JPH11222123A - Robot insertion and recovery device in pipe - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To easily insert and retrieve an exploration robot in a pipe even in a pipe full of water and high pressure. The present invention covers an outer periphery of a half or less circumference of the robot, which is applied to a side surface of a robot inserted into the main pipe from a branch pipe provided in the main pipe, along a pipe axis over substantially the entire length. A robot holder 3 formed by bending a plate-like body to a length that allows the robot holder 3 to have a length equal to or greater than the length of the branch pipe P1 from the longitudinal rear end 3B of the robot holder 3 A guide rod 4 integrally attached to the robot holder 3 and a robot holder side end 4A of the guide rod 4 have a cable 2A of the robot at the end side.
To the guide rod 4 side, and the rear end side is the cable 2A
And a pair of two guide rollers 5A and 5B for pressing the guide rollers 4 in a direction away from the guide rod 4.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for inserting and recovering a robot into a pipe, and more particularly, to a pipe used for smoothly inserting and recovering a robot for observing or detecting a state inside the pipe. The present invention relates to a device for inserting and collecting a robot into a robot.

[0002]

2. Description of the Related Art When it is desired to observe the state of a sewer pipe, if the pipe is full, manned observation is impossible, and a robot equipped with a television camera equipped with a lighting device and various sensors is sent into the pipe. We have to rely on observation by remote control.

In this case, the insertion of the robot into the pipe involves inserting an insertion guide cylinder into the pipe from a branch pipe and feeding the robot from the guide cylinder, as disclosed in, for example, JP-A-8-65846. Is being done.

[0004]

However, there is no problem when the pipe is full and almost no pressure is applied. However, when the pipe is full and there is water pressure, it is difficult or impossible to insert the robot by the water pressure. There was a problem. Further, even if the robot part can be inserted into the pipe, there is a problem that the force for protruding the robot from the guide cylinder into the pipe cannot be obtained by using only the cable, and that the robot cannot be used in a full water high pressure state. In this case, it is sufficient to protrude the robot into the pipe with a long rod. However, there is a problem that it is very difficult to recover the robot after the observation is completed due to the influence of the water flow and the water pressure. The present invention has been made for the purpose of solving the above problems, and has been made for the purpose of providing a device which can easily perform insertion and recovery of a robot even in a pipeline in a high pressure state with full water. is there.

[0005]

The apparatus for inserting and recovering a robot into a pipe according to the present invention is applied to a side face of a robot inserted into a main pipe from a branch pipe provided in the main pipe.
A robot holder formed by bending a plate-like body into a length capable of covering almost the entire outer circumference of the robot along a pipe axis over a half circumference or less, from a longitudinal rear end of the robot holder. A guide rod having a length equal to or longer than the length of the branch pipe and integrally attached to the robot holder, and a tip of the guide rod on the robot holder side, wherein the tip side connects the cable of the robot to the guide rod side. It is characterized in that a pair of two guide rollers whose rear end side presses the cable away from the guide rod are arranged in series.

When a robot is inserted into a pipe filled with water at a high pressure, the rigidity of the guide rod can be used, so that it can be inserted against a considerably high water pressure. When the robot is collected, the robot can be easily collected by the joint of the robot holder and the pair of guide rollers.

[0007]

Next, an embodiment of the present invention will be described. FIG. 1 is a side view showing an embodiment of the present invention,
2 is a front view of the same, and FIG. 3 is a sectional view taken along line XX of FIG.

In FIG. 1 and FIG. 2, a device 1 for inserting and recovering a robot into a pipe comprises a robot holder 3 applied to the side of the robot 2, a guide rod 4 and a guide roll 5A for guiding a cable 2A attached to the robot 2. 5B.

As shown in FIG. 3, the robot holder 3 is formed by bending a plate-like body into a length capable of covering almost half of the outer circumference of the robot 2 over the entire length along the pipe axis. ing.

A guide aid 6 for facilitating the release and recovery of the robot is provided at the front end 3A of the robot holder 3 as required, and is engaged inside the rear end 3B when the robot 2 is pushed. A stopper 3C is provided.

Although the illustrated example shows a case where the robot 2 has a circular cross section, the same can be implemented as shown in FIG. 4 even when the robot 2 has a rectangular cross section. The guide rod 4 is longer than the length of the branch pipe P1 (FIG. 5) connected to the main pipe P, and is attached to the longitudinal rear end 3B of the robot holder 3.

The guide rolls 5A and 5B provided at the robot holder end 4A of the guide rod 4 are connected to the end 5A.
A presses the cable 2A toward the guide rod 4, and the rear end 5B presses the cable 2A in a direction away from the guide rod 4 so that two cables are arranged in series.

In FIG. 2, the cable 2A is omitted to avoid congestion. Next, a use state of the robot insertion and recovery device in the pipe will be described. FIG. 5 is a cross-sectional view showing a state before inserting the robot, FIG. 6 is a cross-sectional view showing a state immediately after discharging the robot into the pipe or immediately before collecting, and FIG.

As shown in FIG. 5, the branch pipe joint P of the main pipe P
2. Connect the branch pipe P1 to the repair valve P3 previously connected to 2,
The robot 2 is set on the robot holder 3 and the branch pipe P1 is set.
Insert inside.

