JP4391866B2 - In-pipe working device - Google Patents

Description

  The present invention relates to an in-pipe working apparatus that performs work inside a pipe such as an embedded pipe.

In general, a buried pipe in which a concrete pipe or the like is buried is often used for a sewer pipe or an agricultural water pipe.

In sewage pipes and agricultural water pipes constructed with such buried pipes, accidents such as depressions and water leakage are increasing due to corrosion wear and breakage due to aging. For this reason, appropriate deterioration diagnosis and appropriate repair / update based on the survey results are desired.

In that case, in the diagnostic survey of sewage pipelines and agricultural water pipelines, in order to determine the order of repair and reconstruction work and the construction method, ranking of the degree of deterioration between the element areas constituting the survey basin, and quantitative It is necessary to grasp the degree of progress of a certain deterioration level.

For this reason, conventionally, a method has been adopted in which the appearance of a sewage pipe or agricultural water pipe is examined using visual observation or a TV camera, and the physical properties are examined by removing the core if necessary.

In addition, a TV camera is mounted on a dolly that can run inside the sewage and agricultural water pipelines, and an introspection of the sewage and agricultural water pipelines is conducted with the TV camera. A method of extracting and investigating physical properties is also employed (see, for example, Patent Document 1).

However, with such methods, only visible degradation can be detected, and it is difficult to appropriately and quantitatively grasp the progress of the degradation level. In addition, in order to collect quantitative data, it is necessary to remove a large number of cores, and there is a drawback that the strength of the sewage pipe and the agricultural water pipe is impaired and the work is troublesome.

On the other hand, an inspection method performed on a concrete structure, specifically, a system that predicts crack width and depth using elastic waves is also applied (for example, Patent Document 2 and Patent Document). 3).

However, since the above system is inferior in workability, it takes a considerable time for inspection when applied to inspection of long-distance buried pipes such as sewer pipes and agricultural water pipes.

In view of this, the inventors of the present invention previously described in Japanese Patent Application No. 2001-315716, an input mechanism carriage equipped with an input mechanism for inputting an elastic wave to an embedded pipe, and an elastic wave input to the embedded pipe by the input mechanism. Efficient inspection work efficiency by connecting the receiving mechanism carts equipped with the receiving mechanism that receives the signal in a row, and allowing these carts to self-propell in the pipe and inspecting the deterioration state of the buried pipe from inside the pipe. In addition, the in-pipe work device has been proposed in which the degree of deterioration can be evaluated quantitatively.
JP 09-226570 A JP-A-10-142200 JP 09-269215 A

By the way, in the proposed in-pipe working device, each carriage has a long structure and is long in a row in the traveling direction. Therefore, the mortar at the time of construction in a pipe such as a buried pipe buried underground. If foreign matter such as deposits such as oils and fats or spillage and sediments such as earth and sand is present, each carriage may ride on the foreign matter and fall into a state in which it cannot travel.

  The present invention has been made in view of the above points, and the object of the present invention is that, even if each carriage has a long structure and is long in a row, such as deposits and deposits in the pipe. An object of the present invention is to provide an in-pipe working apparatus that can travel without getting on a foreign object.

In order to achieve the above object, the present invention as set forth in claim 1 is an in-pipe work device that performs work inside a pipe, wherein a plurality of different work devices are respectively mounted on individual carriages. The trolleys are connected via connectors so that they can travel in a single line in the pipe, and one of the trolleys adjacent to each other in the travel direction is equipped with an input mechanism for inputting elastic waves to the pipes. On the other hand, the other carriage is equipped with a receiving mechanism for receiving the elastic wave or the hitting sound input to the pipe by the input mechanism, and the deterioration state of the pipe is changed by the one carriage and the other carriage. It is designed to be inspected inside, and the connection tool is provided so as to protrude from the front end upper part and the rear end upper part of adjacent carriages, and has a first connection tool and a second connection tool each having a pin hole, The first connector and the second connector The connecting pins that are movably connected to each other and the carts are pivoted about the pivot fulcrum of the connecting pins so that the connecting portions of the carts are lifted up to an angle at which the carts adjacent to each other can run in the running direction. An in-pipe working apparatus comprising a rotation stopper that restricts further rotation in a bent state of a round shape .

