JPH0694027B2 - Obstacle removal device in pipeline - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a removing device that scrapes off obstacles such as branch pipe ends and deposits that project into a pipeline.

BACKGROUND ART In the sewer pipe, a branch pipe called an attachment pipe is usually connected by piping from each household, and at present, an attachment as shown in FIG. 4 called a socket for the attachment pipe is used to connect the branch pipe. However, in those that were buried and constructed before that, the above-mentioned attachment was not used, and the branch pipe was inserted and fixed to the upper part of the sewer pipe.

Some branch pipes inserted into the sewer pipe have their ends protruding into the sewer pipe from the beginning, as shown in Fig. 3.
There are also some that have protruded due to subsequent subsidence. In any case, if there is a protruding end such as a branch pipe or a protruding obstacle such as a deposit in the pipe, the flow of sewage in the pipe will deteriorate, and even if you try to introduce a camera robot to investigate the inside of the pipe, the camera robot runs Is difficult to implement. In recent years, attempts have been made to lay an optical fiber cable using an existing sewer pipe for the maintenance of a communication network.However, even in this case, if there is a protruding obstacle as described above, the cable is laid and constructed. Can't pass the robot.

In order to remove the protruding obstacle, it is possible to use a chipping robot equipped with a breaker, but since a fume pipe or tow pipe is used as the mounting pipe, the mounting pipe is cracked by vibration during chipping. May occur and the mounting pipe and sewer pipe may be damaged. Moreover, it is difficult to completely remove the protruding obstacle.

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention In order to solve the above problems, the present invention uses a wheel-shaped cutter and attempts to scrape off a protruding obstacle by pushing the cutter in the tube axial direction while rotating the cutter. However, a mere wheel-shaped cutter cannot be used for pipes that are bent, such as sewage pipes, or have steps at seams. That is, if you want to cleanly remove protruding obstacles in the pipe, you must use a cutter whose outer diameter is slightly smaller than the inner diameter of the pipe, but the sewer pipe buried in the ground bends at the seam due to subsidence etc. However, if a cutter such as that described above is used because it has a step, it cannot be moved by being supported by the bending portion or the step, or the portion is scraped off to damage the pipe.

An object of the present invention is to solve the above problems, and to provide a removing device capable of moving into a pipe having a bend or a step and moving without hindrance, and scraping off an obstacle protruding into the pipe.

Means for Solving the Problems In one device for achieving the above object, in a pipe traveling in a pipe, the traveling or stopping of which is controlled from the outside, a television camera attached to the truck, and a pipe axis direction from the truck. An arm that protrudes and is rotatably supported by the carriage and rotatably supported; and a mushroom-shaped wheel-shaped cutter that protrudes radially from the arm and is rotatably supported by the arm.
It is composed of an operating means for suppressing the arm and moving the wheel-shaped cutter forward and backward toward the pipe wall, a turning means for rotating the arm, and a driving means for rotating the wheel-shaped cutter.

In this device, in order to rotatably and rotatably support the arm on the carriage, for example, a cylindrical or shaft-like rotating body rotatably supported on the carriage is provided, and the arm is vertically mounted on the rotating body. It is advisable to rotatably support the shaft.

An air cylinder is a typical example of the actuating means for depressing the arm. As a mode of use, a rotating body rotatably supported by a carriage and an arm pivotally supported by the rotating body are used. Or is attached to an arm and is connected to a leg that is supported by the arm so as to be capable of advancing and retracting in the radial direction.

A motor is usually used as the turning means and the driving means.

