device that can achieve high drivability by improving traction. [Means for solving the problem]

[0007] The object of the present invention described above is achieved by the following means. The reference numerals in parentheses indicate the embodiments described later, but the present invention is not limited thereto.

[0008] The pipe travel device according to claim 1 includes a rotating shaft (2) that is provided to extend along the pipe axis (HO) direction of the pipe (H), The device has a plurality of traveling bodies (3, 3AA) that are provided at predetermined intervals from the rotating shaft (2), The aforementioned vehicle (3,3AA) A hub (30) fixed to the aforementioned rotating shaft (2), A disc portion (31, 31A) is attached to the hub (30) so as to be in a direction intersecting the rotation axis (2), A fluid film (33) is attached circumferentially to the aforementioned disc portion (31, 31A), which expands when a predetermined fluid flows in from the outside and contracts when the predetermined fluid is discharged, The system includes a bearing (bearing 32) positioned between the disc portion (31, 31A) and the fluid membrane (33), which connects the disc portion (31, 31A) and the fluid membrane (33) so as to be rotatable in the circumferential direction of the disc portion (31, 31A), The hub (30) is positioned eccentrically from the center point (O1) of the disc portion (31, 31A), and is provided penetrating the disc portion (31, 31A) such that the rotation shaft (2) is inclined at a predetermined angle (θ1) with respect to the surface of the disc portion (31, 31A).

[0009] The pipe travel device according to claim 2 is a pipe travel device (1) according to claim 1 above, The plurality of traveling bodies (3, 3AA) are characterized in that they are mounted on the rotation axis (2) at a predetermined rotation angle (φ1, φ2, φ3) offset from adjacent traveling bodies (first traveling body 3A, second traveling body 3B, third traveling body 3C, fourth traveling body 3D).

[0010] The pipe travel device according to claim 3 is a pipe travel device (1) according to claim 1 or 2 above, The aforementioned rotating shaft (2) is characterized by being formed from a flexible shaft. [Effects of the Invention]

[0011] Next, the effects of the present invention will be described with reference to the reference numerals in the drawings. Note that the reference numerals in parentheses are those of embodiments described later, but the present invention is not limited thereto.

[0012] According to the invention of claim 1, the fluid membrane (33) expands when a predetermined fluid flows in and contracts when the predetermined fluid is discharged, so the motion of the pipe travel device (1) can be made into a helical drive or a rotational wave mechanism.

[0013] Therefore, according to the present invention, high off-road capability can be achieved by improving traction.

[0014] According to the invention of claim 2, it becomes easier to realize the motion of the rotational wave mechanism of the traveling body (3,3AA) inside the pipe (H).

[0015] According to the invention of claim 3, it is possible to flexibly adapt to bends in the piping (H) and achieve higher off-road capability. [Brief explanation of the drawing]

[0016] [Figure 1]It is a perspective view showing a state where an in-pipe traveling device according to an embodiment of the present invention is arranged in a pipe. [Figure 2] (a) is a partially cut-out perspective view of the in-pipe traveling device according to the embodiment, and (b) is a plan view of the traveling body according to the embodiment. [Figure 3] (a) is a cross-sectional view taken along line A-A shown in Fig. 2(b), (b) is a cross-sectional view taken along line B-B shown in Fig. 2(b) showing a state where a fluid membrane is contracted, and (c) is a cross-sectional view taken along line B-B shown in Fig. 2(b) showing a state where the fluid membrane is expanded. [Figure 4] (a) is a front view of the in-pipe traveling device according to the embodiment, and (b) is an explanatory view illustrating the arrangement relationship of adjacent traveling bodies. [Figure 5] It is an explanatory view for explaining the case of performing helical drive movement, where (a) shows the case where the distance between the axis of the motor and the center position of the rotating plate is larger than the distance from the center position of the rotating plate to the inner wall surface of the pipe, and (b) shows the case where the distance is smaller than said distance. [Figure 6] It is an explanatory view for explaining the case of performing movement of a rotary wave mechanism, where (a) shows the case where the distance from the pipe axis to the inner wall surface of the pipe is larger than a value obtained by adding the distance from the center position of the rotating plate to the inner wall surface of the pipe to the distance between the axis of the motor and the center position of the rotating plate, and (b) shows the case where the distance is smaller than said value. [Figure 7] It is a front view of a traveling body according to another embodiment. MODE FOR CARRYING OUT THE INVENTION

[0017] Hereinafter, an in-pipe traveling device according to an embodiment of the present invention will be specifically described with reference to the drawings. In the following description, when referring to directions of up, down, left and right, they refer to up, down, left and right as viewed from the front side shown in the drawings.

