JPS60213581A - Pipe inside travel device - Google Patents

Abstract

PURPOSE:To prevent a holding mechanism for holding a pipe inside travel device to the inner wall surface of a pipe, from failing and as well to aim at enhancing the reliability of the device, by forming the holding mechanism in a balloon type. CONSTITUTION:Each of holding mechanisms 1, 2 is composed of a circular holding coupling section 1a, 2a, a ring-like balloon holding section 1b, 2b removably attached to the coupling parts 1a, 2a, a ring-like balloon A, B attached to the outer periphery of the balloon holding section 1b, 2b,a guide section 3, 4 provided to the balloon holding section. One of the balloons is expanded to be made into close contact to the inner surface of a pipe 7 while the other balloon B is contracted to be disengaged from the inner surface of the pipe 7, and an air cylinder 5 is extended in this condition. In such a condition that the air cylinder 5 is fully extended, the balloon B is expanded to be made into close contact to the inner surface of the pipe 7, and as well the balloon A is disengaged from the inner surface of the pipe 7. In this condition the air cylinder 5 is retracted so that the entire device is moved by a distance corresponding to the stroke of the air cylinder 5.

Description

[Detailed description of the invention] Relating to mobile devices.

FIGS. 1 and 2 show a conventional intra-pipe moving device that is inserted into a pipe and is self-propelled and is applied to various tasks such as pipe inspection and foreign object collection.

The intra-tube moving device shown in FIG. 1 connects a driving moving body l01 having a cylinder mechanism and a moving body 102 with bins LO3 and 104 that are oriented 90 degrees in a tiltable manner, and each moving body l01 t. , J , (1 2 1=. It is equipped with a plurality of legs 106 and 107 that are separated from the inner surface of the duct lυ5 by a cylinder mechanism or a mechanical mechanism.

The intra-tube moving device shown in FIG. 2 has two structure in which legs i, 1, 1, 2 are provided on the case 309 side of the cylinder 108 and on the pistons J, 10 and 10, respectively, so that they can be opened and closed. .

These intra-pipe moving devices move the chair 41 intermittently within the pipe using one or more cylinders as a moving means, and when moving, one leg is mechanically pushed against the inner surface of the pipe. tension to secure the device itself within the pipe. However, these intraductal moving devices do not require mechanical tension. There are multiple mechanisms in the legs that make up the product, and the complexity of the mechanism makes it more likely to break down, and if it gets contaminated, it will be difficult to clean it.
Furthermore, there is a disadvantage that it becomes a large-sized and heavy-duty vehicle, which is unfavorable in terms of the performance of the mobile device.

The present invention was made in order to solve the above-mentioned drawbacks of conventional intra-pipe transfer devices, and provides an intra-pipe transfer device with a simple structure that uses fluid pressure to fix and move the device within the pipe. The purpose of the present invention is to provide a system for reducing malfunctions, facilitating cleaning, and improving performance of the pipe moving device.

The structure of the intraductal moving device according to the present invention that achieves the above object is that two holding devices each having an inflatable balloon on the outer periphery and a guide portion on the outer periphery are connected so as to be able to approach and separate using a fluid actuator. The balloon and the fluid actuator are each connected to a working fluid supply/discharge device.

EMBODIMENT OF THE INVENTION Hereinafter, the intraductal moving device according to the present invention will be described in detail based on an embodiment shown in the drawings.

FIG. 3 shows a schematic side view of an intraductal moving device according to an embodiment, and FIG. 4 shows a front view thereof.

The two holding devices 1 and 2 have the same configuration, and have a circular connecting portion 1a.
, 2a and the annular balloon holding part 1 removably attached to the connecting parts 1a, 2a on the circumference of the connecting parts 1a, 2a.
b, 2b, and balloon holding part 1. An annular balloon (air tubes IA, B) provided on the outer periphery of the balloon holding parts 1b, 2b and multiple locations (two locations in this example) on the front or rear surfaces of the balloon holding parts 1b, 2b. 3,
It consists of 4. Two holding devices l.

