JP2000283373A - Moving device in pipeline and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moving device in a pipeline for inspecting and cleaning the interior of the pipeline with branches, and a control method thereof. SOLUTION: Guides 67-1,..., 67-4 are successively inserted in a main pipe 65. A first pipe part 11 is manually pushed in to move a master controller in a passage 69 and a trunk pipe 61 in the enclosed state of a cleaning part 33 and an inspection part 35 in a slave controller storage part 19. On the spot where the slave controller storage part 19 is assumed to have arrived near an inlet of a branch pipe 63, rubber of a position fixing part 13 is expanded to temporarily fix the position of the master controller. A position adjusting part 15 rotates a slave controller push-in part 17 around the axial direction of piping integrally with the first pipe part 11 to make an opening of the slave controller storage part 19 coincide with the direction of the branch pipe 63, and rubber of a position fixing part 21 is expanded to further fix the position of the master controller. The slave controller push-in part 17 delivers a slave controller into the branch pipe 63, and the cleaning part 33 and inspection part 35 move in the branch pipe 63 to clean and inspect.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device in a pipe and a control method thereof.

[0002]

2. Description of the Related Art Foreign matter mixed in pipes, or adherence of dirt and sediment due to normal use, lowers the efficiency of gas and liquid transfer and supply through the pipes, thereby ensuring safety during supply. It is a hindrance factor. To prevent that,
Inspection and cleaning of the piping are required.

FIG. 6 is a diagram showing a conventional pipe inspection / cleaning apparatus. A conventional piping inspection device is an inspection device 10
3. Cleaning device 105 and cable 107 directly connected thereto
Having. The guide 109 is inserted into the pipe 101 to select a direction in which the in-pipe moving device is inserted.

[0004] The pipe inspection device passes through a T-shaped branch by a method utilizing friction between the pipe 101 and a guide 109 inserted into the pipe 101. It is also possible to pass by utilizing the rotation of the camera head of the inspection device. The movement of the pipe inspection device is performed by self-propelled driving such as wheel drive or the like, or by pushing from outside by human power or the like.

[0005]

However, when the pipe has a number of branches in a branch shape and the straight or branching is selectively performed, it is difficult to insert the guide 109 in accordance with a plurality of branch positions. It is. In addition, in the direction selection using the rotation of the camera head, since there is no contact between the tip of the camera head and the pipe, no friction occurs and the pipe cannot bend. The present invention has been made in view of such a problem, and an object of the present invention is to provide a pipe moving apparatus for inspecting and cleaning the inside of a pipe having branches in a branch shape, and a control method thereof. .

[0006]

In order to achieve the above object, a first invention is an apparatus for moving in a pipe,
The intra-pipe moving device includes a master unit and a slave unit that can be stored in the master unit, wherein the master unit has a propulsion mechanism for propelling the slave unit. Further, the second invention is a step of sending the parent device storing the child device to a predetermined position of the main pipe,
A step in which the master unit sends the slave unit into the branch pipe at the predetermined position.

[0007]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram showing the configuration of the in-pipe moving device 1 when moving in the main pipe, FIG. 2 is a diagram showing the configuration of the in-pipe moving device 1 when moving in the branch pipe, and FIG. FIG. 4 is a cross-sectional view of the second pipe portion 31.
As shown in FIG. 2, the in-pipe moving device 1 includes a master device 3,
And a slave unit 5 that can be stored in the master unit.

As shown in FIG. 1, the master unit 3 includes a first tube unit 11, position fixing units 13, 21, a position adjusting unit 15, a slave unit pushing unit 17, a slave unit storage unit 19, a camera 23 and the like. It is configured.

Position fixing portions 13 and 21 are provided at at least two places of a front part and a rear part of the base unit 3. Position fixing part 1
Reference numerals 3 and 21 are made of rubber or the like and have an inflatable property, and fix the position of the master unit 3. The position adjusting unit 15 rotates the position fixing unit 21, the slave unit storage unit 19, and the slave unit pushing unit 17 around the axial direction of the pipe integrally with the first pipe unit 11a, and
9 is adjusted.

[0010] The slave unit pushing section 17 propels the slave unit 5 by a pushing method using a groove on the outer periphery of the second pipe portion 31 or the like. The slave unit storage unit 19 includes the cleaning unit 33 and the inspection unit 3 of the slave unit 5.
5 can be stored.

The position fixing portion 21, the child device storage portion 19, and the child device pushing portion 17 are fixed to the first tube portion 11a, and the position adjusting portion 15 rotates the first tube portion 11a around the pipe in the axial direction. By doing so, the position of the child device storage unit 19 is adjusted. The camera 23 images the inside of the main pipe 61. Master unit 3
In the main pipe 61, the cleaning unit 33 and the inspection unit 35 of the slave unit 5 move while being stored in the slave unit storage unit 19.