[0018] <General Description of In-Pipe Traveling Device> The pipe-running device 1 according to this embodiment, shown in Figure 1, is placed inside a pipe H such as a gas pipe, water pipe, or plant pipe, and mainly consists of a rotating shaft 2 and a running body 3. When the rotating shaft 2 rotates, the running body 3 performs motion mainly of a rotational wave mechanism, similar to the conventional technology exemplified above. This will be explained in detail by describing each component of the pipe-running device 1 in detail.

[0019] <Explanation of the axis of rotation> As shown in Figure 1, the rotating shaft 2 is provided to extend linearly along the pipe axis direction (left-right direction in the illustration) of the pipe H, and is formed of a flexible shaft. A motor M located outside the pipe H is attached to the base end 2a (right side in Figure 1) of this rotating shaft 2, and by rotating this motor M, the rotating shaft 2 also rotates. In this way, the rotating shaft 2 rotates. As shown in Figure 3(b), the inside 2b of the rotating shaft 2 is hollow. A compressor C is also attached to the base end 2a (right side in Figure 1) of the rotating shaft 2 via the motor M.

[0020] <Description of the vehicle> As shown in Figure 1, multiple traveling bodies 3 are provided at predetermined intervals from the rotating shaft 2, along the axial direction of the rotating shaft 2 (the left-right direction shown in Figure 1). Specifically, as shown in Figures 2 and 3, the traveling body 3 consists of a hub 30, a pair of disc portions 31, bearings 32 provided on the outer circumferential surfaces of the pair of disc portions 31, and a fluid membrane 33 that covers these bearings 32. The hub 30 is formed in a cylindrical shape and, as shown in Figure 3(b), covers the outer circumferential surface of the rotating shaft 2 such that the center axis O of the rotating shaft 2 and the center line of the hub 30 coincide. The hub 30 is fixed to the rotating shaft 2 by a grub screw 30a.

[0021] On the other hand, the disc portion 31 is formed in a circular shape in cross-section, as shown in Figure 3(a). A hub 30 is provided on this disc portion 31 in a direction intersecting the rotation axis 2 and at a position eccentric from the center point O1 of the disc portion 31, as shown in Figure 2(a). More specifically, as shown in Figure 2(b), the hub 30 is provided penetrating the disc portion 31 such that the rotation axis 2 is inclined at an angle of θ1 with respect to the surface of the disc portion 31. As shown in Figure 3(a), a through hole 31a is formed in the disc portion 31 so as to accommodate the hub 30.

[0022] Thus, the disc portion 31 is rotatably mounted on the rotating shaft 2 via the hub 30, as shown in Figure 2(a). As a result, when the rotating shaft 2 rotates around the central axis O (see Figure 3(b)), the disc portion 31 also rotates around the central axis O. The disc portion 31 is connected and fixed by bolts 31a, as shown in Figure 2.

[0023] The bearing 32 is mounted on the outer circumferential surface of the disc portion 31, which is configured as described above, so as not to rotate around the central axis O (see Figure 3(b)). However, the bearing 32 is mounted so as to be able to move in the up, down, left, and right directions as shown in Figure 2 (rotatable). As a result, the present invention, like the prior art illustrated above, can perform the motion of a rotational wave mechanism when the disc portion 31 rotates around the central axis O, because the bearing 32 is unable to rotate around the central axis O. Since this motion is the same as the prior art illustrated above, a detailed explanation is omitted.

[0024] The fluid film 33 is made of resin or the like and is attached and fixed to the pair of bearings 32 by welding or adhesive so as to completely cover the pair of bearings 32, as shown in Figure 3(b). The fluid film 33 has a hollow interior 33a as shown in Figure 3(b). When a fluid such as air flows into this interior 33a, the fluid film 33 expands as shown in Figure 3(c), and when the fluid is discharged, it contracts as shown in Figure 3(b). The pair of bearings 32 are positioned between the disc portion 31 and the fluid film 33 as described above, and play a role in rotatably connecting the disc portion 31 and the fluid film 33.

[0025] Thus, multiple mobile bodies 3 configured in this way are provided at predetermined intervals with respect to the rotation axis 2, along the axial direction of the rotation axis 2 (the left-right direction shown in Figure 1). To explain the arrangement in detail using four adjacent mobile bodies 3 shown in Figure 4(a), when the four adjacent mobile bodies 3 are designated as the first mobile body 3A, the second mobile body 3B, the third mobile body 3C, and the fourth mobile body 3D, as shown in Figure 4(b), the second mobile body 3B is mounted on the rotation axis 2 rotated by φ1 relative to the first mobile body 3A. The third mobile body 3C is mounted on the rotation axis 2 rotated by φ2 relative to the second mobile body 3B, as shown in Figure 4(b). Furthermore, the fourth mobile body 3D is mounted on the rotation axis 2 rotated by φ3 relative to the third mobile body 3C, as shown in Figure 4(b). This makes it easier to realize the motion of the rotational wave mechanism of the mobile bodies 3 within the piping H. Note that φ1, φ2, and φ3 are all equal angles, and in this embodiment, they are all 90°.

