JP2004092184A - Drill unit and drilling method for embedded pipe branching portion, and drilling tool - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drill unit for drilling and opening a branch pipe branching portion which is blocked by lining at the time of repairing a small-diameter pipe by a lining method without excavating the ground, and to provide a drilling method and a drilling tool for the same. <P>SOLUTION: The drill unit 1000 for the embedded pipe branching portion is formed of a machining mechanism 10 for drilling a liner at the branching portion, a rotating mechanism 20 for rotating the machining mechanism 10 around a pipe axis, and a moving mechanism 30 for moving the machining mechanism 10 and the rotating mechanism 20 along a pipe axial direction. Further a sensor for detecting the branching portion from inside the pipe, and a sensor for detecting the position of the machining mechanism are installed in the machining mechanism 10, and the machining mechanism 10, the rotating mechanism 20, and the moving mechanism 30 are connected to each other via foldable universal joints. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a configuration and operation method of a robot that performs maintenance and inspection work on buried water and sewage pipes and gas pipes from inside the pipes, particularly after repairing lining of aged iron pipes with sealing material, resin material, etc. The present invention relates to an apparatus for perforating a liner at a pipe branch portion and a method of operating the same.
[0002]
[Prior art]
A conventional apparatus for perforating a buried pipe lining from the inside without cutting is disclosed in JP-A-6-306923. In this gazette, in order to form an opening similar to the shape of the opening of the pipe branch portion in the lining material of the branch portion on the inner surface of the underground buried pipe, the inside of the main body having a traveling leg for supporting the main body and a fixing support leg is provided. An opening unit, a rotating means for moving the opening unit around the main axis, and a moving means for moving the main unit along the main axis are provided. The opening unit is provided on the pedestal and turned on the pedestal. And an opening cutter provided on the turning table and having a rotation axis parallel to the turning table axis, and a sensing means for detecting a distance between a cutting edge position of the opening cutter farthest from the turning table axis and a pipe branch inner wall, It is described that a tube wall opening machine is configured so that the opening cutter moves up and down from the main body so as to take a set angle by raising and lowering the pedestal, and controls the rotating unit and the moving unit by the sensing unit.
[0003]
[Problems to be solved by the invention]
In Japanese Patent Application Laid-Open No. 6-306923, when the inner diameter of a pipe is small, for example, a pipe diameter of 50 mm or less as seen in a gas pipe is not sufficiently considered. That is, as described in the official gazette, the apparatus is configured to pierce a thin liner portion on the premise that the inner diameter of the main pipe is 200 mm and the inner diameter of the branch pipe is 150 mm. In particular, the opening cutter is moved in the direction of the branch pipe. He did not have the freedom. It is also conceivable that the liner is thick depending on the lining method.For example, when the apparatus described in the publication is applied to a pipe with an inner diameter of about 50 mm, there is no freedom to move the opening cutter in the direction of the branch pipe, so it is difficult to cut a thick liner. Could be.
[0004]
An object of the present invention is to solve the above-mentioned problem, and a pipe branch having a small-diameter pipe made of a small-diameter pipe having an inner diameter of about 50 mm, which is lined with a liner and repaired, is not cut into the pipe. It is an object of the present invention to provide a buried pipe branching section drilling device which realizes a lining method for repairing an aging pipe without drilling.
[0005]
[Means for Solving the Problems]
In order to solve the above problems, the configuration of the buried pipe branch portion punching device according to the present invention is a buried pipe branch portion punching device for punching a buried pipe branch portion that has been lining-repaired using a resin,
A processing mechanism for perforating the liner of the pipe branch portion, a turning mechanism for rotating the processing mechanism around the pipe axis, a moving mechanism for moving the processing mechanism and the turning mechanism in the pipe axis direction, and a control device, The processing mechanism, the turning mechanism, and the moving mechanism are connected by a universal joint, respectively, so as to correspond to the bent portion of the pipe.
[0006]
In the buried pipe branch portion drilling device described above, the control device may detect an inclination angle of the processing mechanism with the posture detection sensor, and control the turning device such that the inclination angle of the processing mechanism becomes a predetermined value. It is a feature.
[0007]
Furthermore, in the configuration of the buried pipe branch portion drilling device described above, a swivel shaft is provided as a swivel mechanism coaxially disposed with respect to the double cylindrical fixed portion, in the space between the outer cylinder and the inner cylinder of the double cylinder. The configuration is such that the wires and tubes are held by a partition plate that arranges the wires and tubes passed from the moving mechanism to the processing mechanism radially from the central axis of the double cylinder.
[0008]
Further, in the configuration of the buried pipe branch portion drilling device described above, using a rotary cutting tool as a drilling tool, a cutting tool drive motor, a lifting drive motor for raising and lowering the cutting tool drive motor together with the cutting tool. , Which are arranged before and after the cutting tool rotation axis in the pipe axis direction.