A connecting tool is provided to protrude from the upper front end and the upper rear end of adjacent carts, and has a first connecting tool and a second connecting tool having pin holes, and the first connecting tool and the second connecting tool are rotated. The connecting pins that can be connected to each other and the carts around the pivoting fulcrum of the coupling pins so that the connecting portions of the carts are lifted up to an angle at which the carts that are adjacent to each other can run in the running direction. It is equipped with a rotation stopper that regulates further rotation in the bent state of the shape, so even if each carriage is long in a row in the traveling direction, buried pipes buried underground Each carriage is bent so that the connecting part of each carriage rises upward when the carriage rides on foreign matter such as deposits and deposits existing in the pipe of the car, and it can be smoothly overcome without falling into an inoperable state It becomes possible to travel.

In addition , an input mechanism that inputs elastic waves to the tube with a constant force is mounted on one carriage, and a receiving mechanism that receives elastic waves or hitting sound input by the input mechanism is mounted on the other carriage. Even if each bogie is long in a row in the direction of travel, each bogie is connected so that the connection part of each bogie is lifted upward when the bogie rides on foreign matter such as deposits and deposits in the pipe. In addition to being able to bend and travel smoothly without falling into an inoperable state, the input mechanism and the receiving mechanism can efficiently inspect the deterioration state of the pipe inside the pipe.

Further, the invention according to claim 2, in-pipe work apparatus according to claim 1, in which rotation stopper path is protrudingly provided on the front end lower portion or a rear end lower portion of one of the carriages.

Furthermore, the present invention described in claim 3 is the in-pipe working device according to claim 1 or 2, wherein each carriage has three or more main wheels of the same height that are grounded on the same plane. than the main wheels are those which comprise one or more sub-wheel high ground position.

Each carriage is provided with three or more main wheels of the same height that touch the ground on the same plane, and one or more auxiliary wheels that have a higher grounding position than each of the main wheels. Even if it is long in a row, when each carriage is bent so that the connecting portion of each carriage floats upward when the carriage gets on foreign matter such as deposits and deposits existing in the pipe, each carriage It is effectively prevented that the secondary wheel of the vehicle contacts the foreign object and falls into a state in which the vehicle cannot travel, and the vehicle can travel over the foreign object without fail. In addition, when each truck is bent so that it gets on the foreign object and the connection part is lifted upward, the auxiliary wheel touches the foreign object and the stability of each truck is ensured. It becomes possible to work smoothly without causing any trouble.

As described above, according to the present invention, the connection tool projects from the front end upper part and the rear end upper part of adjacent carts, and has the first connection tool and the second connection tool each having a pin hole, A connecting pin for rotatably connecting the first connecting tool and the second connecting tool, and rotating each of the carts around a pivot fulcrum of the connecting pin to an angle at which the carts adjacent to each other in the running direction can run. in Rukoto have a rotation stopper for the mutual connection portion to restrict the further rotation in the shaped flexion to substantially so lifted upward, each bogie longer in rows in the direction of travel Even if it gets on the foreign matter in the pipe, it can travel smoothly without getting into a state where it cannot run.

In addition, an input mechanism that inputs elastic waves to the tube is installed in one carriage, and a receiving mechanism that receives elastic waves or hammering sounds is installed in the other carriage, so that each carriage cannot run when riding on a foreign object. It is possible to travel smoothly over the vehicle without falling into a proper state, and the deterioration state of the tube can be efficiently inspected inside the tube by the input mechanism and the receiving mechanism.

Furthermore, each bogie rides on a foreign object by providing each bogie with three or more main wheels of the same height that touch the ground on the same plane and one or more auxiliary wheels that are higher in grounding position than the main wheels. When each truck is bent, it effectively prevents the secondary wheel of each truck from touching the foreign object and falling into an inoperable state, and it can travel over the foreign object reliably and ride on the foreign object. In this case, the stability of each carriage can be ensured by the auxiliary wheels, and the work on the foreign matter can be performed smoothly.

Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

FIG. 1 is a side view of an in-pipe working apparatus as an in-pipe working apparatus according to Embodiment 1 of the present invention, and FIG. 2 is a plan view of the in-pipe working apparatus.