When the truck is introduced into the action pipe, the arm is lowered in one device and the operating wheel is lowered in another device while the wheel-shaped cutter is lowered during traveling. Then, while running, the inside of the pipe displayed on the TV camera is monitored. Obstacles due to the protruding end of the branch pipe and deposits are found in the pipe, and when it reaches the appropriate position, the truck is stopped. The arm is then raised by the actuating means to bring the wheel-shaped cutter into contact with or close to the inner wall of the tube. Then, the carriage is moved forward and the arm is turned by the turning means. As a result, the peripheral edge of the wheel-shaped cutter is pressed against the protruding obstacle. After that, the wheel-shaped cutter is rotated by the driving means while gradually moving the carriage forward to remove the protruding obstacle. At the time of rotation, the peripheral speed of the wheel-shaped cutter is 0 at the central portion and becomes faster toward the peripheral edge. Therefore, even if the central portion is in contact with the inner wall of the pipe, the inner wall of the pipe is not scraped off, and the protruding obstacle is deleted at the peripheral edge of the wheel-shaped cutter (3rd part).
Figure). If the wheel-shaped cutter scrapes off the protruding obstacle and remains uncut at the stage where it has penetrated, the dolly moves backward by a predetermined amount, and the arm is swung by an appropriate amount, and the peripheral edge of the wheel-shaped cutter is pressed against the remaining protruding obstacle. After that, the wheel-shaped cutter is driven to rotate again, and the deletion is performed in the same manner. When the removal of the protruding obstacle is confirmed through the television camera, the wheel cutter is lowered as described above, and the truck travels in the pipe.

It should be noted that it is desirable that the carriage does not move up and down when the above-mentioned protruding obstacle is deleted. To do that, for example,
The wheel-shaped cutter is pressed against the inner wall of the pipe to regulate the vertical movement between the wheel of the trolley and the wheel-shaped cutter, or the push-wheel is provided in the opposite direction to the wheel-shaped cutter so that the push-wheel can move forwards and backwards inside the pipe. It is advisable to press the walls from both sides to regulate the vertical movement.

Embodiments FIGS. 1 and 2 show a grinder robot which is an example of a device for removing a protruding portion protruding from an inner wall of a pipe, and an umbrella-shaped wheel including drive wheels which are driven to rotate by a traveling motor 11 on the left and right. A trolley 14 that is installed in parallel with 12 and rolls on the inner wall surface of the pipe 13, and a trolley 14 that projects from the front of the trolley in the pipe axis direction.
An arm 15 supported so as to be rotatable and capable of being depressed, and a mushroom-shaped wheel-shaped cutter 16 pivotally supported at the protruding end of the arm so as to be rotatable orthogonally to the arm 15. In order to support the carriage 14 so that it can be rotated and depressed,
A cylindrical rotating body 19 is rotatably attached to the front part of the trolley and is rotated by a turning motor 17 via a gear transmission device 18, and a rear side part of the arm is loosely fitted to this, and a rear end thereof is provided. Is a pin
It is pivoted by 21. Then, at the protruding end of the arm, it projects in the direction opposite to the wheel-shaped cutter 16, and the air cylinder
Pushing wheels 23 are provided that move forward and backward by 22. Then, when the rotating body 19 is rotated by the turning motor 17, the arm 15, the pressing wheel 23 and the wheel-shaped cutter 16 integrally rotate, and when the pressing wheel 23 is moved back and forth by the air cylinder 22, the arm 15 is lowered. Therefore, the wheel-shaped cutter 16 is pressed against the inner wall of the pipe or separated therefrom.

The wheel-shaped cutter 16 is rotatably driven by a rotary motor 25 mounted in the end of the arm,
Although not shown in the figure, many small holes are provided on the surface, and the cooling water inserted from the arm 15 spouts from the small holes and the cutter
It is designed to cool down to 16.

In the figure, 27 is a television camera for monitoring inside the pipe, and 28 is a light.

This device is configured as described above, and the pushing wheel 23 is retracted by the air cylinder 22 when traveling in the pipe. As a result, as shown by the alternate long and short dash line in FIG.
15 is tilted within the range of the rotary body 19 and the wheel-shaped cutter 16 is lowered. Therefore, even if the pipeline is bent at the seam or there is a step, it is possible to run without being supported.

