JP2003276594A - Intra-pipe traveling device and pipe inspecting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an intra-pipe traveling device which enables stable traveling in a pipe all the time even if the pipe bends upward. <P>SOLUTION: This intra-pipe traveling device 1 has a traveling body 6 arranged inside the pipe 2, a driving wheel 16 rotating in contact with the inner face of the pipe 2, and an air cylinder device 19 provided on the opposite side of the driving wheel 16 in relation to the traveling body 6 and pressing on the inner face of the pipe 2. The air cylinder device 19 generates a constant pressing force even if an interval between the traveling body 6 and the inner face of the pipe 2 is changed, and the driving wheel 16 makes the traveling body 6 travel with a constant driving force all the time. As a result, even if the pipe 2 is bent upward, the traveling body 6 can be made to travel upward. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe running device for running inside a pipe and a pipe inspection device using the same.

[0002]

2. Description of the Related Art Pipes such as gas pipes buried in the ground are generally put into practical use by connecting pipes of appropriate lengths by using a joining process such as welding. In this way, for pipes that are put to practical use, in order to prevent substances existing inside the pipe, such as gas, from leaking to the outside, the joints of the pipes must be completely closed, and there are welding defects. Don't

As an apparatus for inspecting whether a pipe has a welding defect, an apparatus using X-ray is conventionally known. This conventional inspection apparatus has a tube 1 as shown in FIG.
The X-ray film 102 is wound around the measured point M of 01, the X-ray generator 103 is arranged inside the measured point M, and the X-ray R is directed from the X-ray generator 103 toward the measured point M.
And whether or not the X-ray film 102 is exposed to X-rays is inspected for welding defects.

In this conventional inspection apparatus, the X-ray generator 1 is used.
In order to dispose 03 on the measured point M of the tube 101, it is necessary to run the X-ray generator 103 inside the tube 101. Therefore, the X-ray generator 103 is provided with the drive wheel 104 and the auxiliary wheel 106. Further, on the opposite side of the drive wheel 104, a pressing wheel 108 that is pressed against the inner surface of the pipe 101 by a spring 107 is provided. When the pressing wheel 108 is pressed against the inner surface of the tube 101 by the spring 107, the driving wheel 104 is pressed against the inner surface of the tube 101 by its reaction force, and when the driving wheel 104 is driven by a power source such as an electric motor to rotate, X The line generator 103 serves as a running body and runs inside the pipe 101.

[0005]

When the inner diameter of the tube 101 changes or the tube 101 bends, the distance D between the X-ray generator 103 and the inner surface of the tube changes. In such a case, the conventional inspection device shown in FIG.
That is, in the in-pipe traveling device, when the distance D changes, the spring force of the spring 107, that is, the elastic force, changes, so that the force with which the drive wheel 104 presses the inner surface of the pipe 101 changes, and therefore X-ray generation occurs. There is a problem that the traveling state of the device 103, that is, the traveling body becomes unstable. In an extreme case, the spring force of the spring 107 becomes insufficient and the drive wheel 104 spins idle, causing the X-ray generator 103 to move to the tube 1.
There was also a situation in which it was impossible to drive inside 01.

The above problem has been observed, for example, when the tube 101 bends in the vertical direction ZZ 'as shown in FIG. Specifically, in the portion A where the tube 101 bent upward is bent in the horizontal direction, the X-ray generator 103 and the tube 1
The distance D1 from the inner surface of 01 is wider than the distance D0 between the X-ray generator 103 in the horizontal state and the inner surface of the tube 101, so that the spring force of the spring 107 becomes insufficient. There is a problem that the X-ray generator 103 cannot run on the curved portion A.

The present invention has been made in view of the above problems, and always keeps the traveling body stable even when the distance between the traveling body traveling in the pipe and the inner surface of the pipe changes. It is an object of the present invention to provide a pipe traveling device and a pipe inspection device that can travel in a pipe.

[0008]

Means for Solving the Problems (1) In order to achieve the above object, an in-pipe traveling device according to the present invention includes a traveling body arranged in the pipe, and a drive wheel that rotates by contacting an inner surface of the pipe. And a pressing means that is provided on the opposite side of the drive wheel with respect to the traveling body and presses the inner surface of the pipe, and the pressing means has a space between the traveling body and the inner surface of the pipe. It is characterized in that a constant pressing force is generated even when it changes.

According to this structure, even when the distance between the traveling body running in the pipe and the inner surface of the pipe changes due to the bending of the pipe or the like, the drive wheel always keeps the inner surface of the pipe at a constant pressure. Since it is pressed, the traveling of the traveling body is always maintained in a stable state. For example, it is possible to prevent an excessive load from being applied to the drive wheels due to excessive pressure, or it is possible to prevent the drive wheels from idling and becoming unable to travel due to insufficient pressure. Further, according to the present invention, since the drive wheels can always press the inner surface of the pipe with a constant pressure, the traveling body can be run inside the pipe even when the pipe bends in the vertical direction.