1 and 2, an in-pipe work apparatus 1 includes an input mechanism carriage 21 on which an elastic wave input apparatus 2 as an input mechanism is mounted, a receiving mechanism carriage 31 on which a receiving apparatus 3 as a receiving mechanism is mounted, and a TV camera 4. A TV camera car 41 (appearing in FIG. 5) equipped with (appearing in FIG. 5) and a data recording device 5 (appearing in FIG. 5) are provided.

The data recording device 5 is mounted on a chassis of a data recording vehicle 51 (shown in FIG. 5), and is inspected on the ground during an inspection of an embedded tube C (tube) in which a plurality of tubes C1,. The data recording vehicle 51 is arranged at the periphery of the opening M1 of the manhole M that opens.

The elastic wave input device 2 is provided on an elevating mechanism 22 that is driven by an electric or air cylinder. The elevating mechanism 22 includes a pair of upper and lower parallel links 22a and 22b on the left and right sides, and a driving force is transmitted to the lower link 22b. The elastic wave input device 2 is moved up to a position where elastic waves are input during measurement by driving the parallel links 22a and 22b, and lowered to a position where the elastic wave input device 2 does not contact the inner surface of the pipe during travel. The elastic wave input device 2 includes an impulse hammer 23 that inputs elastic waves to the tube body C1 (buried tube C) with a constant force. The impulse hammer 23 is provided so as to extend to the other side (right side in FIGS. 1 and 2) from the other side end (right end in FIGS. 1 and 2) of the upper link 22a. In this case, electrical energy (electricity) is applied to the elastic wave input device 2 in a state where the elastic wave input device 2 is brought into contact with a hammer or a steel ball or a tubular body C1 that inputs an elastic wave with a constant force of a spring or a piston. You may provide the elastic wave transmitter which converts into a mechanical energy (vibration) and inputs an elastic wave with respect to the pipe body C1.

The receiving device 3 is provided on an elevating mechanism 32 that is driven by an electric or air cylinder. The elevating mechanism 32 includes a pair of upper and lower parallel links 32a and 32b on the left and right sides, and a driving force is transmitted to the lower link 32b. The receiving device 3 is moved up to a position where the elastic wave is received during measurement by driving the parallel links 32a and 32b, and is lowered to a position where it does not contact the inner surface of the tube during traveling. The receiving device 3 includes an acceleration sensor 33 that receives an elastic wave propagated by the impulse hammer 23 via the tubular body C1. The acceleration sensor 33 is provided at one side end (the left end in FIGS. 1 and 2) of the upper link 32a, and is in contact with the inner surface of the tube during measurement. In this case, the receiving device 3 includes an AE sensor that receives an elastic wave that is input to the tube body C1 and propagates, a vibration sensor, or a microphone that receives the sound of the elastic wave that is input and propagated to the tube body C1. Similarly, it is in contact with the inner surface of the tube during measurement.

The TV camera 4 has a front situation in the buried pipe C where the receiving mechanism carriage 31 and the input mechanism carriage 21 travel, specifically, intrusion of tree roots, adhesion of mortar, oils and spills, etc. during construction, or Used to visually check sediment accumulation. Each of the elastic wave input device 2 and the receiving device 3 is equipped with a CCD camera (not shown), and the CCD camera of the elastic wave input device 2 is used when determining the elastic wave input position by the impulse hammer 23. On the other hand, the CCD camera of the receiving device 3 is used when the elastic wave receiving position by the acceleration sensor 33 is determined. The video data from the TV camera 4 and each CCD camera is guided to the data recording device 5 via a data transfer electric cable (not shown) and displayed on the screen of the monitor 52. In this case, although the video of the TV camera and each CCD camera may be switched and displayed on the screen of the monitor 52, it is preferable that the video is simultaneously displayed by video insertion or video division.

In the data recording device 5, based on the video data from the TV camera 4 displayed on the screen of the monitor 52 (shown in FIG. 5) and the elastic wave input by the impulse hammer 23 , The velocity, attenuation time, amplitude, resonance frequency, phase, etc. of the elastic wave (propagation wave) propagated through the tubular body C1 by the impulse hammer 23 are obtained, and the presence or absence of deterioration is confirmed by comparison with a healthy product. .

As shown in FIGS. 3 to 5, the TV camera car 41, the receiving mechanism carriage 31, and the input mechanism carriage 21 are sequentially connected in a row and configured to be able to travel inside the buried pipe C. . When investigating the buried pipe C by the in- pipe working device 1, the water-stop packer 15 is inserted from the manhole M where the data recording vehicle 51 is arranged, and the manhole M side opening of the buried pipe C upstream from the manhole M is stopped. After the water packer 15 stops the water, the inspection device 1 is inserted from the manhole M.