As shown in FIG. 2, the slave unit 5 has a second pipe section 31, a cleaning section 33, and an inspection section 35. Cleaning unit 33
Jets jet water or the like into the branch pipe 63 to clean the branch pipe 63. Further, the cleaning unit 33 sucks the liquid in the branch pipe 63 and discharges the liquid to the outside via the second pipe unit 31. That is,
The second tube portion 31 is connected to an external vacuum car 83,
The vacuum car 83 sucks the liquid in the branch pipe 63 via the cleaning unit 33. The inspection unit 35 has a CCD camera or the like, and sends out a captured image to the outside via an electric cable in the second tube unit 31.

As shown in FIG. 3, the first tube portion 11 is made of FR.
P rod (Fiber Reinforced Pla)
stick rod) 41, air hose 43, cable 45
It is composed of

The FRP rod 41 is provided to give the first pipe portion 11 an appropriate rigidity to withstand pushing.
The air hose 43 supplies air used when inflating the rubber of the position fixing portions 13 and 21 of the master unit 3. Cable 4
5 is a position fixing part 21, a camera 23, a child device storage part 19,
Slave unit pushing section 17, position adjusting section 15, position fixing section 13
And the like in the electric system.

As shown in FIG. 4, the second pipe portion 31
It has an outer tube 51, a cable 53, a water supply hose 55, an FRP member 57, and the like. The cable 53 is an electric wire or the like necessary for driving a CCD camera or the like provided in the inspection unit 35. The water supply hose 55 supplies a liquid or the like that is ejected when the cleaning unit 33 cleans the inside of the pipe.

The FRP member 57 is for providing the second pipe portion 31 with appropriate rigidity to withstand pushing. The outer pipe 51 is a pipe made of vinyl chloride or the like, in which a cable 53, a water supply hose 55, an FRP member 57, and the like are housed, and a spiral continuous groove is formed outside. Outer tube 51
Inside, the liquid sucked by the cleaning unit 33 flows outward.

As shown in FIG. 2, a monitor 8 is provided externally.
1. A vacuum car 83, a personal computer 85, a power supply 87 and the like are installed. The monitor 81 displays an image sent from the camera 23 or the inspection unit 35 via the cable 45 or the cable 53.

The vacuum car 83 sucks the liquid from the washing section 33 through the inside of the outer tube 51. A pump or the like may be used instead of the vacuum car 83. PC 85
Controls the respective units of the master unit 3 and the slave unit 5 and the like. Power supply 87
Supplies power to each unit of the master unit 3 and the slave unit 5.

Next, a procedure for inspecting and cleaning the inside of the branch pipe 63 using the pipe moving apparatus 1 will be described with reference to FIG. In FIG. 5, a main pipe 65 is connected to the main pipe 61, and a plurality of branch pipes 63 are connected to the main pipe 61. In addition, trunk 6
A liquid such as water flows inside the first tube 1 and the branch tube 63.

First, guides 67-4,..., 67-1
Are sequentially inserted into the main pipe 65. Guide 67-1, ...,
67-4 is a cylindrical body in which a passage 69 is provided. The passage 69 is provided inside the guides 67-1,..., 67-4, and the in-pipe moving device 1 passes through the passage 69.

Next, the operator enters the cleaning section 33 and the inspection section 35.
The parent machine 3 is inserted into the passage 69 and moved in the main pipe 61 while the child machine is stored in the child machine storage section 19 (FIG. 1). That is,
The operator moves the parent machine 3 by pushing the first pipe section 11 from outside the guide 67-1. At this time, the worker is looking at the monitor 81, and the
The movement of the base unit 3 is stopped at a point where it is considered that the base unit 3 has reached the vicinity of the entrance of the base unit 3.

Then, the rubber of the position fixing unit 13 is expanded to temporarily fix the position of the master unit 3. In this case, the first pipe 11
Air is sent into the internal air hose 43 to fix the position fixing portion 1.
Inflate rubber 3

Next, the position adjusting unit 15 is provided with the position fixing unit 2.
1. The slave unit storage unit 19 and the slave unit pushing unit 17 are connected to the first pipe unit 1.
The opening of the slave unit storage portion 19 is made to coincide with the direction of the branch pipe 63 by rotating the pipe in the axial direction of the pipe integrally with 1a. still,
The position adjusting section 21 may finely adjust the position of the slave unit storage section 19 in the traveling direction. When the position of the slave unit storage section 19 is adjusted, air is sent into the air hose 43 of the first pipe section 11 to expand the rubber of the position fixing section 21.
In this state, the position of the master unit 3 is fixed by the position adjusting unit 13 and the position adjusting unit 21.