[0009]
Furthermore, in the configuration of the buried pipe branch portion punching device described above, the rod is configured to be extended radially and equidistantly in at least three directions from the center axis of the machining mechanism, and the machining mechanism center axis is substantially aligned with the pipe center axis at the time of branch position sensing. A center positioning mechanism to match, a reaction force support clamp for pushing out the machining mechanism in the branch pipe branch direction by extending the rod in the direction opposite to the pushing direction of the drilling tool for the branch pipe into which the machining mechanism was inserted during drilling, and pushing out the drilling tool The processing mechanism is equipped with a posture support clamp that is extended in the same direction as the direction and holds the posture during drilling so that the processing mechanism and the piping are parallel when the processing mechanism is pressed against the inner wall of the pipe by the reaction force support clamp. The configuration is as follows.
Further, in the configuration of the buried pipe branch portion drilling device described above, in the rotary cutting tool used as a drilling tool, the desired drilling diameter is set as the outer diameter of the cutting tool, and further, the rotation axis of the tool is determined based on the drilling diameter of the cutting tool end face. The shape has a convex portion on the side.
[0010]
Further, in the configuration of the buried pipe branch part drilling device described above, the movement of the drilling device in the pipe is performed by pulling the wire pulling device and the cable winding device from the openings at both ends of the construction section, and processing during the pulling. The attitude of the machining mechanism is detected by the signal of the attitude sensor mounted on the mechanism, and based on the detection result, the turning mechanism is used to control the branch detection sensor so that it always faces the direction in which the branch pipe exists. After detecting the bifurcation by the movement of the apparatus, the position of the bifurcation is accurately determined by using the moving mechanism and the turning mechanism while monitoring the signal of the bifurcation detection sensor, and perforating the pipe bifurcation liner.
[0011]
BEST MODE FOR CARRYING OUT THE INVENTION
A configuration of a buried pipe branching portion drilling device according to one embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is an explanatory view of an embodiment of a buried pipe branching portion drilling device according to the present invention. First, the configuration of the device inserted into the lined pipe will be described with reference to FIG. An apparatus 1000 for piercing a buried pipe branch according to an embodiment of the present invention includes a processing mechanism 10 for piercing a liner (not shown) of a branch, and a swivel for rotating the processing mechanism 10 around a lined pipe axis. It comprises a mechanism 20, and a moving mechanism 30 for moving the processing mechanism 10 and the turning mechanism 20 in the direction of the lined pipe axis. The processing mechanism 10, the turning mechanism 20, and the moving mechanism 30 are connected by two universal joints 40, respectively. In the order of the processing mechanism 10, the turning mechanism 20, and the moving mechanism 30, a wire pulling device 60 (see FIG. 2, the wire pulling device 60 side is referred to as a front side) is connected to a buried pipe (not shown) from a cable described later. The winding device 90 (see FIG. 2; the cable winding device 90 side is referred to as a rear side).
[0012]
With reference to FIG. 2, the buried piping branch part drilling device 1000 will be described.
FIG. 2 is an overall explanatory view of an embodiment of a buried pipe branching portion drilling device according to the present invention. In the buried piping branch portion punching device 1000, a pulling wire 50 is provided at the tip of the processing mechanism 10, and the pulling wire 50 is connected to the wire pulling device 60. From the rear end of the moving mechanism 30, an air pipe for supplying air to an air nozzle 320 or the like (not shown) for blowing chips generated at the time of processing toward the front side, a drive motor 220 of the processing mechanism 10, etc. (Not shown), a power supply line for supplying power, a control signal line from the control device 100 for controlling the processing mechanism 10 and the like are connected to the cable 70.
[0013]
The connected cable 70 is taken up by a cable take-up device 90 via a relay 80 that branches the air pipe and performs signal processing from various detection sensors of the processing mechanism 10 and the like. A control signal line and a power supply line drawn from the cable winding device 90 are connected to the control device 100, and an air pipe is connected to the air compressor 110. As described above, the buried piping branch portion punching device 1000 is configured as a whole as described above.
[0014]
Next, the respective configurations of the processing mechanism 10, the turning mechanism 20, and the moving mechanism 30 inserted into the pipe will be described with reference to FIGS. FIG. 3 is an explanatory diagram of a processing mechanism in one embodiment of the buried pipe branch portion punching device according to the present invention. FIG. 4 is an explanatory diagram of a turning mechanism in one embodiment of the buried pipe branch portion punching device according to the present invention. FIG. 5 is an explanatory diagram of a moving mechanism in one embodiment of the buried pipe branch portion punching device according to the present invention.