[0026] Thus, in this manner, multiple traveling bodies 3 are provided at predetermined intervals from the rotating shaft 2, along the axial direction of the rotating shaft 2 (the left-right direction shown in Figure 1).

[0027] <Explanation of the features of the in-pipe travel device> However, the in-pipe traveling device 1 configured as described above has the features shown in FIG. 5 and FIG. 6. In FIG. 5 and FIG. 6, for ease of understanding, only the disk portion 31 of the traveling body 3 is illustrated and described.

[0028] As shown in FIG. 5 and FIG. 6, when the traveling body 3 is disposed in a pipe H having a circular cross-section, as shown in FIG. 5, the pipe axis HO of the pipe H coincides with the axis MO of the motor M (see FIG. 1). Let e be the distance between the axis MO of the motor M and the center point O1 of the disk portion 31, and r be the distance from the center point O1 of the disk portion 31 to the inner wall surface Ha of the pipe H. Then, the distance R from the pipe axis HO to the inner wall surface Ha of the pipe H satisfies R = e + r. In this case, since the traveling body 3 always remains in contact with the inner wall surface Ha of the pipe H, it performs helical driving motion. Note that FIG. 5(a) shows the case where e>r, and FIG. 5(b) shows the case where e<r.

[0029] On the other hand, as shown in FIG. 6, when the pipe axis HO of the pipe H does not coincide with the axis MO of the motor M (see FIG. 1), R>e+r as shown in FIG. 6(a), and R<e+r as shown in FIG. 6(b). In this case, the traveling body 3 does not always contact the inner wall surface Ha of the pipe H, and performs the motion of a rotating wave mechanism that alternately contacts and separates from the inner wall surface.

[0030] Therefore, in this embodiment, a fluid film 33 is attached and fixed to a pair of bearings 32 by welding or adhesive, and the helical drive motion described above and the rotational wave mechanism motion are switched by expanding and contracting the fluid film 33. That is, as shown in Figure 1, the pipe travel device 1 is placed inside the pipe H, and when more traction force is required, as shown in Figure 3(b), the inside 2b of the rotating shaft 2 is hollow, so a fluid such as air is introduced into the inside 2b from the direction of arrow Y1 using the compressor C shown in Figure 1. As a result, as shown in Figure 3(b), the fluid passes through the inside 2b of the rotating shaft 2, and further passes through the through hole 2c provided through the rotating shaft 2 and the through hole 30b provided through the hub 30. Furthermore, as shown in Figure 3(b), the disk portion 31 has multiple (eight in the illustration) ventilation holes 31c formed radially from the center point O1, as shown in Figure 3(a). Therefore, the fluid that passes through the through hole 30b moves through the ventilation holes 31c to the interior 33a of the fluid membrane 33 (see Figure 3(b)). As a result, as shown in Figure 3(c), the fluid membrane 33 expands, and the position of the rotation axis 2 changes due to the contact between the inner wall surface Ha of the pipe H and the expanded fluid membrane 33, and consequently, the position of the axis MO of the motor M shown in Figure 1 also changes. Therefore, as shown in Figure 5, the pipe axis HO of the pipe H and the axis MO of the motor M shown in Figure 1 can be intentionally aligned, making it possible to make the movement of the pipe travel device 1 located inside the pipe H a helical drive.

[0031] On the other hand, if traction force is not required or if some trouble occurs and it is necessary to retrieve the in-pipe travel device 1, the fluid flowing into the interior 33a of the fluid membrane 33 can be sucked out and discharged using the compressor C shown in Figure 1, causing the fluid membrane 33 to contract as shown in Figure 3(b). As a result, as shown in Figure 6, the pipe axis HO of the pipe H and the axis MO of the motor M shown in Figure 1 become misaligned, so that the motion of the in-pipe travel device 1 located inside the pipe H can be made into a rotational wave mechanism.

[0032] Therefore, by expanding and contracting the fluid membrane 33 in this way, the movement of the pipe travel device 1, which is arranged inside the pipe H, can be changed to a helical drive or a rotational wave mechanism. Thus, according to this embodiment, not only is the movement of the rotational wave mechanism limited to that of the conventional technology exemplified above, but it is also possible to switch between the movement of the rotational wave mechanism and the movement of the helical drive. By using the helical drive when more traction force is needed, and switching to the movement of the rotational wave mechanism when less traction force is needed or when some trouble occurs and the pipe travel device 1 needs to be recovered, the traction force can be improved compared to the conventional technology exemplified above.