(2) In the in-pipe traveling device having the above-mentioned configuration, the pressing means includes a contactor that comes into contact with the inner surface of the pipe, and a pneumatic cylinder or hydraulic pressure that moves the contactor toward or away from the traveling body. It can be configured with a cylinder. The pneumatic cylinder is a cylinder device having a structure in which a cylinder rod to which a contact is attached is expanded and contracted by air pressure. The hydraulic cylinder is a cylinder device having a structure in which a cylinder rod to which a contact is attached is expanded and contracted by hydraulic pressure. In these cylinder devices, regardless of the expansion / contraction amount of the cylinder rod,
That is, regardless of the protruding length of the contactor, the pressure with which the contactor presses the tube can be kept constant.

(3) In the in-pipe traveling device having the above structure, it is preferable that the pressing means has a pressure adjusting means for changing the pressing force. With this configuration, the force with which the drive wheels press the inner surface of the pipe can be appropriately set according to the size of the inner diameter of the pipe, the weight of the traveling body, and the like. As such a pressure adjusting means, for example, a pressure control valve or the like used in the technology of pneumatic control or hydraulic control can be used.

(4) In the in-pipe traveling device having the above structure, it is desirable that the pressure adjusting means can change the pressing force from the outside of the pipe, that is, can adjust the pressing force. This can be achieved, for example, by arranging a pressure control valve for adjusting the pneumatic or hydraulic pressure outside the pipe so that the pressure control valve can be adjusted outside the pipe. According to this configuration, when the friction coefficient of the inner surface of the pipe changes inside the pipe, or when the inclination angle of the pipe changes along the axial direction of the pipe, the force of the contactor pressing the inner surface of the pipe. Can be adjusted from the outside in a timely manner according to changes in the inclination angle of the pipe. As a result, the traveling body can always be stably driven even when the state of the pipe changes.

(5) In the in-pipe traveling device having the above-mentioned structure, the pressing means includes a contactor that comes into contact with the inner surface of the pipe, and a pneumatic cylinder that moves the contactor toward or away from the traveling body. It can be constituted by a container containing air or an inert gas supplied to the pneumatic cylinder, and in this case, the container can be supported by the traveling body. According to this structure, the air piping system does not extend to the outside of the pipe, so that the handling of the air piping system becomes very easy. As the above-mentioned inert gas, for example, nitrogen, argon, helium or the like can be used.

(6) Next, the pipe inspection apparatus according to the present invention has the in-pipe traveling device having the above-described configuration, and the traveling body included in the in-pipe traveling device includes X-ray generating means. Further, the X-ray generating means emits X-rays in a direction transverse to the axis of the tube, that is, in a radial direction or a sectional direction of the tube.

According to the pipe inspection apparatus having this structure, for example, by winding, that is, arranging the X-ray detection body such as an X-ray film on the outer side of the measured portion of the pipe, whether the pipe has a welding defect or not. Can be inspected. More specifically, if there is a welding defect at the measured portion of the pipe, when the portion is irradiated with X-rays from the inside, the X-ray detector is exposed by the X-ray through the welding defect of the pipe. Therefore, by inspecting the X-ray detector for an X-ray exposure image, it is possible to inspect whether the pipe has a welding defect.

[0016] Further, not only can the inspection device having the traveling body be stably run, but the pipe inspection device can be stopped quickly and accurately at a predetermined inspection point, that is, at the joint of the pipes, and the pipe can be stably maintained. Since the inspection device can be set at a predetermined position, it is possible to irradiate X-rays without changing the irradiation position of X-rays on the inspection location. Therefore, highly accurate inspection data can be obtained, and the pass / fail judgment of the welded portion of the pipe joint can be performed quickly and accurately. In particular, the effect is great in the inspection when the pipe is bent in the vertical direction.

(7) The in-pipe traveling device having the above-mentioned configuration may have a second wheel provided at a position different from the drive wheel in the axial direction of the tube, and the second wheel of the pipe is provided. It can be provided on both sides of the axis, and further, these second wheels can be provided so as to be able to turn about an axis in an intermediate position between the second wheels. According to this configuration, by providing the second wheel, the traveling body is
It is possible to drive more stably. Furthermore, since the second wheel is provided so as to be capable of turning, the traveling body can be run in a stable state even when the extended state of the pipe or the inner surface state of the pipe changes slightly.

(8) Further, in the in-pipe traveling device having the above-mentioned structure for supporting the second wheel so as to be able to turn, whether the turning center axis at the intermediate position of the second wheel intersects with the axis of the tube. Or it is desirable to be in the vicinity. In this way, when the extending state of the pipe or the inner surface state of the pipe changes subtly, the second wheel can be accurately and subtly moved in accordance with the changes.

