WO2012042921A1

WO2012042921A1 - Device for testing piping

Info

Publication number: WO2012042921A1
Application number: PCT/JP2011/053721
Authority: WO
Inventors: 廣瀬　茂男
Original assignee: 国立大学法人東京工業大学
Priority date: 2010-09-30
Filing date: 2011-02-21
Publication date: 2012-04-05
Also published as: JP2012076475A; JP4677595B1

Abstract

Provided is a device for testing piping, the device being capable of being moved in a desired direction in a bent pipe, a branched pipe, etc. using a simple configuration. This device for testing piping has at least one drive unit and at least one testing unit and can be inserted into piping to be tested. The drive unit has drive sections, connection sections, two maneuver cables which pass through the drive sections and the connection sections, and a tension adjustment section which adjusts the tension of the maneuver cables. Each of the drive sections is provided with an axle which can be rotated by a motor, and also with wheels which are attached to the axle. Each of the drive sections and a corresponding one of the connection sections are connected by a connection shaft so that the drive section and the connection section can pivot relative to each other.

Description

Pipe inspection equipment

The present invention relates to a pipe inspection apparatus for inspecting the inside of a pipe, and particularly relates to a pipe inspection apparatus configured to be inserted into the inside of a pipe.

Gas, water and sewage supply facilities, chemical plants, etc. require technology to inspect the inside of the piping. In order to inspect the inside of the pipe, it is preferable to insert an inspection device into the pipe.

Patent Document 1 and Non-Patent Document 1 describe examples of apparatuses for inspecting the inner surface of a pipe while moving inside the pipe.

US Pat. No. 5,172,639

Patent Document 1 and Non-Patent Document 1 describe a snake-like robot that can be propelled upward or downward along a pipe not only when the pipe is horizontally disposed but also when the pipe is disposed vertically. Has been.
In an apparatus for inspecting the inner surface of a pipe while moving inside the pipe, it is necessary to move the pipe in a desired direction using a branch pipe such as a Y-shaped tube or a T-shaped tube, or a bent pipe such as an L-shaped tube. In order to realize this, a snake robot has been developed as described above, but the structure becomes extremely complicated. In addition, it is necessary to cooperatively control a plurality of drive systems in accordance with the pipe shape, and the configuration of the control system becomes complicated.
Furthermore, it is difficult to reduce the size of the snake robot described in Patent Document 1 and Non-Patent Document 1.
An object of the present invention is to provide a pipe inspection apparatus having a simple structure and capable of being moved in a desired direction by a bent pipe, a branch pipe or the like.

The pipe inspection apparatus of the present invention has at least one drive unit and at least one inspection unit, and can be inserted into the pipe to be inspected.

The drive unit includes a plurality of drive units, a plurality of connection units, two drive cables passing through the drive unit and the connection units, and a tension adjusting unit that adjusts the tension of the control cable.

The drive unit has an axle that can be rotated by a motor, and wheels that are mounted on the axle, and the drive unit and the coupling unit are pivotally connected to each other by a coupling shaft.

By pulling the two control cables with the same tension, the drive unit is refracted in a zigzag shape, and each of the drive units goes straight in contact with the inner wall of the pipe.

By pulling the two control cables with different tensions, the drive units are refracted in a zigzag shape and arranged in a spiral shape, and each of the drive parts advances in a spiral manner in contact with the inner wall of the pipe. .

According to the present invention, it is possible to provide a pipe inspection apparatus that can be moved in a desired direction by a bent pipe, a branch pipe or the like with a simple structure.

It is a figure which shows the state which the piping inspection apparatus by this invention is moving in the inside of piping. It is a figure which shows the external appearance of the drive unit of the piping inspection apparatus by this invention. 3A, 3B, and 3C are diagrams illustrating a partial structure of the drive unit of the pipe inspection apparatus according to the present invention. 4A, 4B, and 4C are diagrams illustrating a state where the drive unit of the pipe inspection device according to the present invention is refracted in a zigzag shape. 5A, 5B, and 5C are diagrams illustrating a state in which the drive units of the pipe inspection apparatus according to the present invention are refracted in a zigzag shape and arranged in a spiral shape. 6A, 6B, and 6C are views showing a state in which the pipe inspection apparatus according to the present invention goes straight through the T-shaped pipe. 7A, 7B, and 7C are views showing a state in which the pipe inspection apparatus according to the present invention is bent around a T-shaped tube. It is a figure which shows the example of a structure of the drive part of a piping inspection apparatus by this invention, and a connection part.

