JP7190943B2 - In-pipe operating device - Google Patents

Description

The present invention provides an intra-pipe manipulating tool that can be operated inside a pipe, a linear body that extends from the intra-pipe manipulating tool to the proximal end side, and a form that encloses the intra-pipe manipulating tool and the linear body. and a first helical body in which a metal wire is helically formed around a first helical axis.

Conventionally, as shown in FIG. 3, an in-pipe operating device 200 having an in-pipe operating tool 50 for executing various operations inside a gas pipe (not shown) or the like is known. The tube operating tool 50 has, for example, a camera K capable of photographing the inside of a tube, a plurality of lights R for illuminating an object to be imaged, and an enclosure GK surrounding them. A metal wire is spirally formed around a first spiral axis P so as to surround the in-pipe manipulator 50 and the linear body 40 composed of a plurality of power lines and communication lines extending from the in-pipe manipulator 50 toward the proximal end side. It is configured to include a first spiral body SSW1 formed in the .
Incidentally, the intrapipe manipulating tool 50 is provided with a bearing B on the outer peripheral portion of the outer casing, and when the first spiral body SSW1 is rotated around the first spiral axis P, the first spiral body SSW1 is It is configured to be rotatable independently of the intrapipe manipulator 50 . Further, the linear body 40 is covered with a resin-made covering member KK.
The intra-pipe operating device 200 has the above-described configuration, so that when the first helical body SSW1 passes through a curved portion such as an elbow of the pipe, the first helical body SSW1 moves along the curved shape of the pipe when it is inserted through the inside of the pipe. Since it can be deformed, it can well pass through the curved shape portion.
Furthermore, there may be a stepped portion as a joint portion between the pipe and the elbow on the inner wall of the pipe such as a curved portion. By inserting the first spiral body SSW1 through the inside of the tube while rotating, the tip portion of the first spiral body SSW1 overcomes the stepped portion while rotating, so that the tip portion does not get stuck in the stepped portion and a good insertion state is achieved. can be realized.

JP 2014-743 A

In the intrapipe operating device 200 disclosed in Patent Document 1, as shown in FIG. 3, the intrapipe operating tool 50 surrounded by the first spiral body SSW1 and the intrapipe operating tool 50 are connected from the proximal end side. In many cases, a configuration is adopted in which a portion connected to the linear body 40 such as a power line or a communication line is surrounded by a protective film such as a rubber bush GB.
In such a configuration, the first spiral body SSW1 of the intrapipe operating device 200 is inserted into the tube while rotating around the first spiral axis P independently of the intrapipe operating tool 50 and the linear body 40. Then, for example, when passing through the curved portion of the tube, the inner wall of the first spiral body SSW1 and the linear body 40 come into contact with each other, and the in-tube manipulator 50 and the linear body 40 are separated from each other by the first spiral body SSW1. There is room for improvement because the linear body 40 may break due to the force acting to rotate it in the same rotational direction.

The present invention has been made in view of the above-mentioned problems, and its object is to provide an in-tube manipulator even when the first spiral body is rotated around the first helical axis and inserted through the inside of the tube. An object of the present invention is to provide an in-pipe operation device capable of effectively suppressing disconnection that may occur in a linear body connected to a pipe.

The in-pipe operation device for achieving the above purpose is
An in-pipe manipulator that can be operated inside a pipe, a linear body that extends from the in-pipe manipulator to the proximal end side, and a metal wire that surrounds the in-pipe manipulator and the linear body. and a first helical body helically formed around a first helical axis, characterized by:
The first helical body rotates about the first helical axis in a first rotational direction when viewed from the proximal side to the distal side, independently of the intraluminal manipulator and the linear body. It is inserted through the inside of the tube while rotating with
The proximal side view with the distal side end portion fixed to the proximal side end portion of the intraductal manipulator and the proximal side end portion fixed to the linear body disposed inside. and a second helical body in which a metal wire rod is spirally wound from the base end side to the tip end side in a second winding direction opposite to the first rotation direction.