(9) Further, a so-called omni wheel as shown in FIG. 5 can be used as the second wheel. Here, the omni-wheel generally includes a plurality of rotating wheels integrally assembled to function as one wheel as a whole, and the whole is rotatable about one main axis, and each of the rotating wheels has the main shaft. The wheel is structured so that it can rotate in a direction perpendicular to the direction of rotation about the line.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) FIG. 1 shows an embodiment in which the in-pipe traveling device according to the present invention is applied to a pipe inspection device using X-rays. FIG. 2 shows a plan view of the pipe inspection device. The pipe inspection apparatus 1 shown here is installed inside the pipe 2. It is considered that the tube 2 is often formed in a cylindrical shape, that is, a circular cross section, but in some cases, it may be formed in a rectangular tube shape, that is, a rectangular cross section, or may be formed in any other cross section. You can also

The pipe inspection device 1 of the present embodiment has a traveling body 6 composed of an X-ray generator 3 and a support frame 4.
Have. The X-ray generator 3 is fixed to a fixture 7 fixed to the support frame 4 and a fixing overhanging portion 8 provided on the support frame 4 by screws or other fixing means.

As shown in FIG. 1, a filament 9 and a target 11 are provided inside the X-ray generator 3.
The surroundings of the target 11 are maintained in a depressurized state, for example, a vacuum in order to enhance the generation efficiency of X-rays. Further, a radiator 12 for cooling the target 11 is provided near the target 11 as cooling means. In addition, the high voltage generator 1 is placed in an appropriate place inside the X-ray generator 3.
3 is provided, and the filament 9 is connected to the output terminal of the high voltage generator 13.

On the tube wall of the X-ray generator 3 around the target 11, an X-ray passing window 14 made of a material capable of passing X-rays is provided over the entire circumference of the tube wall. As a result, the X-ray generator 3 can emit X-rays to the entire inner surface of the tube 2 in the circumferential direction. In some cases, a plurality of X-ray passing windows 14 may be provided around the central axis X0 of the X-ray generator 3 at appropriate angular intervals, for example, at equal angular intervals of 90 °. The X-ray generator 3 is preferably installed inside the tube 2 such that its central axis X0 coincides with the central axis X1 of the tube 2. However, the central axis X0 of the X-ray generator 3 and the central axis X of the tube 2
It may be different from 1.

As shown in FIG. 1, drive wheels 16 are provided on the bottom surface of the rear end of the support frame 4. FIG. 3 shows the end face of the pipe inspection device 1 according to the arrow I in FIG. As shown in FIG. 3, the drive wheel 16 is one wheel in the present embodiment, and the drive wheel 16 is located on the central axis X0 of the X-ray generator 3, that is, the axis X1 of the tube 2, as shown in FIG. Therefore, the central axis of rotation is provided so as to extend in the direction perpendicular to the central axis X0 of the X-ray generator 3. An electric motor 17 as a power source is provided outside the fixing overhanging portion 8 of the support frame 4, and an output shaft of the electric motor 17 and a rotating shaft of the drive wheel 16 are provided by a power transmission belt 18 as a power transmission means. It is connected.

In FIG. 1, a second wheel 23 is provided at a place different from the drive wheel 16 in the extending direction of the central axis X0 of the X-ray generator 3, that is, the axis X1 of the tube 2. As shown in FIG. 2, the second wheel 23, like the first wheel 16,
It is provided at a position coinciding with the central axis X0 of the X-ray generator 3 when viewed from above. In addition, in the case of the present embodiment, the second wheel 23 is configured by a so-called omni wheel. FIG. 4 shows the end face of the pipe inspection device 1 according to the arrow II in FIG. The second wheel 23 is attached to the bottom surface of the support frame 4 by a bracket 59, as shown in FIG.

An omni-wheel is generally a combination of a plurality of rotating wheels that function as one wheel as a whole, and the whole is rotatable about one main axis, and each rotating wheel is The wheel is structured so as to be rotatable in a direction perpendicular to the direction of rotation about the main axis.

The omni wheel used as the second wheel 23 in this embodiment is constructed as shown in FIGS. 5 and 6. FIG. 5 is a front view of the second wheel 23, and FIG. 6 is a side view according to the arrow III in FIG. The support frame 4 supported by the second wheel 23, and thus the traveling body 6, travels in the direction perpendicular to the plane of FIG. 5, that is, in the direction indicated by the arrow H in FIG.

As shown in FIG. 5, the omni wheel which constitutes the wheel 23 has a first wheel group 51 and second wheel groups 52 arranged on both sides of the first wheel group 51. The first wheel group 51 and the second wheel group 52 integrally rotate about the main axis X5, and the rotation causes the traveling body 6 to travel in the direction perpendicular to the paper surface of FIG.