[0015]
The processing mechanism 10 includes a drilling tool 200 for drilling a liner (not shown) of a buried pipe branch (referred to as a branch pipe branch) P1 (see FIG. 2), and a cutting tool drive for driving the drilling tool 200. Actuator (motor is referred to as an actuator hereinafter) 220, an L-shaped transmission mechanism 210 for transmitting the power from the cutting tool drive motor 220 to the drilling tool 200, a drilling tool 200 in the branch pipe branch direction, an L-shaped The mold transmission mechanism 210, a cutting tool lifting mechanism 230 for integrally moving the cutting tool drive motor 220, and a center positioning mechanism 240 for making the center axis of the processing mechanism 10 substantially coincide with the vicinity of the center axis of the buried pipe (called pipe). ing.
[0016]
Further, a front monitoring camera 250 for monitoring the inside of the front pipe, which is the traveling direction of the buried pipe branching portion drilling device 1000, a side monitoring camera 260 for monitoring the branch direction of the branch pipe, and a prism 270 provided in the side monitoring camera A lighting 280 for the front monitoring camera 250 and the side monitoring camera 260, a reaction force support clamp 290 for supporting the reaction force at the time of drilling by the drilling tool 200, and pressing the processing mechanism 10 in the branch pipe direction; An attitude detection sensor 300 for detecting an angle around the pipe axis of No. 10, a branch detection sensor 310 for magnetically detecting the presence or absence of an edge of a branch pipe, and an air nozzle 320 for blowing and removing chips when drilling forward. A posture support clamp 330 for making the posture of the machining mechanism 10 at the time of drilling parallel to the pipe, and a machining monitoring card for monitoring the drilling situation. And La 340, and a outer body 360. a outer casing of the lifting drive motor 350 and the processing mechanism 10 for vertically driving the drilling tool 200 by the tool elevating mechanism 230.
[0017]
The L-shaped transmission mechanism 210 will be described with reference to FIG. FIG. 12 is an explanatory diagram of an L-shaped transmission mechanism in the machining mechanism of FIG.
As shown in FIG. 12, the L-shaped transmission mechanism 210 includes two bevel gears 212a and 212b and a collet chuck 214, and the rotation is performed by the two bevel gears 212a and 212b from the rotation axis of the tool driving motor 220. The driving force is transmitted to the rotation axis of the drilling tool 200 orthogonal to the axis. The shaft of the bevel gear 212b on the side of the drilling tool 200 is provided so as to be gripped by a collet chuck 214, and the collet chuck 214 fixes the drilling tool 200.
[0018]
The tool lifting mechanism 230 will be described with reference to FIG. FIG. 13 is an explanatory diagram of a tool elevating mechanism in the machining mechanism of FIG.
The tool elevating mechanism 230 transmits the rotation of the shaft of the tool elevating mechanism driving motor 350 to the driving ball screw 356 via the coupling 352, the gear 354, and the bevel gear 355, and the driving ball screw 356 and the two The drilling tool 200, the L-shaped transmission mechanism 210, and the tool drive motor 220 fixed to the frame 359 of the guide ball screw 358 can be integrally moved up and down.
[0019]
Referring again to FIG. 3, and with reference to FIGS. 8 and 9, the center positioning mechanism 240 will be described. 8 is an explanatory diagram of the processing mechanism in FIG. 3 when the center positioning mechanism is not operating, and FIG. 9 is an explanatory diagram of the processing mechanism in FIG. 3 when the center positioning mechanism is operating. The center positioning mechanism 240 uses three air cylinders provided with pistons 242. Of the three air cylinders, two pistons 242 are in opposite directions and parallel to each other, and the remaining one piston 242 is The two pistons 242 are perpendicular to each other so as to protrude by a predetermined distance. When all the tip balls 244 of the three pistons 242 come into contact with the inner wall surface of the pipe 600, the center axis of the machining mechanism 10 and the pipe 600 Are arranged so that the central axes thereof substantially coincide with each other.
[0020]
The attitude support clamp 330 uses an air cylinder 330a, and the center of the processing mechanism 10 when both the maximum diameter portion of the outer body 360 of the processing mechanism 10 and the air cylinder of the attitude support clamp 330 contact the inner wall surface of the pipe. The feed-out end position of the piston is set at a position where the axis is substantially parallel to the pipe 600.
A plurality of reaction force support clamps 290 are provided, and an air cylinder 290a is used. By operating the air cylinder 290a, the processing mechanism 10 is pressed in the direction of the branch pipe P1 (see FIG. 2), so that the drilling of the liner is performed. It is designed to counter reaction.
[0021]
The configuration of the turning mechanism 20 will be described with reference to FIG.
The turning mechanism 20 includes a turning shaft 400 for turning the processing mechanism 10, a turning drive motor 410 for rotating the turning shaft 400 via a pinion 410a and a spur gear 410b, an inner casing 420 covering the turning drive motor 410, A cable / air tube 430 for transmitting electric power and air for the air nozzle 320 to the tool drive motor 220 and the like of the mechanism 10.
[0022]
Further, an outer casing 440 containing the cable / air tube 430, a fixed partition plate 450 fixed to the outer casing 440 and aligning the cable / air tube 430 around the turning shaft 400, and fixed to the turning shaft 400, And a turning partition plate 460 for supporting the arrangement of the cable / air tubes 430 during operation of the turning mechanism 20 so as not to be disturbed.