According to the above characteristic configuration, first, the distal end portion is fixed to the proximal end portion of the intraductal manipulator, and the proximal end portion is fixed to the linear body disposed therein. Since the second helical body is made of a metal wire, for example, while the first helical body is rotating in the first rotation direction, the intra-pipe-inserting device can move into a curved shape such as an elbow of the pipe. low metal-to-metal friction even when the first helix bends along the curved profile and the inner surface of the first helix contacts the outer surface of the second helix when passing through the section The resistance allows the first helix to rotate relative to the second helix to reduce the force in the first rotational direction that is transmitted to the second helix.
In addition, the second spiral body is formed in a spiral shape wound from the proximal side toward the distal side in the second winding direction, which is the direction opposite to the first rotation direction when viewed from the proximal side. , even if the inner surface of the first spiral body rotating in the first rotation direction comes into contact with the linear body and a force is transmitted to rotate the linear body in the first rotation direction, the second spiral body rotates in the tightening direction. As a result, the connecting portion between the in-pipe manipulator and the linear body is tightened radially from the outside to the inside by the second spiral body, thereby effectively preventing disconnection at the connecting portion.
As described above, even when the first helical body is rotated around the first helical axis and is inserted through the inside of the pipe, it is possible to effectively prevent disconnection that may occur in the linear body connected to the in-tube manipulator. It is possible to realize an in-pipe operation device capable of suppressing.

A further characteristic configuration of the in-pipe operating device is
The filamentous body is formed by twisting a plurality of thin filamentous bodies,
The plurality of thin filamentous bodies are twisted from the proximal side toward the distal side in a second twisting direction opposite to the first rotation direction when viewed from the proximal side.

According to the above characteristic configuration, if the inner surface of the first helical body rotating in the first rotation direction comes into contact with the linear body and a force is transmitted to rotate the linear body in the first rotation direction. Even so, a force is applied to the plurality of fine filamentous bodies in the second twisting direction in the direction in which they are tightened, so that the plurality of fine filamentous bodies can be effectively prevented from coming loose, thereby suppressing disconnection.

A further characteristic configuration of the in-pipe operating device is
The intraductal manipulator includes an enlarged diameter portion having an outer shape that gradually expands in diameter from the distal end side to the proximal end side, and the enlarged diameter portion is connected to the proximal end side of the enlarged diameter portion and gradually contracts from the distal end side toward the proximal end side. a reduced diameter portion having a diametrical profile;
rotatable around the large-diameter portion on the base end side of the enlarged-diameter portion, in contact with the inner surface of the first spiral body, as the first spiral body rotates in the first rotation direction; The point is that bearings are provided.

According to the above characteristic configuration, the intrapipe manipulator has an enlarged diameter portion having an outer shape that gradually expands in diameter from the distal end side to the proximal end side, and the enlarged diameter portion is connected to the proximal end side of the enlarged diameter portion to Since the first helical body rotates in the first rotation direction independently of the intrapipe manipulator and the linear body, the first helical body rotates in the curved shape part of the tube. Even when passing through, the frequency of contact between the distal end side and the proximal end side of the intrapipe manipulator with the first spiral body can be reduced, and the rotation in the first rotation direction transmitted from the first spiral body to the intrapipe manipulator can be reduced. power can be sufficiently reduced.
As a result, the first helical body and the intrapipe manipulator are in contact with each other only via the bearings, and the first helical body can be rotated in the first rotation direction independently of the intrapipe manipulator and the linear body. can be rotated well.

A further characteristic configuration of the in-pipe operating device is
The linear body has a relative rotation permitting mechanism that permits relative rotation between the distal end side and the proximal end side at least on the proximal side of the second spiral body in the longitudinal direction of the linear body. .

In particular, when the intrapipe operating device is inserted into a pipe, the filamentous body may have a length of, for example, 5 m or longer. Contact with the inner surface of the first helix rotating in the direction may apply a force in the first direction of rotation, resulting in a twisted state in the first direction of rotation.
Even in such a case, the twisting of the linear body can be satisfactorily eliminated by providing the relative rotation permitting mechanism as in the above characteristic configuration, thereby effectively preventing the linear body from breaking.

A further characteristic configuration of the in-pipe operating device is
The first spiral body is wound from the proximal side toward the distal side in a first winding direction that is the same direction as the first rotation direction when viewed from the proximal side.

With the above characteristic configuration, the tip portion of the first spiral body rotating in the first rotation direction rides on the stepped portion provided in the curved portion of the pipe while rotating, so that the tip portion is placed on the stepped portion. A good insertion state without clogging can be achieved.