As shown in FIG. 6, the first wheel group 51 has four rotary wheels 53 provided at equal angular intervals of approximately 90 °. The second wheel group 52 has four rotating wheels 54 provided at equal angular intervals of approximately 90 °. These rotary wheels 53, 54 are individually rotatable about their respective central axis lines X6. And this individual rotation is caused by the wheel 2
3 is a direction substantially perpendicular to the rotation direction of the whole 3. That is, when the traveling body 6 moves in the direction perpendicular to the traveling direction (that is, the direction of arrow H in FIG. 6), the rotating wheels 53 and 54 can rotate following the movement.

Further, in FIG. 6, the rotary wheel 53 of the first wheel group 51 and the rotary wheel 54 of the second wheel group 52 are provided in a positional relationship that complements each other's nonexistent portions. Specifically, the rotating wheel 54 of the second wheel group 52 is provided at an angular portion where the rotating wheel 53 of the first wheel group 51 does not exist, and conversely, the second rotating wheel 54 is provided.
The first position is at the angle portion of the wheel group 52 where the rotating wheel 54 does not exist.
A rotating wheel 53 of the wheel group 51 is provided. As a result, when the traveling body 6 moves along the pipe 2 in the direction of the arrow H in FIG. 6 and when the second wheel 23 rotates about the main axis X5, either the rotating wheel 53 or the rotating wheel 54 is used. However, the second wheel 23 is smoothly rotated because it always contacts the inner surface of the pipe 2.

The second wheel 23 has a circular cross section.
The inner diameter of the first wheel group 51 located at the center is larger than the outer diameter D2 of the second wheel group 52 located away from the center in order to make the rotation smooth.
It is slightly larger.

In FIGS. 1 and 2, a plurality of, in the present embodiment, four support columns 56 are provided on the side of the support frame 4, and side wheels 57 are provided on the top of these support columns 56. Each of the side wheels 57 is biased outward by a spring 58, and is elastically pressed against the inner surface of the tube 2 by this spring force. By these functions of the side wheels 57, the posture of the traveling body 6 in the pipe 2 is maintained in an upright state without tilting.

The arrangement position and the number of side wheels 57 are as follows.
The present invention is not limited to the illustrated embodiment and can be set arbitrarily. For example, only two can be provided on the left and right sides of the traveling body 6 when viewed from the traveling direction of the traveling body 6. Further, in FIG. 2, the position where the two front side wheels 57 contact the inner wall of the pipe 2 is the second position.
Although slightly displaced to the front side (that is, the left side in FIG. 2) of the main axis X5 of the wheel 23, the contact position of the side wheel 57 may be the same as the main axis X5, or the main axis X5. It may be the rear side (that is, the right side in FIG. 2).

As shown in FIGS. 3 and 4, air cylinder devices 19 as pressing means are fixed to both sides of the X-ray generator 3. The output rods 19a of these air cylinder devices 19 are directed in the opposite direction of the drive wheels 16 and the second wheels 23 (that is, the upward direction of FIGS. 3 and 4), and the lifting plate 21 is fixed to these output rods 19a. The contact ring 22 as a contactor is provided at a substantially central position of the lift plate 21.
Is provided. The contact ring 22 has a rotation center axis X.
4 is provided so as to form a right angle with the central axis X0 of the X-ray generator 3.

The air cylinder device 19 includes an output rod 19
Air intake port and output rod 19 for extending a
and an air intake port for shrinking a. Figure 1,
The states shown in FIGS. 3 and 4 show a state in which air is supplied to the air intake port for retracting the output rod 19a and the output rod 19a is retracted toward the X-ray generator 3. In this contracted state, the contact wheel 22 is separated from the inner surface of the tube 2.

On the other hand, when air is supplied to the air intake port for extending the output rod 19a, the output rod 19
a moves so as to extend outward, and at this time, the contact wheel 22
Abuts the inner surface of the tube 2 as indicated by the dashed line in FIG. At this time, the pressure with which the contact wheel 22 presses the inner surface of the tube 2 is determined according to the pressure of the air supplied to the air cylinder device 19. Therefore, if the pressure of the air supplied to the air cylinder device 19 is maintained at a constant value, the X-ray generator 3 and the tube 2
Even if the distance between the inner surface of the tube 2 and the inner surface of the tube 2 changes, the pressure at which the contact wheel 22 presses the inner surface of the tube 2 can be maintained at a constant value.

In FIG. 1, a camera 24 as a photographing means is fixed at an appropriate position on the upper surface of the X-ray generator 3.
The camera 24 takes an image of the inner surface of the tube 2 at a position facing the camera 24.

FIG. 7 shows an embodiment of an air piping system and an electric control system of the pipe inspection device according to the present invention. In FIG. 7, a camera 24, a high voltage generator 13, a motor 17
The respective elements of the air cylinder 19 are the elements indicated by the same reference numerals in FIG. The output of the camera 24 is input to the video circuit 25 through the signal line 31, the video circuit 25 generates a video signal suitable for the video display device 26, and supplies the video signal to the video display device 26. The video display device 26 is
It can be configured by a CRT (Cathode Ray Tube), a liquid crystal display, a plasma display, an EL (Electroluminescence) display, or any other image display device having any configuration.