An example of the pipe inspection apparatus of the present invention will be described with reference to FIG. The pipe inspection apparatus of this example includes at least one

drive unit

1A, 1B and at least one inspection unit 3. FIG. 1 illustrates two drive units, that is, first and

second drive units

1A and 1B. The pipe inspection apparatus of this example is configured to move inside the pipe 5. The inspection unit 3 includes an inspection device 30 and

cables

31 and 32 connected to both sides thereof. The inspection device 30 is loaded with an inspection element for inspecting the inner surface of the pipe. The inspection element varies depending on the content, purpose, and object of inspection. A connector 4 connects between the inspection unit 3 and the drive unit, and between the drive units.

A signal line for transmitting signals and a power cable for supplying power are connected to the

drive units

1A and 1B, but are omitted in FIG.

The first drive unit 1A will be described as an example. The first drive unit 1A includes a plurality of drive units 10A to 10E, a plurality of connection units 13A to 13D, and a tension adjusting unit 20. The illustrated drive unit 1A includes five drive units 10A to 10E and four connection units 13A to 13D, but the number of drive units and connection units may be the same or different. However, the drive unit 10A is connected to the head of the drive unit.

All the drive units 10A to 10E may have the same structure. The drive unit 10 A has an axle 101 and wheels 103. The axle 101 is connected to a motor (not shown). As the wheel 103 rotates, the drive unit 10A moves forward or backward. A motor may be connected to the axles of all the drive units, but in some drive units, the motors may not be connected to the axles. For example, in the last drive unit, the motor may not be connected to the axle. The detailed structure of the drive unit will be described later.

The two

steering cables

17A and 17B pass through the drive part and the connecting part. The two steering cables 17 A and 17 B penetrate from the leading drive unit to the rear drive unit, and the rear ends thereof are connected to the tension adjusting unit 20. The two steering cables 17 A and 17 B are pulled by the tension adjusting unit 20. The tension adjusting unit 20 can independently adjust the tension of the two

steering cables

17A and 17B. An example of the structure of the tension adjusting unit 20 will be described later.

The function of the two

control cables

17A and 17B will be described. By pulling the two

steering cables

17A and 17B with the same tension, the plurality of drive units 10A to 10E are refracted and arranged in a zigzag manner as shown in the figure. In the illustrated example, the wheel of the leading drive unit 10A is in contact with the inner surface of the wall 5A on one side of the pipe, and the wheel of the second drive unit 10B is the inner surface of the wall 5B on the other side of the pipe. Touching. The wheels of the odd-numbered

drive units

10A, 10C, 10E are in contact with the inner surface of the wall 5A on one side of the pipe, and the wheels of the even-numbered

drive units

10B, 10D are the wall 5B on the other side of the pipe. It is in contact with the inner surface. The wheels of the odd-numbered

drive units

10A, 10C, 10E rotate counterclockwise in FIG. 1, and the wheels of the even-numbered

drive units

10B, 10D rotate clockwise in FIG. Accordingly, the odd-numbered

drive units

10A, 10C, and 10E advance in the direction of the arrow a on the inner surface of the pipe wall 5A, and the even-numbered

drive units

10B and 10D move on the inner surface of the pipe wall 5B with the arrow a. Move forward in the direction.

By pulling the two

control cables

17A and 17B with different tensions, the plurality of drive units are bent in a zigzag manner and arranged in a spiral manner, and advance in a spiral manner in the pipe. This will be described in detail later. In the pipe inspection apparatus of this example, when the two

steering cables

17A and 17B are pulled with the same tension, each drive unit 10A to 10E goes straight on the inner wall of the pipe, but the two steering cables When pulling 17A and 17B with different tensions, the drive units 10A to 10E advance spirally on the inner wall of the pipe. In this example, the drive unit is always refracted in a zigzag shape by the tension of the two

control cables

17A and 17B and arranged in a straight line or a spiral shape, and the wheel of the drive unit always contacts the inner surface of the pipe. ing. The contact force for bringing the wheels of the drive unit into contact with the inner surface of the pipe depends on the magnitude of the tension of the two

steering cables

17A and 17B.