1 is a partial perspective view of an intrapipe operation device according to an embodiment; FIG. 1 is a partial cross-sectional view and a schematic configuration diagram of an in-pipe operation device according to an embodiment; FIG. FIG. 3 is a partial cross-sectional view of a conventional in-pipe operating device;

The intrapipe manipulating device 100 according to the embodiment of the present invention allows the wire connected to the intrapipe manipulating tool 50 to be inserted through the pipe while rotating the first spiral body SSW1 in the first rotation direction X1. The present invention relates to a device capable of reducing the load that causes disconnection in the shaped body 40 .
The in-pipe operating device 100 will be described below with reference to the drawings.

As shown in FIGS. 1 and 2, the in-pipe operating device 100 includes an in-pipe manipulating tool 50 capable of performing various operations inside a gas pipe (an example of a pipe: not shown), and the in-pipe manipulating tool 50 as a tip. A linear body 40 extending toward the base end side, and a first spiral body SSW1 in which a metal wire is spirally formed around a first spiral axis P so as to surround the intrapipe manipulator 50 and the linear body 40. Prepare.
In this embodiment, the side on which the intrapipe manipulator 50 is provided (the tip end of the arrow X in FIGS. 1 and 2) is the tip end side of the intrapipe manipulator 100, and the linear body 40 is provided. The side (the proximal side indicated by the arrow X in FIGS. 1 and 2) is defined as the proximal side of the intraluminal operating device 100 .
As the first spiral body SSW1, a spring steel having a flat cross section and formed into a spiral shape can be suitably used. A portion surrounding the body 40 is a small-diameter portion. Further, for example, the large-diameter portion is spirally formed with an interval of about 5 mm in the axial direction of the first spiral shaft P, and the small-diameter portion is spirally formed with no gaps. ing.
The first helical body SSW1 is driven by a motor M driven and controlled by a control board S, and rotates around the first helical axis P in a first rotation direction ( It is inserted through the inside of the tube while rotating in the direction indicated by the arrow X1 in FIG. 1 (clockwise). In this embodiment, the spiral direction of the first spiral body SSW1 is assumed to be the first winding direction, which is the same direction as the first rotation direction when viewed from the proximal direction. As a result, when the first spiral body SSW1 rotates in the first rotation direction and enters the inside of the pipe to the distal end side, when the distal end portion comes into contact with a stepped portion (not shown) in the pipe, The tip portion can climb over the stepped portion, and the subsequent helical portions can climb over the stepped portion in sequence, climb over the stepped portion, and enter further.
In this embodiment, the first spiral body SSW1 is configured to be rotatable independently of the intrapipe manipulator 50 and the linear body 40 disposed inside. In other words, the intrapipe manipulator 50 and the linear body 40 are maintained in a non-rotating state in the normal state even when the first spiral body SSW1 rotates.

The pipe manipulator 50 includes a camera K capable of photographing the inside of the gas pipe, a plurality of lights R provided around a lens (not shown) of the camera K to illuminate an object to be photographed, and an enclosure surrounding them. GK and. The surrounding housing GK includes a first truncated conical portion TC1 (an example of an enlarged diameter portion) having an outer shape that gradually expands in diameter from the distal end side to the proximal end side, and a base of the first truncated conical portion TC1. a second truncated conical portion TC2 (an example of a diameter-reduced portion) having an outer shape connected to the end side and gradually decreasing in diameter from the distal end side to the proximal end side; Around the large-diameter portion TC1a on the end side, the surrounding housing GK can be rotated with the rotation of the first spiral body SSW1 in the first rotation direction while being in contact with the inner surface of the first spiral body SSW1. A bearing B is provided.
The first truncated conical portion TC1 and the second truncated conical portion TC2 are the male screw portion SK2 formed at the outer diameter portion on the base end side of the first truncated conical portion TC1 and the second truncated conical portion The female screw portion SK1 formed at the inner diameter portion on the distal end side of the portion TC2 is threadedly connected to the portion TC2. By adopting this configuration, the camera K, the light R, etc., which are provided inside the surrounding housing GK, can be easily taken out from the inside of the surrounding housing GK to perform maintenance, etc., thereby improving economic efficiency. be able to.