[0023]
Next, the moving mechanism 30 will be described with reference to FIG. FIG. 5 (a) is a plan view of a moving mechanism in the buried pipe branching device according to the present invention, and FIG. 5 (b) is a side view of a moving mechanism in the buried piping branching device according to the present invention.
[0024]
The moving mechanism 30 drives the traveling wheel 500 through a coupling 502, a worm gear 504, and two-stage gears 506a and 506b, while the traveling wheel 500 contacts an inner wall surface of the piping (not shown) and travels in the axial direction of the piping. Running wheel drive motor 510, four sub-wheels 520 that are always in contact with the inner wall surface of the pipe and can be passively rotated, and the running wheel 500 is positioned inside the pipe when the machining mechanism 10 is accurately positioned at the buried pipe branch. It is composed of a traveling wheel pressing mechanism 530 for pressing against a wall surface, and a traveling mechanism body 540 on which these members are mounted. When the processing mechanism 10 is not positioned at the buried pipe branch portion, the air cylinder 532 is in the housed state, and the traveling wheel 500 is separated from the inner wall surface of the pipe.
[0025]
The traveling wheel pressing mechanism 530 includes an air cylinder 532 to which working air is supplied and driven, a lever 534 for moving the traveling wheel 500 toward the inner wall surface of the pipe by being lifted up by the air cylinder 532, and a hinge 536. ing. When the wire 50 is pulled by the wire pulling device 60, the air cylinder 532 is moved in a lowered state as shown in FIG. 5, and the wire pulling device 60 is stopped and the air cylinder 532 is operated at the time of accurate positioning at the pipe branch. By doing so, the lever 534 is lifted with the hinge 536 as a fulcrum, and the traveling wheel 500 installed on the lever 534 is brought into contact with the inner wall surface of the pipe to drive the traveling wheel 500 to move. That is, when the lever 534 is lifted up by the cylinder 532, the members from the traveling wheel 500 to the traveling wheel drive motor 510 are integrally lifted with the hinge 536 as a fulcrum (center), and as a result, the traveling wheel 500 is pressed against the inner wall surface of the pipe. Can be
[0026]
Next, the configuration of the control device of the buried pipe branching portion drilling device will be described with reference to FIG. FIG. 6 is a block diagram of a control system in an embodiment of a buried pipe branch portion drilling device according to the present invention. The control device 100 converts a plurality of TV cameras of the processing mechanism 10, that is, a video selector 600 for switching images of the front monitoring camera 250, the side monitoring camera 260, the processing monitoring camera 340, and the like, and a TV camera image selected by the selector 600. A liquid crystal monitor 610 for projecting, a power supply 620 for supplying power to the TV camera and the illumination LED, a constant current source 630 for driving the tool driving motor 220, a control device 640 for controlling each tool elevating motor and the like, Air drive, control of air valves for supplying air to nozzles 240, 330, 290, 320, etc., capture and signal processing of detection signals from branch pipe branch detection sensor 310, processing mechanism posture detection sensor 300, and selector (not shown) The signal value is displayed on the liquid crystal monitor 610 by switching, and the turning mechanism 0, a turning motor 410, a traveling motor 510 of the moving mechanism 30, a cable of the cable feeding mechanism 90 to the wheel pressing mechanism 530, a control PC 650 for controlling supply of electric power and an air source via the air compressor 110, and an operator. And an operation interface 660.
[0027]
Here, the two universal joints 40 that connect the processing mechanism 10, the turning mechanism 20, and the moving mechanism 30, respectively, bend the processing mechanism 10, the turning mechanism 20, and the moving mechanism 30 along the axial shape of the buried pipe. This is a member assembly capable of connecting the two axes even if the angle at which the two axes intersect freely changes.
[0028]
Although not shown in detail, the branch pipe branch detection sensor 310 includes a head having a detection coil, and an oscillation circuit connected to the head, and an output signal of the oscillation circuit based on a distance between the head and an object to be detected. In practice, the output of the branch detection sensor 310 is switched depending on the position of the circumferential portion of the branch pipe and the position of the detection coil. This switching position is determined as the edge of the branch portion of the branch pipe, two edges are detected, and the branch pipe center position is detected from the traveling distance at that time.
[0029]
The posture detection sensor 300 of the machining mechanism is a known sensor using an acceleration sensor, and for example, a commercially available product having a two-axis acceleration sensor mounted on a single IC chip is used. The posture detection sensor 300 is mounted inside the machining mechanism 10 and is arranged so that one axis of the acceleration sensor coincides with the axial direction of the drilling tool 200 of the machining device 10, and the other axis of the acceleration sensor is Arrange to match the turning direction. Thereby, the polarity in the inclination direction is determined, and the inclination angle is obtained.