High voltage generator 13 for generating X-rays
Power source 2 through power supply line 32a through switch 27a
8 is connected. When the switch 27a is in the ON state, the power supply 28 supplies a predetermined voltage to the high voltage generator 13.
Further, when the switch 27a is in the OFF state, the voltage supply from the power supply 28 is cut off. The input terminal of the motor 17 for rotating the drive wheel 16 is connected to the power supply 28 through the switch 27b and the power supply line 32b. When the switch 27b is in the ON state, the power supply 28 supplies a predetermined voltage to the motor 17. Further, when the switch 27b is in the OFF state, the voltage supply from the power source 28 is cut off.

The air cylinder device 19 for pressing the contact wheel 22 against the pipe wall is connected to the air control device 34 through the air pipe 33 via the electromagnetic valve 29. Air control device 3
Air is supplied to 4 from a compressor 36. The air control device 34 is, for example, various air control devices such as a pressure control valve for adjusting the pressure of the air, a water draining device for draining water contained in the air, and a pressure maintaining device for keeping the air pressure constant. It is composed of elements.

An operation input device 38 is connected to the controller 37. The controller 37 is the operation input device 3
Switch 27a, switch 27b according to the instruction from 8.
Also, it controls ON / OFF of the solenoid valve 29. Further, the controller 37 controls the pressure control valve in the air control device 34, that is, the pressure of air according to an instruction from the operation input device 38.

Hereinafter, an inspection method using the pipe inspection apparatus having the above configuration will be described.

In FIG. 8, two tubes 2 to be inspected
Are bent at an angle of approximately 90 °, and their ends are joined to each other at a joining portion T by, for example, a welding process. The entire joined tube 2 is
It is arranged vertically between the lower end E and the upper end G in the vertical direction, for example, in the ground, in the air, or in the water. The pipe inspection apparatus according to the present embodiment has a connecting portion T of the pipe 2.
It is used for inspecting whether or not the joining is normal, in other words, whether or not there is an unnecessary welding defect in the connecting portion T.

First, prior to the inspection, an X-ray detector, for example, an X-ray film 39 is wound around the connecting portion T.
The X-ray film 39 is formed, for example, by laminating a material that is sensitive to X-rays to a uniform thickness on a flexible base material. Next, the pipe inspection device 1 shown in FIG.
Is inserted into the tube 2 from the lower end E of the tube 2. Signal line 31, power supply line 32a, power supply line 32 extending from the pipe inspection body 1
b and the air tube 33 are pulled out to the outside of the tube 2. The operator takes a picture by the camera 24 and the video display device 2
The operation input device 38 is operated while observing the inner surface of the tube 2 displayed in 6.

The operation of the operator performed using the operation input device 38 will be specifically described. First, the operator controls the pressure control valve in the air control device 34 to control the air pressure to be supplied to the air cylinder device 19. Decide The air pressure at this time is determined according to how large the drive wheel 16 pushes the inner surface of the pipe 2, in other words, how much the traveling propulsive force by the drive wheel 16 is set.

After the air pressure is determined, the operator opens the air supply passage from the air control device 34 to supply air to the air cylinder device 19. Then, in FIG. 1, the output rod 19a of the air cylinder device 19 extends and the contact wheel 22 contacts the inner surface of the upper side of the pipe 2. Contact wheel 2 at this time
The pressure at which 2 presses the inner surface of the tube 2 depends on the air pressure determined above. When the contact wheel 22 pushes the inner surface of the upper side of the tube 2, the drive wheel 16 presses the inner surface of the lower side of the tube 2 with the same pressure by its reaction force.

Next, the operator operates the operation input device 38 in FIG. 8 to operate the motor 17 to rotate the drive wheels 16. As a result, traveling propulsive force is generated and the pipe inspection device 1 travels toward the inner side of the pipe 2 as indicated by arrow F. An omni wheel is provided as a second wheel on the front side of the traveling body 6, so that the traveling body 6 can move freely not only in the traveling direction but also in the direction perpendicular to the traveling direction, and as a result, the traveling body 6 can move freely. It can run in 2 stably. While the pipe inspection device 1 travels in the pipe 2, the operator observes the inner surface of the pipe 2 photographed by the camera 24 with the image display device 26, so that the pipe inspection device 1 travels in the pipe 2. Determine what you are doing.

Consider a case where the pipe inspection device 1 reaches the rising start portion V of the pipe 2. At this time, the distance D1 between the central axis of the X-ray generator 3, that is, the central axis X0 of the tube inspection apparatus 1 and the upper inner surface of the tube 2 is the same as the distance D at the end E.
It becomes narrower than 0. That is, D1 <D0.