The linear body 40 is a power line for supplying power to the camera K and the light R, and a communication line for communication between the camera K and the control board S and the computer PC provided on the base end side of the linear body 40. and a covering member KK surrounding the thin linear bodies SK.
The control board S is configured to be able to receive the number of revolutions of the motor M via an encoder E, and also receives a signal from the dimming knob CB for dimming the light R, and controls the light based on the signal. The luminance of R is configured to be adjustable. Also, the computer PC is configured to receive an output signal from the camera K and display it on the monitor.

Now, the in-pipe operating device 100 configured as described above can surround the linear body 40, for example, when the first helical body SSW1 is inserted through the pipe while rotating in the first rotational direction. The covering member KK may contact the inner wall of the first spiral body SSW1, causing the linear body 40, which has been in a fixed state without rotation, to suddenly rotate in the first rotation direction. In this case, if the in-pipe manipulator 50 is delayed in following the rotation of the linear body 40 in the first rotation direction, the filamentous body 40 breaks at the connecting portion between the in-pipe manipulator 50 and the linear body 40 . There is fear.

Therefore, as shown in FIGS. 1 and 2, the intrapipe operating device 100 according to this embodiment has a distal end portion fixed to a proximal end portion (Y2 in FIG. 2) of the intrapipe operating tool 50 and a proximal end portion thereof. In a state where the side end portion is fixed to a predetermined position (Y3 in FIG. 2) of the linear body 40 disposed inside, the second winding is in the direction opposite to the first rotation direction X1 when viewed from the proximal side direction. A second helical body SSW2 is provided in which a metal wire wound in the direction X3 from the proximal side to the distal side is spirally formed.
For the second spiral body SSW2, for example, a spring steel having a circular cross section and formed into a spiral shape can be suitably used, and the inner diameter thereof is substantially equal to the outer diameter of the linear body 40. It is preferable to provide Furthermore, the second helical body SSW2 has a spiral formed in a state where it is tightly packed from the distal end to the proximal end.
The length of the second spiral body SSW2 in the direction along the first spiral axis P can be changed as appropriate according to the length of the linear body 40 and the like. is preferably used.
With this configuration, for example, when linear body 40 is subjected to force in the first rotation direction on the base end side, force is applied to second spiral body SSW2 in the tightening direction, and the diameter of linear body 40 increases. Since the force is applied in the direction of decreasing the diameter from the outside to the inside in the direction of It is possible to prevent the plurality of thin filamentous bodies SK from coming loose, and to suppress disconnection.

Furthermore, as shown in FIG. 1, the linear body 40 is formed by twisting a plurality of thin linear bodies SK made of power lines, communication lines, etc. It is twisted from the proximal side to the distal side in the second twisting direction which is opposite to the first rotation direction X1 when viewed from the direction.
With this configuration, the inner surface of the first spiral body SSW1 rotating in the first rotation direction X1 is in contact with the linear body 40, and the force for rotating in the first rotation direction X1 is transmitted to the linear body 40. However, since a force is applied to the plurality of fine filamentous bodies SK in the second twist direction in the direction in which they are tightened, it is possible to effectively prevent the plurality of fine filamentous bodies from coming apart.
Incidentally, when the linear body 40 has a length exceeding, for example, 5 m, the linear body 40 on the distal end side is located at least on the proximal side of the second spiral body SSW2 in the longitudinal direction of the linear body 40. It is preferable to provide a slip ring SR (an example of a relative rotation permitting mechanism) that permits relative rotation between the linear body 40 and the linear body 40 on the proximal end side.

〔Example〕
The results of a penetration test performed on a tube having an inner diameter of 28 mm, 5 m, and 6 bends, such as elbows, while rotating at 600 rpm in the first direction of rotation are shown below.
When the conventional in-pipe operation device 100 shown in FIG. No disconnection occurred even when the wire was inserted twice. This confirmed the effectiveness of the present invention.

[Another embodiment]
(1) In the above embodiment, the first rotation direction X1 is clockwise, but it may be counterclockwise.
Along with this, each of the first winding direction X2 of the first spiral body SSW1, the second winding direction X3 of the second spiral body SSW2, and the second twisting direction X4 of the linear body 40 is shown in the above embodiment. direction and opposite direction.