A first connector 11 is provided at the front end (the left end in FIGS. 3 and 4) of the input mechanism cart 21. The first connector 11 is a pair of left and right substantially triangles that are fixed inside the pair of left and right front end struts 11c and 11c that are erected on the front end of the input mechanism carriage 21 and project forward (reception mechanism carriage 31 side). It has a shaped bracket 11a (only one is shown in the figure) and a pin hole 11b penetrating the protruding end portion of each bracket 11a in the left-right direction. On the other hand, a second connector 12 connected to the first connector 11 is provided at the rear end (right end in FIGS. 3 and 4) of the receiving mechanism cart 31. The second connector 12 is provided in a left-right position at the rear end of the receiving mechanism cart 31 and has a substantially triangular shape with an upper portion protruding rearward (on the input mechanism cart 21 side). A pair of left and right rear end struts 12a and 12a sandwiching each bracket 11a from both left and right sides, and pin holes 12b and 12b penetrating the protruding portions of the rear end struts 12a in the left and right directions, respectively. And the 1st connection tool 11 and the 2nd connection tool 12 are connected by the pin 13 penetrated by each pin hole 11b, 12b. A third connector 16 is provided at the rear end (right end in FIG. 5) of the TV camera car 41, while the front end (left end in FIGS. 3 and 4) of the receiving mechanism carriage 31 is A fourth connector 17 connected to the third connector 16 is provided, and the third connector 16 and the fourth connector 17 are connected to each other. In this case, each front end column 11c of the first connector 11 and each rear column 12a of the second connector 12 are opposed to each other in the front-rear direction.

The first connecting tool 11 and the second connecting tool 12 are connected to each other to the angle at which the input mechanism cart 21 and the receiving mechanism cart 31 can travel, that is, the front end of the input mechanism cart 21 and the rear of the receiving mechanism cart 31. Bending means 6 is provided for bending the end so that it floats upward. The bending means 6 is formed in a substantially U shape so that the connecting portion of the input mechanism carriage 21 and the reception mechanism carriage 31 (the front end of the input mechanism carriage 21 and the rear end of the reception mechanism carriage 31) is lifted upward. the pivot point O of bending (the axis of the pin 13) is convexly formed on the front lower part of the front pillar 11c of the input mechanism carriage 21, the input to the fulcrum pivot point O mechanism trolley 21 and the receiving mechanism trolley 31 And a rotation stopper 61 that abuts against the lower part of the rear surface of each rear end column 12a of the receiving mechanism cart 31 to restrict further rotation of the receiving mechanism cart 31. In this case, the rotation stopper 61 has a bending angle α between the input mechanism carriage 21 and the reception mechanism carriage 31 of 4 when the input mechanism carriage 21 and the reception mechanism carriage 31 are rotated about the rotation fulcrum O as a fulcrum. When the angle becomes 54 °, further rotation of the input mechanism carriage 21 and the reception mechanism carriage 31 is restricted. The bending angle by the bending means 6 for rotating the input mechanism carriage 21 and the reception mechanism carriage 31 around the rotation fulcrum O is a hemispherical shape having a radius of 15 ° or less or 10% or less of the inner diameter of the buried pipe. It is sufficient that the foreign object can be overcome.

In the present embodiment, the rotation stopper 61 is configured as a part of the input mechanism carriage 21 , but a separate component may be attached. In this case, the rotation stopper 61 may be rotated as long as the above object is achieved. The stopper may be made of a material different from the input mechanism carriage such as a compression spring, an air bag, or a rubber material.

The input mechanism carriage 21 and the reception mechanism carriage 31 include a pair of left and right main wheels T1,... And a pair of left and right sub wheels T2 and T2 positioned substantially at the center between the front and rear main wheels T1 and T1. And are mounted so that they can roll freely. Each of the main wheels T1 is located at the same height that makes contact with the ground on the same plane, while each of the auxiliary wheels T2 is located at a position where the ground contact position is higher than that of each of the main wheels T1. In this case, each auxiliary wheel T2 is set to be grounded to a grounding surface that is about 3 mm to 100 mm higher than the grounding surface to which each main wheel T1 is grounded. Each main wheel T1 rolls on the ground contact surface Ca that is grounded slightly above the round tube bottom Cb of the buried tube C.