Next, a water stop device 7 as shown in FIG. 7 is attached to the open end of the branch pipe P1, and the outer periphery of the guide rod 4 and the cable 2A are sealed watertight. This water stop device 7 is a guide rod 4
And a short pipe 8 having a through hole 7A through which the cable 2A is inserted, a board 7C having a through hole 7B through which the cable 2A is inserted, a short pipe 8 which is joined to the board 7C in a watertight manner and has a flange 8A at the other end which can be joined to the branch pipe P1. A feed roll 8B and a guide 8C for the guide 4 provided in the short pipe 8 and used when the cable 2A is fed in, and a cable 2A provided on a support 9 outside the water stop 7 from the pipe. A gland packing 7D that slidably seals between the inner periphery of the through hole 7A and the outer periphery of the guide rod 4 is provided in the through hole 7A of the water stop device 7, Hole 7
B has an O-ring 7 for sealing between the outer periphery of the cable 2A.
E and 7E are provided. In the figure, 7F
Denotes a drain hole for discharging water leached from the O-ring 7E.

After the sealing by the water stop device 7 is completed, the repair valve P3 is opened and the robot 2 is inserted as shown in FIG. At this time, the water pressure in the main pipe P is applied to the branch pipe P1, and a force is applied to the robot 2 and the robot holder 3 in the pushing direction. However, if the guide rod 4 is supported and pressed against the water pressure, The robot 2 can be pushed out of the branch pipe P1 in the pipe P direction. When the robot 2 completely enters the main pipe P, and the cable 2A is fed in by the operation of the feed roll 8B, as shown in FIG. Since the lower end of the robot 2 projects from the lower end of the robot holder 3 into the pipe, the lower end of the robot 2 is separated by the water flow and naturally flows downstream in the pipe.

Therefore, if the connection cable 2A is extended, inspection in a range corresponding to the extension amount can be performed. Next, when the inspection or the like is completed and the robot 2 is to be collected, the cable 2 </ b> A is pulled in by the operation of the pulling roll 10 from the state shown in FIG. 6, and the robot 2 is drawn to the robot holder 3.

The cable 2A is guided by two guide rollers 5A and 5B at the tip of the guide rod 4, and applies a force in a direction to press the tip of the robot 2 against the robot holder 3.

At the same time, since the water flow is blocked by the robot holder 3, the robot 2 approaches the robot holder 3. Thereafter, the guide rod 4 is pulled up, and if the robot 2 and the robot holder 3 pass the repair valve P3, the repair valve P3
Close.

When the repair valve P3 is closed, the water pressure in the pipe P is shut off, so that the pipe P can be easily removed thereafter. Next, a specific example of the above embodiment will be described. A 75 mmφ flanged pipe was connected as a branch pipe to a sewage main pipe having a water pressure of 7.5 kg / cm ² . The robot used is 60mm in diameter and 250m in length
m, a robot camera with a diameter of 1 mm and a semi-cylindrical robot holder with an inner diameter of 65 mm and a length of 300 mm.
A 3.8 mm long, 3 m guide rod is connected by welding. The cylindrical camera robot was held by the robot insertion and collection device into the pipe, inserted into the branch pipe, the opening of the branch pipe was sealed with a water stop, and the repair valve was opened. There was power, but if a pushing force was applied against it, the robot could be sent into the mains without any obstacles by human power. When the cable was pulled in and the guide rod was pulled out with the traction force applied, the camera robot could be easily pulled up to the repair valve. The disassembly and recovery work after closing the repair valve was easy.

Although the robot was to be fed into the branch pipe without using the device for inserting and collecting the robot into the pipe, the cable was deformed freely and the pressure of the feed was not transmitted at all. It was pushed out of the pipe, making it impossible to send it in.

[0022]

As described above, according to the present invention, a robot can be easily fed into a pipe with a high water pressure, and the connection cable of the robot can be connected to the robot holder with two guide rolls. Since it is pulled down so as to be pressed down, it has effects such as easy recovery.

Further, since the structure is simple, it is easy to manufacture and has effects such as easy implementation.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a front view showing an embodiment of the present invention.

FIG. 3 is a sectional view taken along line XX of FIG. 1;

FIG. 4 is a sectional view taken along line XX of another embodiment of FIG. 1;

FIG. 5 is an explanatory view of a use state of the robot insertion and collection device into a pipe according to the present invention.

FIG. 6 is an explanatory diagram of a use state of the robot insertion and recovery device into a pipe according to the present invention.

FIG. 7 is a cross-sectional view of a water stoppage device used in combination with the robot insertion / recovery device into a pipe according to the present invention.

[Explanation of symbols]

 1 Robot insertion / recovery device into a pipe 2 Robot 2A Cable 3 Robot holder 3A Robot holder tip 3B Lengthwise rear end 3C Stopper 4 Guide rod 4A Guide rod tip 5A Tip guide roll 5B Trail guide roll 6 Guide Aid P Main pipe P1 Branch pipe

 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Yuji Izuno 2-26, Ohamacho, Amagasaki-shi, Hyogo Pref. (72) Inventor Akio Kamada 2-26, Ohama-cho, Amagasaki-shi, Hyogo Prefecture Inside Kubota-Mukogawa Works

Claims (1)

[Claims] 1. A length which is applied to a side surface of a robot inserted into the main pipe from a branch pipe provided in the main pipe, and which can cover an outer circumference of less than half a circumference of the robot over substantially the entire length along a pipe axis. A robot holder having a plate-like body formed into a curved shape, and having a length equal to or longer than the length of the branch pipe from the longitudinal rear end of the robot holder, and integrally attached to the robot holder. A pair of two guide rollers, the leading end of which holds the robot cable toward the guide rod, and the rear end of which holds the cable in a direction away from the guide rod, at the end of the guide rod and the robot holding fixture side of the guide rod. A device for inserting and collecting a robot into a pipe, which is arranged in series.