(2) In the above embodiment, an example in which the intrapipe operation tool 50 is the camera K is shown, but a gas bag or the like for closing the gas pipe can also be suitably used.
The body of the gas bag has, for example, a structure in which a balloon is attached to a balloon fixing pipe supported by a DURACON smoother. By inserting the body into a gas pipe and inflating the balloon, the gas pipe is closed and gas is released. Block the flow. In this case, the linear body 40 is a tube such as a urethane tube or a nylon tube, and is configured such that gas can be pressure-fed from the outside of the gas pipe by an operation section (not shown) provided at the rear end thereof.
Further, the in-pipe operation tool 50 may be a gyroscope for measuring the arrangement angle and position of the pipe.

(3) Although the first spiral body SSW1 is provided with a large diameter portion and a small diameter portion, the diameter may be the same from the distal end to the proximal end.

(4) In the above embodiment, the first truncated conical portion TC1 is shown as an example of the enlarged diameter portion, but the enlarged diameter portion may be, for example, a polygonal pyramid shape. In addition, although the second truncated cone-shaped portion TC2 is shown as an example of the diameter-reduced portion, the diameter-reduced portion may also have a polygonal pyramid shape.

It should be noted that the configurations disclosed in the above embodiments (including other embodiments, the same shall apply hereinafter) can be applied in combination with configurations disclosed in other embodiments as long as there is no contradiction. The embodiments disclosed in this specification are exemplifications, and the embodiments of the present invention are not limited thereto, and can be modified as appropriate without departing from the object of the present invention.

In the intrapipe manipulating device of the present invention, even when the first spiral body is inserted through the pipe while rotating around the first helix axis, there is a risk that the linear body connected to the intrapipe manipulating tool will be affected. It can be effectively used as an in-pipe operation device that can effectively suppress disconnection.

40: Linear body 50: Intrapipe operating tool 100: Intrapipe operating device GK: Surrounding housing K: Camera P: First helical shaft SK: Thin filamentous body SR: Slip ring SSW1: First helical body SSW2: Second Spiral body TC1 : Expanded diameter portion TC1a : Large diameter portion TC2 : Reduced diameter portion X1 : First rotation direction

Claims (5)

An in-pipe manipulator that can be operated inside a pipe, a linear body that extends from the in-pipe manipulator to the proximal end side, and a metal wire that surrounds the in-pipe manipulator and the linear body. and a first helical body spirally formed around a first helical axis,
The first helical body rotates about the first helical axis in a first rotational direction when viewed from the proximal side to the distal side, independently of the intraluminal manipulator and the linear body. It is inserted through the inside of the tube while rotating with
The proximal side view with the distal side end portion fixed to the proximal side end portion of the intraductal manipulator and the proximal side end portion fixed to the linear body disposed inside. and a second helical body in which a metal wire rod is spirally wound from the proximal side to the distal side in a second winding direction opposite to the first rotation direction. The filamentous body is formed by twisting a plurality of thin filamentous bodies,
2. The tube according to claim 1, wherein the plurality of thin filamentous bodies are twisted from the proximal side toward the distal side in a second twisting direction opposite to the first rotation direction when viewed in the proximal direction. operating device. The intraductal manipulator includes an enlarged diameter portion having an outer shape that gradually expands in diameter from the distal end side to the proximal end side, and the enlarged diameter portion is connected to the proximal end side of the enlarged diameter portion and gradually contracts from the distal end side toward the proximal end side. a reduced diameter portion having a diametrical profile;
rotatable around the large-diameter portion on the base end side of the enlarged-diameter portion, in contact with the inner surface of the first spiral body, as the first spiral body rotates in the first rotation direction; 3. The in-pipe operating device according to claim 1, further comprising a bearing. 2. The linear body has a relative rotation permitting mechanism that permits relative rotation between the distal end side and the proximal end side at least on the proximal side of the second spiral body in the longitudinal direction of the linear body. 4. The in-pipe operating device according to any one of 1 to 3. Claims 1 to 4, wherein the first spiral body is wound from the proximal side toward the distal side in a first winding direction that is the same direction as the first rotation direction when viewed from the proximal side. The in-pipe operating device according to any one of .

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