Here, the result of the experiment on the passing ability of the bogie train (with the bogie connected in a row) to foreign matter such as deposits such as mortar, oil and fat or fallen sediments and sediments existing in the buried pipe C Will be described.

In this experiment, as shown in FIG. 6, as the first carriage row, a stainless steel input mechanism carriage 71 having a maximum length of 522 mm, a maximum width of 165 mm, and a maximum height of 155 mm, a maximum length of 390 mm, a maximum width of 165 mm, and a maximum A stainless-steel receiving mechanism cart 72 having a height of 155 mm is prepared, each of which has four main wheels T1 each having a diameter of 90 mm. The input mechanism cart 71 and the receiving mechanism cart 72 are pivoted about a pivot fulcrum O. A thing provided with a rotation stopper 61 in which the bending angle α by the bending means 6 is set to 4.54 ° is prepared. Also, as shown in FIG. 7, as the second carriage row, an input mechanism carriage 71 and a reception mechanism carriage 72 similar to those of the first carriage row are prepared, each having four main wheels T1 each having a diameter of 90 mm. A mechanism provided with a rotation stopper 62 in which the bending angle β by the bending means 6 when the mechanism carriage 71 and the reception mechanism carriage 72 are rotated with the rotation fulcrum O as a fulcrum is set to 2.28 ° is prepared. . Further, as the third carriage row, an input mechanism carriage and a reception mechanism carriage similar to those of the first carriage row are prepared, and each has four main wheels T1 each having a diameter of 90 mm. The input mechanism carriage and the reception mechanism carriage are rotated. Prepare a connector that is connected by an immovable connector (a connector that does not rotate with the rotation fulcrum O as a fulcrum). In addition, the structure of those other than the rotation stopper and the auxiliary wheel of the second carriage row is the same as that of the above-described embodiment, and the same portions are denoted by the same reference numerals and detailed description thereof is omitted.

Then, a hemispherical hardened concrete block A having a radius of 15 mm and a hemispherical hardened concrete block B having a radius of 25 mm are provided as foreign matters at the bottom of a reinforced concrete pipe (JIS A 5303) having a nominal diameter (diameter) of 250 mm. Table 1 below shows the passability of the first to third carriage trains.

As shown in Table 1, in the first carriage row, the input mechanism carriage 71 and the reception mechanism carriage 72 are connected to each other, that is, the front end of the input mechanism carriage 71 and the rear end of the reception mechanism carriage 72 are lifted upward. It can be seen that it is bent greatly and passes through the concrete blocks A and B without difficulty. Further, in the second carriage row, the input mechanism carriage 71 and the reception mechanism carriage 72 are slightly bent so that their connection portions (the front end of the input mechanism carriage 71 and the rear end of the reception mechanism carriage 72) are lifted upward. Although it passes through the small concrete block A without difficulty, it can be seen that when passing through the large concrete block B, the top part contacts the pipe wall and smooth passage cannot be expected. Further, in the third bogie train, the input mechanism cart and the receiving mechanism cart are not bent at all without causing their connection portions to float upward, and therefore cannot pass through either the concrete block A or the concrete block B. I understand.

Next, the stability of the receiving mechanism carriage on the concrete block in the buried pipe C, and the number of errors when the receiving operation is performed by inputting elastic waves five times continuously on three different concrete blocks. The experimental results will be described.

In this experiment, as shown in FIG. 8, as the fourth carriage row, a stainless steel input mechanism carriage 21 having a maximum length of 522 mm, a maximum width of 165 mm, and a maximum height of 155 mm, a maximum length of 390 mm, a maximum width of 165 mm, and a maximum A stainless-steel receiving mechanism carriage 31 having a height of 155 mm is prepared, and a pair of left and right wheels each having a diameter of 90 mm is positioned approximately at the center between the front and rear main wheels T1 and T1 each having a diameter of 90 mm and the ground contact position being 5 mm higher than the main wheels T1 and T1. And the bending angle α by the bending means 6 when the input mechanism carriage 21 and the receiving mechanism carriage 31 are turned around the turning fulcrum O is set to 4.54 °. A device provided with the rotation stopper 61 is prepared and compared with the first carriage row.