A method for advancing the pipe inspection apparatus of this example in a desired direction at a bent portion and a branch of the pipe will be described. In the bent part or branch of the piping, the drive part needs to satisfy the following condition (1). (1) The axle of the leading drive unit is arranged perpendicular to the plane including the center line of the pipe at the bent part or branch of the pipe. Furthermore, in branching of a pipe such as a T-shaped tube or a Y-shaped tube, the drive unit needs to satisfy the following condition (2). (2) The wheel of the leading drive unit is in contact with the inner wall on the inner peripheral side in the direction in which the pipe should travel in the branch of the pipe.

First, condition (1) will be described. In FIG. 1, the pipe 5 includes a bent portion 51 and a branch 52. In the bent portion 51, the plane including the center line of the pipe is parallel to the paper surface. Therefore, in the bending part 51, the axle 101 of the leading drive part 10A must be perpendicular to the plane including the center line of the pipe. That is, the axle 101 of the leading drive unit 10A must be perpendicular to the paper surface. Similarly, in the branch 52, the plane including the center line of the pipe is parallel to the paper surface. Therefore, at the branch 52, the axle 101 of the leading drive unit 10A must be perpendicular to the plane including the center line of the pipe. That is, the axle 101 of the leading drive unit 10A must be perpendicular to the paper surface. In the example of FIG. 1, in both the first drive unit 1 A that travels through the bent portion 51 and the second drive unit 1 B that passes through the branch 52, the axle 101 of the leading drive unit 10 A is perpendicular to the paper surface. . Therefore, the condition (1) is satisfied.

Next, condition (2) will be described. In the bending part 51, it shall bend to the right side of the advancing direction. In the bent part 51, the condition (2) is not necessary as described above. Therefore, it is not necessary that the wheel of the leading drive unit 10A is in contact with the inner surface of the inner peripheral wall 51B on the side where the pipe is bent. In the first drive unit 1A, the wheel of the leading drive unit 10A is in contact with the inner surface of the outer peripheral wall 51A. Therefore, the condition (2) is not satisfied. However, the wheel of the leading drive unit 10 A travels along the curved inner wall of the bent part 51 as it is.

Suppose that the branch 52 turns to the left in the traveling direction. Therefore, it is necessary that the wheel of the leading drive unit 10A is in contact with the inner surface of the inner peripheral wall 52A on the side where the pipe is bent. In the second drive unit 1B, the wheel of the leading drive unit 10A is in contact with the inner surface of the inner peripheral wall 52A. Therefore, the condition (2) is satisfied.

The operation of the pipe inspection apparatus of the present invention will be described. In order to operate the pipe inspection apparatus of this example, it is first necessary to obtain design data or CAD data of the pipe to be inspected. Next, the operator presets the movement route of the pipe inspection device. That is, the start point and end point on the piping network are set, and then the bending direction of the bent pipe and the branching direction of the branch pipe included in the piping network between the start point and the end point are detected in advance. Thus, when the information regarding the route is obtained, the pipe inspection device is inserted into the start point, that is, from the entrance of the pipe. By driving the drive unit of the drive unit, the pipe inspection device is self-propelled in the pipe.

When the pipe inspection device enters the pipe, it is necessary to detect the position of the head drive unit in real time. In order to detect the position of the head drive unit, the length of the pipe inspection device that has entered the pipe may be obtained. This is obtained from the number of drive units and inspection units inserted into the pipe at the inlet of the pipe. The lengths of the drive unit and the inspection unit are each known. Here, the length of the drive unit is a length obtained by measuring the drive unit refracted in a zigzag shape or a spiral shape in the pipe along the center line of the pipe. By multiplying the length of the drive unit by the number, the total length of the drive unit is obtained. By multiplying the length of the inspection unit by the number, the total length of the inspection unit is obtained. The sum of both is the length of the pipe inspection device inserted into the pipe. In order to measure the length of the pipe inspection apparatus that has entered the pipe, a special cable for measuring the length may be used.

Thus, if the length of the pipe inspection apparatus inserted into the pipe is obtained, the position of the head drive unit of the pipe inspection apparatus can be obtained from the pipe design data.