[0030]
Next, the schematic operation of the buried pipe branching portion punching device and the function of each portion will be described with reference to FIG. FIG. 7 is an operation explanatory diagram of one embodiment of the buried pipe branching portion drilling device according to the present invention. That is, it is an explanatory view showing a state in which the buried pipe branch part drilling device 1000 is inserted into the pipe and the buried pipe branch part drilling device 1000 is positioned.
[0031]
As a prerequisite for using the buried pipe branch part drilling device 1000, as shown in FIG. 7A, the ground at both ends of the aged iron pipe 600 is excavated in advance, and the iron pipe 600 exposed at both ends by the excavation is subjected to a predetermined process. It is assumed that the inner surface of the iron pipe 600 has been lined by a lining method of resin or the like. The buried pipe branch part drilling device 1000 is a device that is inserted into a pipe from a pipe part that has been excavated and cut, and drills a branch pipe branch part that is closed by this lining. It is assumed that the long movement in the excavated and cut pipe 600 is moved by the pulling wire 50, and the movement for detailed positioning is performed by the movement mechanism 30.
[0032]
First, the pulling wire 50 is passed through the piping 600 after the lining. In ordinary piping work, it is easy to pass a rope through the pipe 600 using air and a pig, and the wire 50 of the wire pulling device 60 is passed through the pipe 600 by connecting and pulling the wire 50 to the rope. Can be.
[0033]
Next, the wire 50 is connected to the buried piping branch part punching device 1000. Here, the cut length of the pipe 600 into which the drilling device 1000 is inserted is preferably shorter in order to reduce the range of excavating the ground. For this reason, it is necessary that the buried pipe branch part punching device 1000 can be inserted with a pipe cutting length necessary for performing the lining method. Therefore, the processing mechanism 10, the turning mechanism 20, and the moving mechanism 30 are connected by the double universal joint 40, and when inserted into the pipe 600, the worker can bend the buried pipe branch part punching device 1000 with the universal joint 40. Things.
[0034]
Further, depending on the construction route of the buried piping work, the buried piping 600 may have some bends. However, due to the flexible bending of the double universal joint, the processing mechanism 10, the turning mechanism 20, and the moving mechanism 30 are connected to the buried piping 600. It is possible to pass along passively, and smooth passage is possible.
[0035]
Next, as shown in FIG. 7 (b), after each part from the processing mechanism 10 to the moving mechanism 30 of the buried pipe branch part drilling device 1000 is inserted into the pipe, the wire 50 is further pulled by the wire pulling device 60. Then, it is moved to the opening on the wire pulling device 60 side.
This will be described even after the wire is pulled, but when chips at the time of drilling at the branch pipe branch are present in the traveling direction of the buried pipe branch drilling device 1000 and are caught between the traveling wheel 500 and the pipe inner wall surface, minute This is because it does not allow chips to enter in the traveling direction because it causes an error at the time of positioning.
[0036]
Next, the center positioning mechanism 240 of the processing mechanism 10 is operated to make the center axis of the pipe 600 substantially coincide with the center axis of the processing mechanism 10. As shown in FIG. 8, the center positioning mechanism 240 accommodates three air cylinders 242 when it is not operating. However, as shown in FIG. The center axis in the radial direction of the buried pipe 600 of the processing mechanism 10 and the center axis of the buried pipe 600 can be substantially matched.
[0037]
Next, in a state where the center positioning mechanism 240 of the processing mechanism 10 is operated, the buried pipe branch portion punching device 1000 is pulled by the wire pulling device (not shown) attached to the cable winding device 90 while winding the cable. It slowly moves to the picking device 90 side. At this time, the cable winding device 60 winds the cable at a slow speed equivalent to the winding speed of the wire pulling device.
[0038]
Here, there is a possibility that the buried pipe branch part drilling apparatus 1000 may rotate around the pipe axis while moving in the buried pipe 600 due to the twisting of the pulling wire 50, and the detection range of the branch pipe branch detection sensor 310 and the side surface monitoring. The monitoring range of the camera 260 may deviate from the branch pipe branch direction.
[0039]
For this reason, the operator detects the inclination of the machining mechanism 10 around the pipe axis with the posture detection sensor 300, displays the measured value on a monitor (not shown) provided in the control PC 650 (see FIG. 6), and When the displayed value exceeds a predetermined value as compared with known data on design, the control PC operates the turning mechanism 20 by operating the operation interface 660, and the detection of the branch pipe branch detection sensor 310 is performed. The surveillance range of the range and side surveillance camera 260 is always directed to the direction in which the branch pipe branch exists.