Table 2 below shows the stability of the receiving mechanism carriages of the fourth and first carriage trains when various hemispherical hardened concrete blocks are provided as foreign matters at the bottom of a reinforced concrete pipe having a nominal diameter of 250 mm.

As shown in Table 2, in the fourth bogie train, the input mechanism carriage 21 and the receiving mechanism carriage 31 ride on the concrete block and are connected to each other (the front end of the input mechanism carriage 21 and the rear end of the receiving mechanism carriage 31). When the input mechanism cart 21 and the receiving mechanism cart 31 are bent so as to float upward, the auxiliary wheel T2 touches the concrete block and the stability of the receiving mechanism cart 31 is ensured. However, it can be seen that there is almost no number of errors by the receiving device 3 and the receiving operation can be performed smoothly.

On the other hand, in the first bogie train, when the input mechanism cart 71 and the receiving mechanism cart 72 are greatly bent so that the input mechanism cart 71 and the receiving mechanism cart 72 ride on the concrete block and the connected portions float upward. Since the auxiliary wheel T2 does not exist, the stability of the receiving mechanism carriage 31 on the concrete block cannot be ensured only by the main wheel T1, and the number of errors by the receiving device 3 on the concrete block frequently occurs and reception is smooth. It turns out that work cannot be performed.

Therefore, in the above-described embodiment, the first and second connectors 11 and 12 that connect the input mechanism carriage 21 and the reception mechanism carriage 31 can be traveled at an angle (bending angle 4.54 °, second angle in the first carriage row). Bending means 6 (rotating stopper 61) that bends the connecting portions (the front end of the input mechanism carriage 21 and the rear end of the receiving mechanism carriage 31) up to a bending angle of 2.28 ° in the carriage row. Even if the input mechanism carriage 21 and the reception mechanism carriage 31 are long in a row in the traveling direction, foreign matters such as deposits and deposits existing in the buried pipe C buried underground are provided. When the input mechanism carriage 21 and the reception mechanism carriage 31 ride on the (concrete block), the input mechanism carriage 21 and the reception mechanism carriage 21 and the reception mechanism carriage 31 are lifted upward so that the connection portion of the input mechanism carriage 21 and the reception mechanism carriage 31 is lifted upward. The transmission mechanism cart 31 bends and can travel smoothly without falling into an inoperable state. The input mechanism cart 21 and the reception mechanism cart 31 efficiently inspect the deterioration state of the buried pipe C inside the pipe. can do. In addition, at the lower part of the front surface of each front end column 11 c of the input mechanism cart 31, each of the rear end columns 12 a of the reception mechanism cart 31 when the input mechanism cart 21 and the reception mechanism cart 31 are rotated with the pivot fulcrum O as a fulcrum. Since the rotation stoppers 61 and 62 are provided in contact with the lower part of the rear surface to restrict further rotation of each other, even if there are large depressions or steps in the buried pipe C, the input mechanism The carriage 21 and the receiving mechanism carriage 31 can pass smoothly without dropping. Further, the rotation of the input mechanism carriage 21 and the reception mechanism carriage 31 is restricted by the rotation stoppers 61 and 62, thereby improving the workability when the operator carries the input mechanism carriage 21 and the reception mechanism carriage 31. You can also.

Further, the input mechanism carriage 21 and the reception mechanism carriage 31 are positioned approximately at the center between the pair of front and rear main wheels T1,... And the front and rear main wheels T1, T1 having the same height and grounding on the same plane. Since the pair of left and right auxiliary wheels T2 and T2 whose ground contact positions are higher than the main wheels T1 are mounted to be rotatable, the input mechanism carriage 21 and the reception mechanism carriage 31 are long in a row in the traveling direction. Even so, when the input mechanism carriage 21 and the reception mechanism carriage 31 ride on foreign matter such as deposits and deposits existing in the pipe, the connection portion of the input mechanism carriage 21 and the reception mechanism carriage 31 is lifted upward. When the input mechanism carriage 21 and the reception mechanism carriage 31 are bent, the auxiliary wheels T2 and T2 of the input mechanism carriage 21 and the reception mechanism carriage 31 are effectively prevented from being brought into contact with a foreign object and being unable to travel. Foreign matter can be run reliably overcome. In addition, when the input mechanism carriage 21 and the reception mechanism carriage 31 are bent so as to ride on the foreign matter and the connection portion is lifted upward, the auxiliary wheels T2 are grounded to the foreign matter and the stability of the input mechanism carriage 21 and the reception mechanism carriage 31 is stabilized. Therefore, even if it is on a foreign object, the work can be smoothly performed without causing any trouble. Furthermore, even if the buried pipe C has cracks, depressions, or openings between the pipe bodies C1 and C1, the wheels T1 and T2 of the input mechanism carriage 21 and the reception mechanism carriage 31 do not come off, Travelability and passability can be improved.