When the distance between the pipe inspection device 1 and the inner surface of the pipe 2 becomes narrow in this way, the contact ring 22 is pushed by the inner surface of the pipe 2 and the output rod 19a of the air cylinder device 19 causes the output rod 19a of the X-ray generator. It shrinks and moves to the 3 side. However, even in this case, the output pressure of the air cylinder device 19, that is, the pressure at which the contact wheel 22 pushes the inner surface of the tube 2 maintains the pressure set at the beginning.

When the spring 107 is used as the pressure generating means as in the conventional device shown in FIG. 14, the rising start portion V of FIG.
When the distance between the pipe inspection device 1 and the inner surface of the pipe 2 is narrowed as described above, the spring pressure increases and the pressing force of the contact ring 22 becomes excessive, and the traveling of the pipe inspection device 1 becomes unstable. However, inconveniences such as damage to parts may occur. On the other hand, in the present embodiment, since the pressing force of the contact ring 22 can be maintained constant regardless of the distance between the pipe inspection device 1 and the pipe 2, it is possible to reliably avoid the inconvenience described above. it can.

When the pipe 2 bends upward substantially vertically as shown in FIG. 8, when the traveling propulsive force by the drive wheels 16 must be increased at the rising portion J as compared with the case of horizontal traveling. There may be In this case, it is necessary to increase the pressure with which the drive wheel 16 pushes the inner surface of the tube 2. At this time, the operator operates the operation input device 38 on the outside of the pipe 2 when the operator confirms that the pipe inspection device 1 has reached the rising start portion V by judging from the image from the camera 24, and performs air control. The pressure of the air supplied from the device 34 can be increased.

Next, when the pipe inspection device 1 reaches the connecting portion T in FIG. 8, the operator can confirm this based on the image from the camera 24. In this case, the operator operates the operation input device 38 to stop the motor 17 and stop the pipe inspection device 1 at the connecting portion T. And
In FIG. 1, the high voltage generator 13 in the X-ray generator 3 is activated to heat the filament 9 and generate thermoelectrons therefrom.

The generated electrons collide with the conical outer peripheral surface of the target 11, and X-rays are generated from the collision area, that is, the X-ray focal point. The X-rays thus generated are radiated to the outside of the X-ray generator 3 through the X-ray passing window 14,
A line is applied to the connecting portion T of the tube 2 in FIG. 8 from the inside. At this time, if a welding defect, that is, a connection defect is present in the connecting portion T, the X-ray passes through the welding defect and X
The relevant portion of the line film 39 is exposed, whereby an X-ray latent image corresponding to the size of the welding defect is formed on the relevant portion. Later, by detecting this X-ray latent image with a predetermined X-ray reader, it is possible to detect that the tube 2 has a welding defect.

The inspection using X-rays as described above is completed by X-ray irradiation for an appropriate time determined according to the X-ray intensity, the thickness of the tube 2 and the like. For example, X-ray intensity, that is, X
The control voltage and current of the line generator is 200KV, 5mA,
When the thickness of the iron tube is 20 mm, the X-ray is irradiated for about 90 seconds. After that, the pipe inspection device 1 moves up the rising portion J of the pipe 2 again, and further advances to the horizontal portion through the portion A that bends horizontally. Considering the case where the pipe inspection device 1 reaches the horizontally curved portion A of the pipe 2, at this time, the central axis of the X-ray generator 3, that is, the central axis X of the pipe inspection device 1.
The distance D2 between 0 and the upper inner surface of the tube 2 is wider than the distance D0 at the end E. That is, D2> D0.

When the distance between the pipe inspection device 1 and the inner surface of the pipe 2 is widened in this way, the output rod 19a of the air cylinder device 19 extends from the X-ray generator 3 and moves so that the contact wheel 22 moves. Move along the inner surface of the upper part of. Even when the distance is widened in this way, the output pressure of the air cylinder device 19, that is, the pressure at which the contact wheel 22 pushes the inner surface of the pipe 2 is
Maintain the initially set pressure.

When the spring 107 is used as the pressure generating means as in the conventional device shown in FIG. 14, the space between the pipe inspection device 1 and the inner surface of the pipe 2 is widened like the horizontally bent portion A in FIG. Then, the spring pressure decreases and the pressing force of the contact wheel 22
Therefore, the pressing force of the drive wheels 16 becomes insufficient, and the running of the pipe inspection device 1 may become unstable. In some cases, it is possible that the drive wheels 16 run idle and traveling becomes impossible. On the other hand, in the present embodiment, since the pressing force by the contact wheel 22 can be maintained constant even if the interval is wide, it is possible to reliably avoid the occurrence of the inconvenience such as the above-described running instability.

The pipe inspection device 1 which has moved to the horizontal portion of the pipe 2 as described above is then retracted in the pipe 2 and the end portion E.
Recovered from. Further, when another pipe 2 is joined to the upper end G, the inspection is continued by traveling to the next connecting portion, that is, the portion to be inspected.