[0040]
As described above, the operator provided the control PC 650 with the image of the inner wall surface of the buried pipe 600 on the liquid crystal monitor 610 of the control device 100 while the buried pipe branch part perforating apparatus 1000 was moving inside the buried pipe 600. The output of the branch detection sensor 310 is monitored by a monitor. Here, when the branch pipe branch part P1 can be confirmed by the image of the side monitoring camera 260 in the buried pipe 600, the wire pulling device and the cable winding device 90 are stopped at that position. Further, even when the output cannot be confirmed by the camera image, it is stopped when it is confirmed that the output of the branch detection sensor 310 has changed. The buried pipe branch part punching device 1000 is slowly moved to the cable winding device 90 side, but repeats so-called jogging, and the detecting range and the posture detecting sensor of the branch pipe branch detecting sensor 310 for each such jogging. There is no problem even if it is detected at 300.
[0041]
Next, the traveling wheel 500 is pressed against the inner wall surface of the pipe by the traveling wheel pressing mechanism 530, and the processing mechanism 10 is moved in the axial direction of the buried pipe 600 while the processing mechanism 10 is slightly moved while monitoring the output of the branch portion detection sensor 310. Then, the moving mechanism 30 is stopped at the position where the output of the branch part detection sensor 310 switches, that is, at the center of two edge positions of the circumference of the buried pipe branch part detected in the pipe axis direction.
[0042]
Next, the turning mechanism 20 is operated while monitoring the output of the branch portion detection sensor 310, and the two positions of the position where the output of the branch portion detection sensor 310 switches, that is, the circumference of the buried pipe branch portion detected in the circumferential direction. The turning mechanism 20 is stopped at the center of the edge position. Next, the distance from the detection center position of the branch detection sensor known in design to the center axis of the drilling tool 200 is moved by the moving mechanism 30, and the positioning of the drilling tool 200 ends. FIG. 7C shows this state, and FIG. 10 shows details of the processing mechanism 10. FIG. 10 is an explanatory view of the embodiment of the buried pipe branch portion punching device according to the present invention at the time when the processing mechanism is ready for the processing operation.
[0043]
As shown in FIG. 10, the posture support clamp 330 is operated by fixing the extension end position of the piston of the air cylinder, and then the reaction force support clamp 290 is operated to lift up the processing mechanism 10 and perform the processing. The outer body 360 and the posture support clamp 330 of the largest diameter portion near the drilling tool 200 of the mechanism 10 are brought into contact with the inner wall surface on the side of the buried pipe 600, and the central axis of the branch part of the buried pipe 600 and the central axis of the processing mechanism 10 are parallel. State.
[0044]
Thereby, it becomes possible to make the rotation axis of the drilling tool 200 coincide with the center axis of the branch pipe P1, and to support the reaction force at the time of machining. Further, by pressing the drilling tool 200 in the processing direction by the reaction force support clamp 290, the required vertical stroke during the processing can be reduced, so that the apparatus can be made compact.
[0045]
Next, the drilling tool 200 is rotated and the tool lifting / lowering mechanism 230 is operated to raise the tool, thereby performing the drilling of the liner L. At the time of perforation, the chips of the liner L are discharged forward while blowing air from the air nozzle 320. This is because the chipping of the liner L is prevented from entering in the direction in which the buried pipe perforating apparatus 1000 is to be advanced, the movement is smooth, and the chipping of the liner L is further trampled by the traveling wheel 500 and the auxiliary wheel 520. This has the effect of reducing errors during the operation of detecting the buried pipe branch position.
[0046]
Further, the operator monitors the processing status using the processing monitoring camera 340. In this case, the processing monitoring camera 340 captures an image of the processing state of the liner L by the drilling tool 200 via the prism 270. The illumination 280 illuminates the processing area of the liner L to clarify this imaging. Completion of the perforation is monitored by monitoring the current of the elevating drive motor 350 of the tool elevating mechanism 230 to detect penetration of the perforation.
[0047]
The L-shaped transmission mechanism 210 and the tool drive motor 220 of the drilling tool 200 are arranged in front of the center axis of the drilling tool 200, and the tool lifting mechanism 230 for raising and lowering the drilling tool 200 is arranged behind the central axis of the drilling tool 200. As a result, it is possible to reduce the space occupied by the buried pipe branching portion drilling device.
[0048]
After the drilling is completed, the drilling tool 200 is lowered, the reaction force support clamp 290 and the posture support clamp 330 are stored in a non-operating state, the running wheel pressing mechanism 530 is stored in a non-operating state, and The contact with the inner wall surface of the pipe is released, the wire is further retracted by the wire pulling device 60, the processing state is confirmed by the side monitoring camera 260, and the pipe is moved to the next drilling position. These operations are repeated to perforate a plurality of branch portions.
[0049]
Finally, FIG. 11 shows an example of a drilling tool 200 suitable for the buried piping branch portion drilling device 1000. FIG. 11 is an explanatory diagram of a drilling tool in the machining mechanism of FIG. The piercing tool 200 has two convex portions on the end surface that comes into contact with the liner L, and has a shape whose outer diameter matches the desired piercing diameter. With a regular drill-like tip shape, it is necessary to sharpen the sharpness, but if the tip is sharpened, it is necessary to lengthen the tool to obtain the desired drilling diameter, and as a result, the tool The stroke for raising and lowering the device becomes large, making it difficult to make the device compact.