In addition, this invention is not limited to the said Example, The other various modifications are included. For example, in the above embodiment, the input mechanism carriage 21 and the reception mechanism carriage 31 are provided with four main wheels T1,... And two auxiliary wheels T2 and T2, but the main wheels and the auxiliary wheels are limited in quantity. It is only necessary to provide three or more main wheels having the same height that are grounded on the same plane and one or more auxiliary wheels having a grounding position higher than the main wheels.

Moreover, in the said Example, although the rotation stopper 61 was comprised as a part of input mechanism carts 21 and 71, what was made into another components may be attached, and in this case, it has a function as a rotation stopper If so, the rotation stopper may be formed of a different material such as a compression spring, an airbag, a rubber material, and the like different from the input mechanism cart.

In the above-described embodiment, the auxiliary wheel T2 is provided. However, it is obvious that only the main wheel may be used in consideration of the traveling property when getting over a foreign object.

Furthermore, in the said Example, although the elastic wave input device 2 was mounted in the input mechanism trolley 21, and the receiving device 3 was each mounted in the receiving mechanism trolley 31, the working equipment mounted in a trolley | bogie is not limited to this, Of course, various other work devices may be mounted.

It is a side view of the input mechanism cart and the receiving mechanism cart according to the embodiment of the present invention. It is a top view of an input mechanism cart and a receiving mechanism cart. It is a side view in the state where the input mechanism cart and the receiving mechanism cart are connected. It is a perspective view in the state where the input mechanism cart and the receiving mechanism cart are connected. It is explanatory drawing which shows the whole structure of the test | inspection apparatus in the state which inserted the TV camera car, the input mechanism trolley | bogie, and the receiving mechanism trolley | bogie in the buried pipe. It is a side view which shows the bending state of a 1st cart row. It is a side view which shows the bending state of a 2nd cart row. It is a side view which shows the bending state of a 4th trolley train.

DESCRIPTION OF SYMBOLS 1 In-pipe work apparatus 11 1st connection tool (connector)
12 Second connector (connector)
2 Elastic wave input device (input mechanism)
21 Input mechanism cart (cart)
3. Receiving device (receiving mechanism)
31 Receiving mechanism cart (cart)
6 Bending means 71 Input mechanism cart (cart)
72 Receiving mechanism cart (cart)
C Buried pipe (pipe)
T1 main wheel T2 secondary wheel

Claims (3)

An in-pipe working device that performs work inside a pipe,
A plurality of different working devices are mounted on individual carts,
Each carriage is connected via a connector so that it can run in a line in the pipe,
One of the carts adjacent to each other in the traveling direction is equipped with an input mechanism for inputting an elastic wave to the tube, while the other cart has an elastic wave input to the tube by the input mechanism. Alternatively, a receiving mechanism for receiving a hitting sound is mounted, and the deterioration state of the pipe is inspected inside the pipe by one carriage and the other carriage,
The connector is provided to protrude from the upper front end and the upper rear end of adjacent carts, and rotates the first connector and the second connector having pin holes, and the first connector and the second connector. The connecting pins that are movably connected to each other and the carts are pivoted about the pivot fulcrum of the connecting pins so that the connecting portions of the carts are lifted up to an angle at which the carts adjacent to each other can run in the running direction. An in-pipe working device comprising: a rotation stopper that restricts further rotation in a bent state of a round shape. In the pipe working device according to claim 1,
Pipe work apparatus characterized by rotation stopper path is protrudingly provided on the front end lower portion or a rear end lower portion of one of the carriages. In the in-pipe work apparatus according to claim 1 or 2,
Each bogie is provided with three or more main wheels having the same height that are grounded on the same plane, and one or more auxiliary wheels having a higher grounding position than the respective main wheels. apparatus.