As described above, the pipe inspection device 1 of this embodiment
According to this, even if the pipe 2 bends or the inner diameter of the pipe 2 changes, the drive wheel 16 always presses the inner surface of the pipe with a constant pressure, so that the traveling of the traveling body 6 is always maintained in a stable state. For example, it is possible to prevent an excessive load from being applied to the drive wheels 16 due to excessive pressure, or it is possible to prevent the drive wheels 16 from idling and becoming incapable of traveling due to insufficient pressure. Further, since the drive wheel 16 can always press the inner surface of the pipe 2 with a constant pressure, the pipe inspection device 1 of the present embodiment can travel inside the pipe 2 even when the pipe 2 bends in the vertical direction. .

(Second Embodiment) FIG. 9 shows another embodiment of the pipe inspection apparatus according to the present invention. The pipe inspection apparatus 41 shown here is different from the pipe inspection apparatus 1 shown in FIG.
An air container containing compressed air, that is, a cylinder 42
The line generator 3 and thus the traveling body 6 are fixed and integrated, and the cylinder 42 is connected to the air cylinder device 19 by the air supply passage 4
That is, air is supplied through No. 3. In FIG. 9, the same members as those shown in FIG. 1 are designated by the same reference numerals, and detailed description thereof will be omitted.

According to the present embodiment shown in FIG. 9, the troublesome process of pulling out the air supply system to the outside of the tube 2 is not necessary, and therefore the inspection work becomes very simple.
However, in the case of this embodiment, it may be difficult to adjust the pressure of the air supplied from the cylinder 42 to the air cylinder device 19 from the outside of the pipe 2, so that the output pressure of the air cylinder device 19 should not be changed. It is convenient for various applications.

(Third Embodiment) FIGS. 10 to 13 show still another embodiment of the pipe inspection apparatus according to the present invention. The pipe inspection apparatus 61 shown here is different from the pipe inspection apparatus 1 shown in FIG. 1 in that the second wheel 23 constituted by an omni wheel in FIG. 1 is modified. The other elements are exactly the same as in the case of FIG. 1, and therefore, the same reference numerals are used and the description thereof is omitted.

The second wheel 63 used in this embodiment is shown in FIG.
As shown in FIG. 1, one is provided on each side of the center axis X0 of the X-ray generator 3, that is, the axis X1 of the tube 2. Figure 1
3 shows the end face of the pipe inspection device 61 according to the arrow II in FIG. As shown in FIG. 13, the pair of second wheels 63 can freely rotate about the axis X2 at the intermediate position between them as indicated by arrow B.

In the case of this embodiment, the axis line X2 is the central axis line X0 of the X-ray generator 3, and therefore the tube 2 as shown in FIG.
It intersects with the axis line X1 of or is located in the vicinity thereof.
The second wheel 63 can freely rotate about the rotation axis X3. Further, the outer peripheral surface of the second wheel 63 is formed in a taper shape that approximates the inner surface of the tube 2 or in an arc shape that substantially matches the inner surface of the tube 2.

As shown in FIG. 11, the drive wheel 16 is provided at a position that coincides with or substantially coincides with the central axis X0 of the X-ray generator 3, and a pair of second wheels 63 is provided on both sides of the central axis X0. Thus, if the pipe inspection device 1 of the present embodiment is placed in the pipe 2, the pipe inspection device 1 automatically or only slightly rocks it back and forth, and the lowest part of the pipe 2, that is, the pipe 2 Can be placed in the center of the. Further, since the pair of second wheels 63 can freely rotate about the axis X2 at the intermediate position between them, the pipe 2
Even when the inner surface state of the pipe, such as the friction coefficient or the inclination, changes, the pipe inspection device 1 can be stably driven.

Further, in this embodiment, FIG. 11 and FIG.
As shown in FIG. 1, the driving wheel 16 is one wheel, the second wheel 63 is two wheels located on both sides of the axis X1 of the pipe 2, and the second wheels 63, 63 are centered on the axis X2 at an intermediate position between them. Since the pipe inspection device 1 can freely rotate, the pipe inspection device 1 can freely travel according to the inner surface state of the pipe 2.

Further, in the present embodiment, as shown in FIG. 11, since the second wheels 63 are provided on both the left and right sides of the central axis X0 of the traveling body 6, the traveling body 6 includes the drive wheels 16 and the second wheels 63.
The upright state can be maintained only by itself. Therefore, the side wheel 57 as in the embodiment shown in FIG. 2 may not be provided. However, for the sake of safety, the device 61 shown in FIG.
You may provide the side wheel 57 as shown in FIG.

(Other Embodiments) The present invention has been described above with reference to the preferred embodiments. However, the present invention is not limited to those embodiments, and within the scope of the invention described in the claims. It can be variously modified.