[0050]
Therefore, a convex portion is provided at a position distant from the rotation axis of the tool, and the convex portion is brought into contact with the liner at a certain speed, thereby ensuring cutting performance. The tool is pressed against the lining part while rotating, and cutting is performed.When penetrating, the penetrating part is first penetrated, and the drilling tool 200 is further fed to increase the drilling diameter on the slope outside the convex part, Carry out a predetermined drilling.
In this way, by forming the drilling tool 200 in the main shape, it is possible to perform highly reliable drilling without generating a cutout that blocks a hole after drilling.
Although the above-described operation has been described to be performed by the operator inputting to the interface 660, the operation may be automatically performed by the control PC 650.
[0051]
As described above, according to the embodiment of the buried pipe branch portion drilling device according to the present invention, the following excellent effects are obtained.
1) Among the deteriorated iron buried pipes, especially the pipes with a pipe diameter of about 50 mm repaired by lining with resin or the like can be drilled from inside the pipes without cutting, so every branch There is no need to excavate the ground, which makes it possible to reduce the time required to cut off traffic, reduce the amount of excavated soil, and reduce the amount of pavement at the excavation position, thereby simplifying the work for repairing pipelines.
[0052]
2) In addition, the cutting tool drive actuator and the lifting drive actuator that raises and lowers the cutting tool drive actuator together with the cutting tool are arranged separately in front and rear in the pipe axis direction about the cutting tool rotation axis. Can be arranged in the axial direction of the pipe, the device can be shaped like a thin rod, and can be inserted into a small-diameter pipe.
[0053]
3) Further, the structure of the turning mechanism is provided by providing a turning shaft coaxially arranged with respect to the fixed portion of the double cylinder, and passing the machining mechanism to the moving mechanism in the space between the outer cylinder and the inner cylinder of the double cylinder. The wiring and tubes are held by a partition plate that arranges the wiring and tubes radially from the central axis of the double cylinder, so that the wiring and tubes connected to the processing mechanism can be processed without hindering the turning operation. And the diameter of the turning device can be reduced.
[0054]
4) Further, a center positioning mechanism which is composed of a rod which is extended radially and equidistantly in at least three directions from the center axis of the machining mechanism and which makes the center axis of the machining mechanism substantially coincide with the center axis of the pipe at the time of branch position sensing, and machining at the time of drilling The rod is pulled out in the direction opposite to the direction in which the drilling tool is pushed out of the pipe in which the mechanism is inserted, and a reaction force support clamp for pressing the machining mechanism in the branch pipe branch direction, and the reaction force support clamp is drawn out in the same direction as the drilling tool extrusion direction. When the processing mechanism is provided with a posture support clamp that holds a posture at the time of drilling so that the processing mechanism and the pipe are parallel when the processing mechanism is pressed against the inner wall surface of the pipe, the processing mechanism drills. The close contact with the wall surface makes it possible to reduce the operating range of the actuator for raising and lowering the cutting tool. It can be a small-diameter.
[0055]
5) By constructing and operating the buried pipe branch part drilling device in this way, after lining and repairing an old small-diameter steel pipe, the branch part of the lined pipe is drilled from inside the pipe without cutting. It is possible to do.
[0056]
【The invention's effect】
As described above in detail, according to the configuration of the present invention, the lining method of repairing the ground of the branch portion without cutting without being cut in the conventional 200 mm or more pipe diameter is used for pipes of 200 mm or less, for example, about 50 mm. It is also possible to carry out even when the lining method is applied to a small-diameter pipe as in the related art, and there is an effect that it is not necessary to excavate and drill a branch portion.
[Brief description of the drawings]
FIG. 1 is an explanatory view of an embodiment of a buried piping branch portion drilling device according to the present invention.
FIG. 2 is a system explanatory diagram of an embodiment of a buried pipe branch portion punching device according to the present invention.
FIG. 3 is an explanatory view of a processing mechanism of an embodiment of a buried pipe branch portion punching device according to the present invention.
FIG. 4 is an explanatory view of a turning mechanism of the embodiment of the buried pipe branch portion punching device according to the present invention.
FIG. 5 is an explanatory view of a moving mechanism in an embodiment of a buried pipe branch portion punching device according to the present invention.
FIG. 6 is a block diagram of a control system in an embodiment of a buried pipe branch portion drilling device according to the present invention.
FIG. 7 is an operation explanatory view of one embodiment of a buried pipe branch part drilling device according to the present invention.