When the head drive part of the pipe inspection device approaches the bent part or branch of the pipe, it is necessary to detect the direction of the axle of the head drive part. According to the pipe inspection apparatus of this example, the head drive unit is provided with an attitude detection sensor for detecting the direction of the axle. The posture detection sensor may be an accelerometer, for example. The direction of the axle of the leading drive unit detected by the attitude detection sensor is transmitted to the operator in real time. For example, the signal cable connected to the attitude detection sensor of the leading drive unit extends to the entrance of the pipe along the pipe inspection device. The operator can obtain the output of the attitude detection sensor via this signal cable. The posture detection sensor is provided in the drive unit at the tip of each drive unit. Therefore, the position of the drive unit at the tip of each drive unit can be obtained in real time.

The operator determines whether or not the first condition is satisfied when the leading drive unit of the pipe inspection apparatus approaches the bent part of the pipe. The operator determines whether or not the first and second conditions described above are satisfied when the leading drive unit of the pipe inspection device approaches the branch of the pipe. The leading drive unit may be provided with an imaging device that images the inside of the pipe, for example, a CCD camera. When the first condition is not satisfied, it is necessary to rotate the leading drive unit so that the axle of the leading drive unit is perpendicular to the plane including the center line of the pipe. In order to rotate the leading drive unit, the leading drive unit may be spirally advanced. In order to advance the leading drive portion in a spiral shape, the two

steering cables

17A and 17B may be pulled with different tensions.

When the second condition is not satisfied, the axle direction of the leading drive unit is rotated so that the axle of the leading drive unit contacts the inner wall on the inner peripheral side of the pipe in the direction to travel. There is a need. In order to rotate the direction of the axle of the leading drive unit, the leading drive unit may be spirally advanced. In order to advance the leading drive portion in a spiral shape, the two

steering cables

17A and 17B may be pulled with different tensions. Thus, by pulling the two

steering cables

17A and 17B with different tensions, the above two conditions can be satisfied. The operator can confirm whether or not the first condition is satisfied from the signal output from the attitude detection sensor of the leading drive unit immediately before the bent portion of the pipe. The operator can confirm whether or not the first and second conditions are satisfied from the signal output from the attitude detection sensor of the leading drive unit immediately before the branching of the pipe.

Fig. 2 shows an example of a drive unit. The drive unit of this example includes a plurality of drive units 10A to 10E, a plurality of connection units 13A to 13D, and a tension adjusting unit 20. Two

steering cables

17A and 17B pass through the drive part and the connecting part. A connector 4 is connected to the front end and the rear end of the drive unit. The two steering cables 17 A and 17 B penetrate from the leading drive unit to the rear drive unit, and the rear ends thereof are connected to the tension adjusting unit 20. Two

steering cables

17A and 17B are provided with

springs

18A and 18B. These

spring rods

18A and 18B are respectively stored inside the tube wires. Therefore, tension can be generated in the two

steering cables

17A and 17B without changing the length of the drive unit between the connectors 4 by the pulling force of the two

springs

18A and 18B.

The tension adjusting unit 20 includes a reel 21 and a wheel 22 for winding the

steering cables

17A and 17B. The reel 21 is rotated by a motor (not shown). The two

control cables

17A and 17B can be wound up in opposite directions by the reel 21. The rotation of the reel 21 can change the balance of tension between the two control cables. As described above, in order to advance the leading drive unit in a spiral shape, the two

steering cables

17A and 17B may be rotated in one direction so as to have different tensions. In the case where the drive unit is moved linearly, the rotation angle of the reel 21 may be adjusted so that the two

steering cables

17A and 17B have the same tension.

A mechanism for pulling the

control cables

17A and 17B with separate reels may be used. In this case, it is necessary to double the reel drive mechanism, and it is necessary to always pull the cable while moving the pipe, and energy is always required. However, in this case, since not only the balance of the tension of the

steering cables

17A and 17B but also the tension itself is variable, the inner wall of the pipe of each wheel according to the movement state in the pipe or when pulling out from the pipe. This produces an effect that the contact force to be brought into contact with can be adjusted.

Further, the same effect as the mechanism of pulling the

steering cables

17A and 17B with separate reels is obtained, and the reel 21 and the wheel 22 for winding the

steering cables

17A and 17B are arranged in the length direction of the drive unit between the connectors 4. It can also be realized by introducing a drive system that moves and changes the tension of the

steering cables

17A and 17B at the same time.