When running, the inside of the pipe illuminated by the light is monitored by the TV camera, and when a protruding obstacle such as a branch pipe end protruding into the pipe or a protruding obstacle is found, the carriage 14 is stopped and the air cylinder 22 is activated. And pushes the pressing wheel 23. Then, this raises the arm 15 and presses the wheel-shaped cutter 16 against the inner wall of the pipe. Next, the carriage 14 is moved forward, the arm 15 is rotated by the turning motor 17, and the cutter 16 is turned to press the peripheral edge of the cutter against the protruding portion. Then, while the cutter 16 is rotated by the rotary motor 25, the carriage 14 is gradually advanced to remove the protruding obstacle.

EFFECTS OF THE INVENTION The present invention is configured as described above and has the following effects.

According to the apparatus of claim 1, the wheel-shaped cutter can be lowered when the cutter is not in operation, so that the traveling is smooth, and even if it enters a pipe with a bend or a step, the wheel-shaped cutter moves into the pipe without trouble. Obstacles such as protruding branch ends and deposits can be scraped off.

In the apparatus according to claims 3 to 4, the obstacle can be removed properly.

[Brief description of drawings]

FIG. 1 is a partial sectional side view of a removing device according to the present invention, FIG.
FIG. 3 is a front view of the same device, FIG. 3 is a view showing a state where a wheel-shaped cutter is used for removal, and FIG. 4 is a sectional view of a branch pipe connecting portion. 11 …… Traveling motor, 13 …… Pipe, 14 …… Truck, 15 …… Arm, 16 …… Wheel cutter, 17 …… Spinning motor, 19 …… Rotating body, 22 …… Air cylinder, 23… … Push wheel, 25 …… Rotation motor, 27 …… TV camera

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Kunio Okada 4-6-8 Shoko Center, Nishi-ku, Hiroshima City, Hiroshima Prefecture Construction Service Co., Ltd. (72) Inventor Yoshifumi Takahashi 2-6-2 Otemachi, Chiyoda-ku, Tokyo Tokyo Metropolitan Sewerage Bureau (72) Inventor Tsunehito Takaso 2-6-2 Otemachi, Chiyoda-ku, Tokyo Tokyo Sewerage Bureau (72) Haruo Iwasaki 2-6-2 Otemachi, Chiyoda-ku, Tokyo Tokyo Sewer Bureau (72) Inventor Kazuo Takahashi 2-6-2 Otemachi, Chiyoda-ku, Tokyo Inside Sewer Bureau, Tokyo (72) Inventor Ikuo Uemura 2-6-2 Otemachi, Chiyoda-ku, Tokyo Inside Sewer Bureau (72) ) Inventor Kenichiro Kurihara 2-6-2 Otemachi, Chiyoda-ku, Tokyo Within Tokyo Sewer Service Co., Ltd. (72) Inventor Hiroshi Mizobe Hiromitsu Hirase, Examiner, Japan Hume Tube Co., Ltd., 53-1331, Shinbashi, Minato-ku, Tokyo (56) References: 61-44289 (JP, U) 63-86889 (JP, U) Actual public Sho 57-60897 (JP, Y1)

Claims (4)

[Claims] 1. A trolley which travels in a pipe and whose running or stopping is controlled from the outside, a television camera attached to the trolley, a pipe projecting from the trolley in the pipe axis direction, and rotatably supported on the trolley so as to be elevated and rotatable. Arm, a mushroom-shaped wheel-shaped cutter that projects in a radial direction from the arm and is rotatably supported by the arm, an operating means that raises and lowers the arm, and moves the wheel-shaped cutter forward and backward toward the inner wall of the pipe. A device for removing obstacles in a pipeline, which is composed of a turning means for rotating the cutter and a driving means for rotating the wheel-shaped cutter. 2. The obstacle removing device in a pipeline according to claim 1, wherein the arm is rotatably supported by a rotating body which is rotatably supported by a carriage. 3. The obstruction removing device in a pipe line according to claim 1, wherein the wheel-shaped cutter is pressed against the inner wall of the pipe at the time of deletion, and its vertical movement is restricted. 4. An obstacle removing device in a pipe line according to claim 1, further comprising a pressing wheel which moves in the opposite direction to the wheel-shaped cutter and which is restricted in vertical movement by the wheel-shaped cutter and the pressing wheel when the wheel is deleted. .