2 are connected to each other so as to be able to approach and separate from each other by connecting the connecting portions 1a and 2a via a universal stain intro using an air cylinder 5 as a fluid actuator.

The guide parts 3 and 4 are the balloon holding part 1b.

A guide holding frame 3a attached to 2b.

4a to spring 3b; 4. The guide holding parts 3c, 4c are provided elastically in the radial direction via the guide holding parts 3c, 4.
Spheres (for example, steel balls) 3d and 4d are rotatably provided on c as guide members. .

Since the spheres 3d and 4d make point contact with the inner surface of the tube 7, there is no problem in movement even if they are not rotatable, but smooth movement is ensured by making them rotatable. A control panel 8 and 3 controls the supply and discharge of air to the air cylinder 5 and the balloons A and B according to the moving direction of the intra-tube moving device. 9 is an air source, 10 is the atmosphere, 11.12 is an air supply/discharge pipe to the air cylinder 5, and 13.14 is an air supply/discharge pipe to balloons A and B.

In this device, the balloon holding parts 1b and 2b are bolted to the connecting parts 1a and 2a and can be attached and detached, so that the balloon holding parts 1b have different sizes depending on the size of the tube 7.

2b can be attached or replaced, making it compatible with various types of piping.

Next, the intraductal movement operation of the intraductal moving device will be explained.

One balloon A is inflated to bring it into close contact with the inner surface of the tube 7, while the other balloon B is deflated and separated from the inner surface of the tube 7, and in this state, the air cylinder 5 is extended. Since one of the holding devices 1 is fixed to the inner surface of the tube 7 by the balloon A,
A holding device 2 moves within the tube 7.

4- With the air cylinder 5 fully extended, balloon B is inflated to bring it into close contact with the inner surface of the tube 7, and balloon A is deflated and separated from the inner surface of the tube 7.

When the air cylinder 5 is retracted in this state, the holding device 1 is drawn toward the holding device 2, and the entire device is moved by the stroke of the air cylinder 5.

By repeating the above operations, the device is moved within the tube 7.

In addition, when the balloon A or B is deflated, the holding device 1 or 2
When moving, the sphere 3d or 4 of the guide part 3 or 4
d hits the inner surface of the tube 7, allowing smooth movement. Also, even if there is a gap on the inner surface of the tube 7, the guide portion 3,
4 spring 3b.

4b absorbs gaps, ensuring smooth movement. Furthermore, since the balloons A and B are annular and are in close contact with the entire circumference of the inner surface of the tube, the contact area is large, and therefore a high holding force can be obtained even when the air pressure is low. Therefore, movement is possible even if the direction of the beam changes three-dimensionally.

As described above in detail based on one embodiment, according to the intra-pipe moving device according to the present invention, the holding mechanism for the inner surface of the pipe is of a balloon type, which simplifies the structure and reduces failure (results in reliability). This improves performance, makes cleaning easier, and reduces weight, which increases operability.Also, the number of parts can be reduced, making it more economical to replace parts.The holding method uses air balloons to ensure tight contact around the entire circumference. Because it is a method, high holding force can be obtained with small air pressure, and it is also advantageous in terms of energy.

[Brief explanation of the drawing]

1 and 2 are a side view and a sectional side view of a conventional intraductal moving device, respectively, FIG. 3 is a schematic side view of an intraductal moving device according to an embodiment of the present invention, and FIG. 4 is a front view thereof. be. In the drawing, 1.2 is a holding device, la and 2a are connecting parts, lb and 2b are balloon holding parts, 3.4 is a guide part, 5 is an air cylinder, 6 is a universal joint, 7 is a pipe, 8 is the control panel, and A and B are the balloons. Patent applicant: Mitsubishi Heavy Industries, Ltd. Patent attorney: Shibu Mitsuishi (and one other person)

Claims (1)

[Claims] Two holding devices each having an inflatable balloon on the outer periphery and a guide portion near the outer periphery are connected by a fluid actuator so as to be able to approach and separate, and the balloon and the fluid actuator are each connected to a working fluid supply/discharge device. An intraductal moving device characterized by: