In-pipe traveling apparatus and traveling module

• US 9,383,055 B2
• Filed: 11/15/2012
• Issued: 07/05/2016
• Est. Priority Date: 11/15/2012
• Status: Active Grant

• Current Assignee: Hibot Corporation
• Original Assignee: Hibot Corporation
• Inventors: Hirose, Shigeo, Debenest, Paulo, Guarnieri, Michele
• Primary Examiner(s): Smith, Jason C
• Application Number:
  US14/403,161
• Publication Number:
  US 20150107485A1
• Time in Patent Office: 1,328 Days
• Field of Search: 104/138.2, 104/138.1
• US Class Current: 1/1
• CPC Class Codes: B61B 13/10 Tunnel systems pneumatic tubes conveyors B65G ; B61C15/045 takes precedence
• CPC Class Codes: F16L 2101/30 Inspecting, measuring or testing
• CPC Class Codes: F16L 55/265 specially adapted for work at or near a junction between a main and a lateral pipe
• CPC Class Codes: F16L 55/32 being self-contained
• CPC Class Codes: F16L 55/40 of the body

Abstract

An object of the invention is to provide an in-pipe traveling apparatus and a traveling module is provided, having a simple structure but capable of operating with a short overall traveling path and setting a large drive force for forward and backward traveling operation. The In one embodiment, the in-pipe traveling apparatus includes at least three traveling modules capable of passing through a pipe. Each of the traveling modules includes a traveling module body, a pair of traveling wheels provided in the traveling module body on one side thereof in a traveling direction, a drive member that drives the pair of traveling wheels in such a way that the traveling wheels rotate, a connection member that connects the traveling module to another traveling module in a bendable manner in a pitching direction, and a swing member that causes the adjacent traveling module to swing in a yawing direction.

Claims

1. An in-pipe traveling apparatus characterized in that:

the in-pipe traveling apparatus comprises at least three traveling modules capable of passing through a pipe,

each of the traveling modules includes a traveling module body inserted into a pipe, a pair of traveling wheels inserted into the pipe and provided in the traveling module body on one side thereof in a traveling direction, a drive member that drives the pair of traveling wheels in such a way that the traveling wheels rotate, a connection member provided in the traveling module body and connecting the traveling module to another traveling module in a bendable manner in a pitching direction, and a swing member that causes the adjacent traveling module connected via the connection member to swing in a yawing direction, the connection member having a first member provided in the traveling module body on one side thereof in the traveling direction and a second member provided in the traveling module body on the other side thereof in the traveling direction,

all the traveling modules are interconnected in line via the connection members to form a traveling module connected unit, an elastic member is so provided that the elastic member is interposed between adjacent traveling modules in the traveling module connected unit, a spring force of the elastic member is used to elastically bend the traveling module connected unit in the pitching direction,

the first member is formed of an end surface bracket pivotally supported by the traveling module body, and the second member is formed of a swingable bracket swingably supported by the traveling module body,

in adjacent traveling modules in the traveling module connected unit, the end surface bracket of a traveling module is fixed to the swingable bracket of an adjacent traveling module, and the swingable bracket is fixed to the end surface bracket of another adjacent traveling module,

a drive system that produces swing motion in a yawing direction is provided between the first member and the second member,

the elastic member is formed of a coil spring, and

one end of each of the coil springs is locked to the corresponding traveling module body, and the other ends of the coil springs are twisted alternately in opposite directions and caused to engage with the respective first member, so that the spring forces of the coil springs that are present between the adjacent traveling modules act alternately in a direction opposite to a tangential direction to bend the traveling module connected unit zigzag.

2. The in-pipe traveling apparatus according to claim 1,

characterized in that each pair of the plurality of traveling wheels is so disposed on the traveling module connected unit on opposite sides thereof in a direction that intersects the traveling direction and so formed that outer surfaces of the wheels as a whole form part of a sphere.

3. An in-pipe traveling apparatus, characterized in that:

the in-pipe traveling apparatus comprises at least three traveling modules capable of passing through a pipe,

each of the traveling modules includes a traveling module body inserted into a pipe, a pair of traveling wheels inserted into the pipe and provided in the traveling module body on one side thereof in a traveling direction, a drive member that drives the pair of traveling wheels in such a way that the traveling wheels rotate, a connection member provided in the traveling module body and connecting the traveling module to another traveling module in a bendable manner in a pitching direction, and a swing member that causes the adjacent traveling module connected via the connection member to swing in a yawing direction, the connection member having a first member provided in the traveling module body on one side thereof in the traveling direction and a second member provided in the traveling module body on the other side thereof in the traveling direction,

all the traveling modules are interconnected in line via the connection members to form a traveling module connected unit, an elastic member is so provided that the elastic member is interposed between adjacent traveling modules in the traveling module connected unit, a spring force of the elastic member is used to elastically bend the traveling module connected unit in the pitching direction, and a pair of idler wheels are rotatably provided in the traveling module connected unit on the side thereof away from the traveling wheels on the one side in the traveling direction,

the first member is formed of an end surface bracket pivotally supported by the traveling module body, and the second member is formed of a swingable bracket swingably supported by the traveling module body,

in adjacent traveling modules in the traveling module connected unit, the end surface bracket of a traveling module is fixed to the swingable bracket of an adjacent traveling module, and the swingable bracket is fixed to the end surface bracket of another adjacent traveling module,

a drive system that produces swing motion in a yawing direction is provided between the first member and the second member,

the elastic member is formed of a coil spring, and

one end of each of the coil springs is locked to the corresponding traveling module body, and the other ends of the coil springs are twisted alternately in opposite directions and caused to engage with the respective first member, so that the spring forces of the coil springs that are present between the adjacent traveling modules act alternately in a direction opposite to a tangential direction to bend the traveling module connected unit zigzag.