[0033] Therefore, according to this embodiment, high off-road capability can be achieved by improving the traction force.

[0034] <Explanation of variations> It should be noted that the shapes and other features shown in this embodiment are merely examples, and various modifications and changes are possible within the scope of the gist of the present invention as described in the claims. For example, in this embodiment, a flexible shaft is exemplified as the rotating shaft 2, but it is not limited to this, and other materials may be used. However, it is preferable to use a flexible shaft as the rotating shaft 2, because it can flexibly adapt to the bends of the piping H and achieve higher off-road capability.

[0035] Furthermore, in this embodiment, an example was shown in which the fluid is introduced into the interior 33a of the fluid membrane 33 through the interior 2b of the rotating shaft 2. However, the fluid may also be introduced directly into the interior 33a of the fluid membrane 33. In this way, the fluid can be introduced into the interior 33a of the fluid membrane 33 without any leakage.

[0036] Furthermore, although this embodiment shows an example where the fluid film 33 is provided to cover the entire pair of bearings 32, it is not limited to this, and the fluid film 33 may be provided to cover only a part of the pair of bearings 32 (for example, by providing the fluid film 33 at equal intervals in the circumferential direction of the pair of bearings 32).

[0037] Furthermore, although a circular disc portion 31 is exemplified in this embodiment, it is not limited to this shape; any shape, such as an elliptical or egg shape, is acceptable as long as the bearing 32 can accommodate it.

[0038] Furthermore, in this embodiment, the disk portion 31 may be as shown in Figure 7. Modifications of the disk portion 31 will be described below. Note that components identical to those described above will be denoted by the same reference numerals and their descriptions will be omitted.

[0039] The running body 3AA shown in Figure 7 consists of a hub 30, a disc portion 31A, a bearing 32 provided on the outer circumferential surface of the disc portion 31A, and a fluid film 33 provided to cover the bearing 32. Therefore, only the configuration of the disc portion 31A is different.

[0040] As shown in Figure 7, the disc portion 31A consists of a ring-shaped rim 31Aa on which a bearing 32 is provided along the circumferential direction, and a plurality of spokes 31Ab (four in the figure) connecting the rim 31Aa and the hub 30. Since the inside of these spokes 31Ab is hollow, the fluid that flows in through the through-hole 2c provided through the rotation shaft 2 and the through-hole 3b provided through the hub 30 moves through the inside of the spokes 31Ab to the inside 33a of the fluid film 33. Thus, even with this shape, it is possible to expand and contract the fluid film 33. Alternatively, the spokes 31Ab could not be made hollow, and the rim 31Aa could be formed in a ring shape, allowing the space to be used to move the fluid to the inside 33a of the fluid film 33, or through-holes could be provided in addition to the spokes 31Ab, allowing the fluid to move to the inside 33a of the fluid film 33. [Explanation of symbols]

[0041] 1. Pipe travel device 2 rotation axes 3,3AA running gear 3A First vehicle (adjacent vehicle) 3B Second vehicle (adjacent vehicle) 3C Third vehicle (adjacent vehicle) 3D Fourth vehicle (adjacent vehicle) 30 Hubs 31,31A Disk section 32 Bearings 33 Fluid film H Piping HO tube shaft O1 center point θ1 predetermined angle φ1, φ2, φ3 predetermined rotation angles

Claims

1. A rotating shaft is provided so as to extend along the axial direction of the pipe, It has a plurality of traveling bodies provided at predetermined intervals with respect to the aforementioned rotating shaft, The aforementioned traveling body is A hub fixed to the aforementioned rotating shaft, A disc portion attached to the hub so as to be in a direction intersecting the rotation axis, A fluid film is attached to the circumferential direction of the disk portion, which expands when a predetermined fluid flows in from the outside and contracts when the predetermined fluid is discharged, The system includes a bearing positioned between the disk portion and the fluid membrane, which connects the disk portion and the fluid membrane so as to be rotatable in the circumferential direction of the disk portion. The hub is positioned eccentrically from the center point of the disc portion and is provided through the disc portion such that the rotation axis is inclined at a predetermined angle with respect to the surface of the disc portion, making it a pipe-running device.

2. The pipe-in-pipe travel device according to claim 1, wherein the plurality of traveling bodies are provided on the rotation shaft in a state where they are offset by a predetermined rotational angle from adjacent traveling bodies.

3. The in-pipe travel device according to claim 1 or 2, wherein the rotating shaft is formed of a flexible shaft.

Images