An example of the structure of the drive unit will be described with reference to FIGS. 3A, 3B, and 3C. 3A is a perspective view illustrating a part of the drive unit, FIG. 3B is a diagram illustrating a side configuration of a part of the drive unit, and FIG. 3C is a diagram illustrating a planar configuration of a part of the drive unit. Here, only the three connecting

portions

13A, 13B, and 13C and the second and

third driving portions

10B and 10C are shown. Furthermore, only a part of the structure of each drive unit is shown. The second drive unit 10B in FIG. 3A will be described. Although the wheel is mounted on the axle 101, the illustration is omitted.

Arms

105 and 106 are pivotally mounted on the axle 101. One arm 105 is attached to the connecting portion 13B on the rear side. The other arm 106 is connected to the front connecting portion 13 A via the connecting shaft 15.

The center axis of the axle 101 is orthogonal to the center axis of the rear connecting portion 13B. The central axis of the connecting shaft 15 is orthogonal to the central axis of the front connecting portion 13A. The central axis of the axle 101 is perpendicular to the central axis of the connecting shaft 15. The axle 101 and the connecting shaft 15 form a gimbal structure. With this gimbal structure, the two connecting

portions

13A and 13B can be pivoted with respect to each other around the central axis of the axle 101, and the connecting portion 13A and the driving portion 10B can be mutually connected around the central axis of the connecting shaft 15. Can pivot with respect to others.

The two

steering cables

17A and 17B penetrate the

drive units

10B and 10C and the coupling units 13A to 13C. The connecting portions 13A to 13C are formed with holes through which the two

steering cables

17A and 17B pass. The two

steering cables

17A and 17B are restrained by holes provided in the connecting portions 13A to 13C. Accordingly, the positions and paths of the two

steering cables

17A and 17B in the connecting portions 13A to 13C are constant.

In this example, the two

control cables

17A and 17B are not pulled. Accordingly, the connecting portions 13A to 13C are arranged along one straight line. When the pipe inspection device is actually moved in the pipe, the two

steering cables

17A and 17B are always pulled. The pipe inspection apparatus shown in FIGS. 3A, 3B, and 3C shows a state where the pipe inspection apparatus is not yet inserted into the pipe.

As shown in FIG. 3B, assuming a plane perpendicular to the axle 101 of the drive unit and projecting the two

steering cables

17A and 17B on this plane, they overlap each other. The projection lines of the two

steering cables

17A and 17B run along the diagonal line in the connecting portion, and alternately pass through one side of the driving portion in the driving portion. As shown in FIG. 3C, assuming a plane perpendicular to the connecting shaft 15 and projecting the two

steering cables

17A and 17B on this plane, they run in parallel at the connecting portion and intersect at the driving portion. ing.

The operation of the drive unit will be described with reference to FIGS. 4A, 4B, and 4C. In this example, the two

steering cables

17A and 17B are pulled by the same tension. Therefore, as shown in FIG. 4B, when the two

steering cables

17A and 17B are projected onto a plane perpendicular to the axle 101 of the drive unit, the projection lines of the two steering cables are compared with the case of FIG. 3B. Is linearized. That is, by pulling the two

steering cables

17A and 17B with the same tension, the connecting portions 13A to 13C pivot about each other around the central axis of the axle 101. As a result, as shown in FIG. 4B, the driving

units

10B and 10C and the coupling units 13A to 13C are refracted in a zigzag shape. As shown in FIG. 4C, the

drive units

10B and 10C and the connecting portions 13A to 13C are not pivoted around the central axis of the connecting shaft 15. In this example, when the wheel of the drive unit rotates, the drive unit moves linearly along the inner wall of the pipe with the wheel in contact with the inner wall of the pipe.

The operation of the drive unit will be described with reference to FIGS. 5A, 5B, and 5C. In this example, the two

steering cables

17A and 17B are pulled by different tensions. As shown in FIG. 5B, the two connecting parts pivot around each other around the axle 101 of the driving part. Further, as shown in FIG. 5C, the driving part and the connecting part pivot around each other around the connecting shaft 15. is doing. Therefore, the pipe inspection device is refracted in a zigzag shape and arranged in a spiral shape. In this example, when the wheel of the drive unit rotates, the drive unit spirally moves along the inner wall of the pipe in a state where the wheel contacts the inner wall of the pipe.