The slave unit pushing unit 17 sends the slave unit 5 into the branch pipe 63 by using a groove provided in the outer pipe 51 of the second pipe part 31, and the cleaning unit 33 and the inspection unit 35 The inspection and cleaning are performed by moving inside the branch pipe 63. Then, the cleaning unit 33 sucks the liquid in the branch pipe 63 from an opening (not shown) by the vacuum car 83 and discharges the liquid to the outside.

As described above, according to the present embodiment, the in-pipe moving device 1 is constituted by the master unit 3 and the slave unit 5, so that the pipe branched in a branch shape can be selectively bent. Similarly, if a device having a master unit, a slave unit, and a grandchild unit is sequentially sent out, it is possible to pass the bend portion any number of times.

Further, by arranging the position fixing portions 13 and 21 before and after the master unit, it is possible to enhance performance and improve reliability. Furthermore, the operability can be improved by integrating the cable and the hose in the second pipe portion 31.

[0027]

As described above in detail, according to the present invention, it is possible to provide a pipe moving apparatus for inspecting and cleaning the inside of a pipe having branches and a control method therefor.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a moving device 1 in a pipe when moving in a main pipe.

FIG. 2 is a configuration diagram of the in-pipe moving device 1 when moving in the branch pipe.

FIG. 3 is a cross-sectional view of the first pipe section 11;

FIG. 4 is a sectional view of a second pipe portion 31;

FIG. 5 is a configuration diagram of the in-pipe moving device 1.

FIG. 6 is a diagram showing a conventional pipe inspection / cleaning apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... In-pipe moving device 13, 21 ... Position fixing part 15 ... Position adjusting part 17 ... Sub-unit sending-out part 19 ... Sub-unit storage part 23 ... Camera 33 ... Inspection Section 35 Cleaning section 61 Main pipe 63 Branch pipe 65 Main pipe 67 Guide 69 Passage 81 Monitor 83 Vacuum car 85 PC 87 ... Power supply

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroyuki Ishiyama 1-3-25-25, Kishitani, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture Inventor Masaaki Hirayama 19-45 Kuritaya, Kanagawa-ku, Kanagawa Prefecture (72) Inventor Nobuyuki Chigami 25-66, Kuroiso, Kuroiso City, Tochigi Prefecture

Claims (18)

[Claims] An in-pipe moving device that moves in a pipe, comprising: a master unit; and a slave unit that can be stored in the master unit, wherein the master unit has a propulsion mechanism that pushes the slave unit. A moving device in a pipe, comprising: 2. The apparatus according to claim 1, wherein the master unit has a position fixing part for fixing a position of the master unit itself. 3. The apparatus according to claim 2, wherein the position fixing portion is made of rubber having expandability. 4. The intra-pipe moving device according to claim 2, wherein the position fixing portion is provided at at least two places of a front portion and a rear portion of the master unit. 5. The master device according to claim 1, wherein the master device has a slave device storage portion for storing the slave device, and the slave device storage portion is rotatable around an axial direction of the pipe. In-pipe moving device. 6. The master unit has a position adjustment unit, and the position adjustment unit rotates the slave unit storage unit to adjust the position of the slave unit storage unit. The in-pipe moving device according to the above. 7. The master unit has a first pipe part,
2. The intra-pipe moving device according to claim 1, wherein the master unit moves forward by pushing the pipe unit. 8. The apparatus according to claim 7, wherein the first pipe section has a rod, a cable, and a hose. 9. The intra-pipe moving device according to claim 1, wherein the slave unit has an inspection unit. 10. The in-pipe moving device according to claim 1, wherein the slave unit has a washing unit. 11. The apparatus according to claim 1, wherein the slave unit performs suction. 12. The master unit and the slave unit are connected by a second tube unit, and the master unit propells the slave unit by advancing the second tube unit. In-pipe moving device. 13. The control method for controlling the in-pipe moving device according to claim 1, wherein a step of feeding a parent device accommodating a child device to a predetermined position of a main pipe, Sending the slave unit into the branch pipe. 14. The method according to claim 13, wherein a parent device is fixed at the predetermined position. 15. The method according to claim 13, wherein the parent device rotates the child device around the axial direction at the predetermined position to adjust the position. 16. The method according to claim 13, wherein the slave is propelled while inspecting the inside of the branch pipe. 17. The method according to claim 13, wherein the slave unit is propelled while cleaning the inside of the branch pipe. 18. The method according to claim 13, wherein the slave unit is propelled while sucking the inside of the branch pipe.