FIG. 8 is an explanatory view of a non-operating state of a center positioning mechanism of the processing mechanism of FIG. 3;
FIG. 9 is an explanatory diagram of an operation state of a center positioning mechanism of the processing mechanism in FIG. 3;
FIG. 10 is an explanatory diagram of processing completion of the processing mechanism of FIG. 3;
11 is an explanatory view of a drilling tool in the machining mechanism of FIG. 3;
FIG. 12 is an explanatory diagram of an L-shaped transmission mechanism in the machining mechanism of FIG. 3;
FIG. 13 is an explanatory diagram of a tool elevating mechanism in the machining mechanism of FIG. 3;
[Explanation of symbols]
10 processing mechanism, 20 turning mechanism, 30 moving mechanism, 40 universal joint,
60: wire pulling device, 90: cable winding device, 100: control device,
200: drilling tool, 230: tool elevating mechanism, 240: center positioning mechanism,
290: reaction force support clamp, 300: posture detection sensor,
310 ... branch part detection sensor, 330 ... posture support clamp, 400 ... revolving shaft,
410: turning drive motor, 420: inner casing,
430: cable / air tube, 440: outer casing,
Fixed partition plate: 450, revolving partition plate 460, 500: running wheels,
510: running wheel motor, 520: auxiliary wheel, 530: running wheel pressing mechanism,
1000 ... buried pipe branching section drilling device

Claims (7)

In a buried pipe branch part drilling device that drills a buried pipe branch part repaired by lining using resin,
A processing mechanism for perforating the liner of the pipe branch portion, a turning mechanism for rotating the processing mechanism around the pipe axis, a moving mechanism for moving the processing mechanism and the turning mechanism in the pipe axis direction, and a control device, A buried pipe branch part drilling device, wherein a working mechanism, a turning mechanism, and a moving mechanism are respectively connected by universal joints so as to correspond to a bent part of the pipe. The buried piping branch part drilling device according to claim 1,
The control device detects the inclination angle of the machining mechanism with the attitude detection sensor, and detects the turning device so that the inclination angle of the machining mechanism becomes a predetermined value, and also detects the position of the pipe branch from the inside of the pipe by the branch detection sensor. The buried pipe branch part drilling device, wherein each of the processing mechanisms is controlled so as to stop at the branch part position. The buried piping branch part drilling device according to claim 1,
The turning mechanism is provided with a double cylindrical fixing portion, and a turning shaft arranged coaxially with the cylindrical fixing portion, and a gap between the outer cylinder and the inner cylinder of the double cylinder passes through the turning mechanism. The electric wiring and the air supply tube between the moving mechanism and the processing mechanism are mounted, and the electric wiring and the air supply tube are provided at both ends of the fixed portion of the double cylinder at the center axis of the fixed portion of the double cylinder. A buried pipe branch part perforation device, wherein a plurality of partition plates are provided so as to be radially held from one another, and one of the partition plates is fixed to the turning shaft. The buried pipe branch part drilling device according to any one of claims 1, 2, and 3,
The machining mechanism includes a rotary cutting tool as a drilling tool, the rotary cutting tool drive actuator, the lifting drive actuator for raising and lowering the rotary cutting tool drive actuator together with the cutting tool, the rotary type A buried pipe branch part drilling device, which is disposed on both sides in the pipe axis direction around a rotation axis of a cutting tool. The buried pipe branch part drilling device according to claim 4,
The machining mechanism has a rod that is extended radially and equidistantly in at least three directions from the center axis of the machining mechanism, and when the pipe branch portion is detected, the center axis of the machining mechanism substantially coincides with the center axis of the pipe. Center positioning mechanism,
At the time of drilling, the working mechanism has a rod that extends in a direction opposite to the pushing direction of the drilling tool with respect to the inserted pipe branch, and a reaction force support clamp for pressing the working mechanism toward the pipe branch.
At the time of drilling, a posture support clamp having a rod extending in the same direction as the pushing direction of the drilling tool, and holding the posture of the drilling tool so that the elevating direction of the drilling tool substantially coincides with a piping branch portion. An apparatus for piercing a buried pipe branch portion, characterized in that: A drilling tool for a buried piping branch part drilling device according to claim 4,
The machining mechanism includes a drilling tool as a rotary cutting tool, the drilling tool has a desired drilling diameter as the outer diameter of the cutting tool, and a projection is provided on the tool rotation axis side from the drilling diameter of the cutting side end surface of the cutting tool. A piercing tool for a piercing device for a buried pipe branch part, characterized in that: A perforation method for perforating a liner in a buried pipe branch using the perforation apparatus according to claim 1,
The drilling device is moved in the pipe by pulling it from the openings at both ends of the construction section using a wire pulling device and a cable winding device. Based on the detection result, the turning section mechanism is used to control the branch detecting sensor to always face the direction in which the branch pipe is present, and move using the wire pulling device and the cable winding device to detect the branch using the branch detecting sensor. A method of piercing a buried pipe branch portion, wherein the positioning is performed accurately using a moving mechanism and a turning mechanism while monitoring the signal of the branch portion detection sensor, and the liner is pierced.

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