Referring to FIGS. 6A, 6B, and 6C, the case where the pipe inspection apparatus of this example moves a branch will be described. It is assumed that the branch pipe 6 is connected from the pipe 5 to the branch 52. In this example, immediately before the branch 52, the axle 101 of the leading drive unit 10A of the pipe inspection apparatus is not arranged perpendicular to a plane including the center line of the pipe. Therefore, the above condition (1) is not satisfied. Therefore, in this state, the pipe inspection device does not move from the pipe 5 to the branch pipe 6 via the branch 52. As shown in FIGS. 6B and 6C, the pipe inspection device continues to travel on the pipe 5 through the branch 52.

Referring to FIGS. 7A, 7B and 7C, the case where the pipe inspection apparatus of this example moves a branch will be described. In this example, immediately before the branch 52, the axle 101 of the leading drive unit 10A of the pipe inspection device is disposed perpendicular to a plane including the center line of the pipe. Therefore, the above condition (1) is satisfied. Further, the wheel of the leading drive unit 10A is in contact with the inner surface of the inner peripheral wall 52A of the pipe in the direction to travel at the branch. Therefore, the above condition (2) is satisfied. Therefore, the pipe inspection device can move from the pipe 5 to the branch pipe 6 via the branch 52. As shown in FIGS. 7B and 7C, the pipe inspection apparatus can change the course to the branch pipe 6 through the branch 52.

Referring to FIG. 8, an example of the structure of the drive unit and the connection unit will be described. The drive unit 10 B includes an axle 101, hemispherical wheels 103 attached to both ends of the axle, and a first bevel gear 107 attached to the axle 101. A first arm 105 is attached to the axle 101 via

ball bearings

110A and 110B. Accordingly, the first arm 105 can freely rotate around the axle 101 via the

ball bearings

110A and 110B. A second arm 106 is attached to the first arm 105 via

ball bearings

111A and 111B. Therefore, the second arm 106 can freely pivot with respect to the first arm 105 via the

ball bearings

111A and 111B. Thus, the first arm 105 and the second arm 106 can pivot relative to each other around the central axis of the axle 101.

A motor 131 is attached to the rear connecting portion 13B. A second bevel gear 108 is attached to the shaft of the motor 131. The second bevel gear 108 meshes with the first bevel gear 107. Further, the first arm 105 is attached to the motor 131. The first arm 105 may be attached to the rear connecting portion 13B instead of the motor 131. As described above, the first arm 105 can pivot about the central axis of the axle 101. Therefore, the motor 131 connected to the first arm 105 and the connecting portion 13 B that supports the motor 131 can be pivoted around the central axis of the axle 101.

The second arm 106 is pivotally connected to the front connecting portion 13A via the connecting shaft 15. As described above, the second arm 106 can pivot about the central axis of the axle 101. Accordingly, the front connecting portion 13 A connected to the second arm 106 can pivot around the central axis of the axle 101.

The axle 101 and the connecting shaft 15 are orthogonal to each other. The axle 101 and the connecting shaft 15 constitute a gimbal structure. The axle 101 and the motor 131 are orthogonal to each other.

When the motor 131 is driven, the second bevel gear 108 mounted on the shaft rotates. The rotation of the second bevel gear 108 is transmitted to the first bevel gear 107 and the axle 101 rotates. When the axle 101 rotates, the wheel 103 rotates.

The connecting

portions

13A and 13B pivot around the axle 101 by adjusting the tension of the two steering cables. Further, the connecting portion 13B pivots around the connecting shaft 15. Thereby, the drive unit of the pipe inspection device is refracted in a zigzag shape and further arranged in a spiral shape.

The structure of the drive unit shown in FIG. 8 is merely an example. Other structures may be used as long as the drive unit having the drive part and the connecting part is refracted in a zigzag shape and can be arranged in a spiral shape. For example, in the example of FIG. 8, the motor 131 is provided in the connecting portion, but the motor may be provided in the driving portion. Further, in this example, the axle 101 and the motor 131 are orthogonal to each other, but the axle 101 and the motor 131 may be arranged in the same direction. In this case, a spur gear train is used instead of the bevel gear. Furthermore, in this example, although the wheel 103 is formed in a hemispherical shape, it may be a tire shape. The wheel may be made of metal but may be made of rubber.