For example, in the embodiment shown in FIG.
Although the contact ring 22 is used as a contactor that comes into contact with and presses the inner surface of the contactor 22, this contactor does not necessarily have to rotate, and may be a contactor that makes sliding contact.

Further, in the embodiment shown in FIG. 1, the pneumatic cylinder is used as the pressing means for pressing the contact element against the inner surface of the tube, but a hydraulic cylinder may be used instead. In addition, in the embodiment shown in FIG.
Although it is a wheel, the drive wheel 16 may be a plurality of wheels.

In the embodiment shown in FIG. 5, a pressure control valve is provided inside the air control device 34 to change the pressure of the air supplied to the air cylinder device 19, that is, The structure is such that the force pressing the drive wheel 16 against the inner surface of the tube can be changed. However, instead of this, it is also possible to adopt a structure in which the pressure of the air supplied to the air cylinder device 19 is always maintained at a constant level.

Further, in the embodiment shown in FIG. 1, the pipe traveling device according to the present invention is applied to a pipe inspection device for inspecting a pipe joint using X-rays. It can also be applied to a pipe inspection device that does not use X-rays, can be applied to an inspection device that inspects some place other than the joints of pipes, and travels inside pipes for purposes other than inspection. It can also be applied when necessary.

[0072]

As described above, according to the in-pipe traveling device and the pipe inspection device of the present invention, the pipe bends,
Even if the inner diameter of the pipe changes, the driving wheel always presses the inner surface of the pipe with a constant pressure, so that the traveling body can always travel in a stable state. Further, since the drive wheels can always press the inner surface of the pipe with a constant pressure, the traveling body can be run inside the pipe even when the pipe bends in the vertical direction.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of each of a pipe traveling device and a pipe inspection device according to the present invention.

2 is a plan view of the device of FIG. 1. FIG.

FIG. 3 is an end view according to arrow I in FIG.

FIG. 4 is an end view according to arrow II in FIG.

5 is a front view of a second wheel that is a main part of the apparatus of FIG. 1. FIG.

6 is a side view according to the arrow III in FIG.

FIG. 7 is a block diagram showing an embodiment of an electric control system and a pneumatic control system used in the pipe traveling device and the pipe inspection device according to the present invention.

FIG. 8 is a cross-sectional view showing an example of use of the pipe inspection device according to the present invention.

FIG. 9 is a side view showing another embodiment of each of the in-pipe traveling device and the pipe inspection device according to the present invention.

FIG. 10 is a side view showing still another embodiment of each of the in-pipe traveling device and the pipe inspection device according to the present invention.

11 is a plan view of the device of FIG.

12 is an end view according to the arrow I in FIG.

13 is an end view according to the arrow II in FIG.

FIG. 14 is a cross-sectional view showing an example of a conventional pipe running device.

FIG. 15 is a cross-sectional view showing an example of use of a conventional pipe inspection device.

[Explanation of symbols]

1 Pipe inspection device 2 tubes 3 X-ray generator 4 Support frame 6 running bodies 7 Fixture 8 Overhanging part for fixing 9 filament 11 targets 14 X-ray passing window 16 drive wheels 19 Air cylinder device (pressing means) 22 Contact wheel (contactor) 23 Second wheel 24 cameras 39 X-ray film 41 Pipe inspection device 42 cylinder (container) 61 Pipe inspection device Part of the A pipe that bends horizontally Ascending part of J pipe T connection part Ascending start part of V pipe X0 X-ray generator central axis X1 tube axis X2 2nd wheel turning axis X3 second wheel rotation axis

Claims (6)

[Claims] 1. A traveling body disposed inside the pipe, a drive wheel that abuts on an inner surface of the pipe to rotate, and a drive wheel that is provided on the opposite side of the drive wheel with respect to the traveling body and presses the inner surface of the pipe. An in-pipe traveling device, comprising: a pressing unit, wherein the pressing unit generates a constant pressing force even when a distance between the traveling body and an inner surface of the pipe changes. 2. The pressing means according to claim 1, wherein the pressing means includes a contactor that contacts the inner surface of the pipe, and a pneumatic cylinder or a hydraulic cylinder that moves the contactor toward or away from the traveling body. An in-pipe traveling device characterized in that 3. The in-pipe traveling device according to claim 1 or 2, wherein the pressing means has a pressure adjusting means for changing the pressing force. 4. The in-pipe traveling device according to claim 3, wherein the pressure adjusting means can adjust the pressing force from the outside of the pipe. 5. The pressing member according to claim 1, wherein the pressing means contacts the inner surface of the pipe, a pneumatic cylinder that moves the contact in a direction toward or away from the traveling body, and the pneumatic cylinder. And a container containing air or an inert gas supplied to the traveling body, the container being supported by the traveling body. 6. An in-pipe traveling body according to at least one of claims 1 to 5, wherein the traveling body includes X-ray generating means, and the X-ray generating means includes an axis of the pipe. A tube inspection device characterized by emitting X-rays in a transverse direction.