Although the examples of the present invention have been described above, the present invention is not limited to the above-described examples, and it is easy for those skilled in the art to make various modifications within the scope of the invention described in the claims. Will be understood.

DESCRIPTION OF

SYMBOLS

1A, 1B ... Drive unit, 3 ... Inspection unit, 4 ... Connector, 5 ... Pipe, 5A, 5B ... Pipe wall, 6 ... Branch pipe, 10A-10E ... Drive part, 13A-13D ... Connection part, 20 ... Tension Adjustment part, 17A, 17B ... Steering cable, 18A, 18B ... Spring, 21 ... Reel, 22 ... Wheel, 15 ... Connecting shaft, 30 ... Inspection element, 31, 32 ... Cable, 51 ... Bending part, 52 ... Branch, DESCRIPTION OF SYMBOLS 101 ... Axle, 103 ... Wheel, 105, 106 ... Arm, 107, 108 ... Bevel gear, 131 ... Motor

Claims

In a pipe inspection apparatus that has at least one drive unit and at least one inspection unit and can be inserted into a pipe to be inspected,
The drive unit includes a plurality of drive units, a plurality of connection units that connect the drive units, two control cables that pass through the drive unit and the connection units, and a tension that adjusts the tension of the control cable. An adjustment portion, and the drive portion includes an axle that can be rotated by a motor, and a wheel that is attached to the axle.
By pulling the two control cables with the same tension, the drive unit is refracted in a zigzag shape, and the drive unit goes straight with the wheels of the drive unit in contact with the inner wall of the pipe.
By pulling the two steering cables with different tensions, the drive unit is refracted in a zigzag shape and arranged in a spiral shape, and the drive unit wheel is in contact with the inner wall of the pipe. The pipe inspection device is configured so that the unit proceeds in a spiral.
In the piping inspection device according to claim 1,
The driving part and the connecting part are connected by a gimbal structure having two pivot axes orthogonal to each other, and the driving part and the connecting part pivot around the two pivot axes, thereby driving the driving part. The pipe inspection apparatus, wherein the unit is configured to be refracted in a zigzag shape and arranged in a straight line shape or a spiral shape.
In the piping inspection device according to claim 1,
The drive unit includes two connecting portions and an intermediate driving portion provided between the two connecting portions,
The two connecting parts are pivotable about an axle of the intermediate drive part, and one of the two connection parts is perpendicular to the axle with respect to the intermediate drive part. It is possible to pivot around a connecting shaft arranged at the center, and the two connecting portions can be refracted through the intermediate driving portion by the axle and the connecting shaft of the intermediate driving portion. Piping inspection equipment.
In the piping inspection device according to claim 1,
The driving part and the connecting part include two connecting parts and an intermediate driving part provided between the two connecting parts,
The intermediate drive unit includes first and second arms pivotable around an axle, and the first arm is attached to one of the two connection units, and the second The arm is connected to the other connecting portion of the two connecting portions via a connecting shaft disposed so as to be orthogonal to the axle, and the two connecting portions are arranged around the axle of the intermediate drive portion. The pipe inspection device is capable of pivoting with respect to each other, and the driving portion and the other connecting portion can be pivoted around the connecting shaft.
In the piping inspection device according to claim 1,
The drive unit includes a motor, a first bevel gear mounted on the axle, a second bevel gear mounted on the motor shaft and meshing with the first bevel gear, and a first ball on the axle. A first arm mounted via a bearing; and a second arm mounted to the first arm via a second ball bearing;
A front connecting portion is pivotally connected to the second arm via a connecting shaft orthogonal to the axle, and the motor is supported on the first arm. Piping inspection equipment.
In the piping inspection device according to claim 1,
The tension adjusting unit includes a spring that pulls the two steering cables, and a reel that pulls the other end of each spring.
In the piping inspection device according to claim 1,
The tension adjusting unit includes a spring that pulls the two steering cables, and a reel that is fixed by winding the other end of each spring in the opposite direction.
In the piping inspection device according to claim 1,
The two steering cables run in parallel along the diagonal line in the connecting portion, and alternately pass through one side of the driving portion in the driving portion, and cross each other. A pipe inspection device characterized by running.
In the piping inspection device according to claim 1,
A piping inspection apparatus, wherein a head sensor of the drive unit is provided with a posture sensor for detecting the direction of the axle.