JP2005238365A - Boring device for branch pipe converging port - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a boring device for a branch pipe converging port, which bores a correction material which blocks a converging port with a main pipe, from the branch pipe side by freely moving even in a narrow branch pipe without damaging the branch pipe. <P>SOLUTION: The boring device 1A for a branch pipe converging port has: a device body 2A formed into a shape for entering the branch pipe E; a moving means 3 for moving the device body 2A in the branch pipe E; a rotary cutting means 4A, which radially expands the device body 2A and cuts the correction material L along the inner peripheral face of a converging port H by rotating around the device body 2A in the outer peripheral direction; and a reaction force countermeasure means 5A which fixes after coupling the device body 2A to the correction material L blocking the converging port H in order to be against the reaction force in the axial line direction of the branch pipe E and that around the axial line applied during cutting by the rotary cutting means 4A. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a perforation device for perforating a junction of a branch pipe that is blocked by a main straightening material when a pipeline such as a sewer pipe is remodeled or repaired. The present invention relates to a perforating device for a branch pipe merging port suitable for piercing a correction material that closes the merging port.

  When pipe facilities such as sewage pipes buried in the ground are aged, all or part of the inner peripheral surface of the pipe facilities is remodeled and repaired without digging the pipe from the ground ( Many correction techniques have been developed and put into practical use for construction, renovation and repair. However, when these correction techniques are applied, the junction between the branch pipe and the main pipe is blocked by the correction material, and it is necessary to drill the correction material.

  It is conceivable that this branch pipe junction is drilled from the main pipe side or from the branch pipe side, but since the diameter of the branch pipe is often as thin as 15 to 20 cm, workers currently enter from the main pipe side. Drilling using a manual drilling tool, or drilling using a drilling robot from the main pipe side.

But when drilling from the main,
First, it is difficult and time consuming to determine the drilling position (lighting from the side of the branch pipe one by one, but it takes time and effort).
Secondly, traffic regulation is necessary to insert the robot from the main manhole.
Third, it is difficult to drill with the same diameter as the original inner diameter of the branch pipe.
Fourthly, if the drilling operation takes a long time, troubles to the surroundings due to traffic restrictions increase, leading to an increase in construction cost.
Fifth, it is necessary to ensure the safety around the main manhole and the safety of workers in the main manhole.
There are many problems.

  On the other hand, several drilling apparatuses that perform a drilling operation from the side of the branch pipe have been proposed, but control of the robot in a narrow space is extremely difficult and hardly realized. For example, in the invention described in Japanese Patent Laid-Open No. 3-244892, compressed air is sent from the main pipe portion arranged in the branch pipe to the expansion member to expand in the radial direction, and the main pipe section is stretched in the branch pipe. Fix it. Then, the needle tool at the tip is pierced and broken into the lining material to open the junction.

Japanese Patent Laid-Open No. 3-244892

  However, in the apparatus as disclosed in Patent Document 1, the main pipe portion is fixed by the expansion member. However, since this is a mechanism that ensures the force against the reaction force in the drilling direction of the needle tool by friction on the inner surface of the branch pipe, It is difficult to secure power. If the expansion member is expanded more strongly to secure a large frictional force, a large load is applied to the branch pipe, and even an old pipe line is easily destroyed.

  The present invention has been made in order to solve such problems, and can move freely even in a narrow branch pipe without damaging the branch pipe, and join the main pipe from the branch pipe side. It is an object of the present invention to provide a perforating device for a branch pipe junction that can perforate a correction material that closes the wall.

  The branch pipe junction punching device according to the present invention is characterized in that a branch pipe junction punching device for punching a correction material blocking the junction between the main pipe and the branch pipe, the inside of the branch pipe is provided. An apparatus main body formed in an advanceable shape, a moving means for moving the apparatus main body in the branch pipe, and expanding in the radial direction of the apparatus main body, and rotating in the outer peripheral direction around the apparatus main body Rotating cutting means for cutting the rectified material along the inner peripheral surface of the merging port, and in order to counteract the reaction force in the axial direction of the branch pipe and the reaction force around the axis that are received when cutting by the rotating cutting means It is in the point which has the reaction force countermeasure means which connects and fixes the said apparatus main body to the correction material which has plugged up the junction port.

  Further, in the present invention, the reaction force countermeasure means has a drill portion on the tip side, and a drill tap provided with a tap portion against the reaction force in the axial direction on the rear end side of the drill portion. It is preferable to arrange at least two at the tip.

  Further, in the present invention, the reaction force countermeasure means includes a drill portion having a drill portion on a distal end side, and a drill tap provided with a tap portion opposed to an axial reaction force on the rear end side of the drill portion. One may be arranged at the center position of the tip, and a reaction force resisting projection ring that opposes the reaction force of the rotational moment may be provided around the base of the drill tap.

  Further, in the present invention, the reaction force countermeasure means is arranged such that at least two hole saws having a saw blade at the tip of the rotation shaft are arranged side by side at the tip of the device main body, and each of the rotation shafts is arranged at the tip surface of the device main body. The shaft may be supported so as to be slidable in parallel.

  Further, in the present invention, the rotary cutting means reciprocates in the axial direction along the outer periphery of the apparatus main body and rotates around the axis, and the slide rotating body swings in the radial direction of the branch pipe. It is desirable to have a oscillating cutting blade portion that is supported in a movable manner and that has a cutting blade at the tip.

  Furthermore, in the present invention, the rocking cutting blade portion rotates two types of the cutting blade for the correction material for cutting the correction material and the cutting blade for the concrete for cutting the concrete material of the branch pipe. You may make it deploy to the body.

  Moreover, in this invention, it is preferable that the chamfering blade for chamfering a cutting surface is formed in the outer surface of the said rocking cutting blade part.

  Further, in the present invention, the moving means is supported on the apparatus main body so as to be swingable in the radial direction of the branch pipe, and has a swing arm provided with an axle at a distal end thereof, and is driven to rotate around the axle. And an omnidirectional wheel provided with a free roller around a rotation axis perpendicular to the axle, and the swing arm is composed of at least three and is arranged at equal intervals along the outer periphery of the apparatus main body. In addition, it is desirable that the amount of opening of all the swinging arms be kept equal.

  In the present invention, it is preferable that the swing arm disposed on the front side is swingably supported by the slide rotating body of the rotary cutting means.

  Furthermore, in the present invention, the rotary cutting means includes a cutting blade opening / closing unit that opens and closes a plurality of cutting blades to an inner storage position and an outer cutting position, and cutting that rotates the cutting blades around the axis of the apparatus main body. A blade planetary rotation unit and a cutting blade rotation unit that rotates the cutting blade are provided. The cutting blade opening and closing unit can reciprocate in the axial direction of the apparatus main body by the driving force of the opening and closing drive source and rotate. A change nut screw shaft that is pivotally supported and has a helical screw formed on the outer peripheral surface thereof, and is screwed into the helical screw of the change nut screw shaft, along with the axial movement of the change nut screw shaft. A nut gear that rotates along the helical screw, and an open / close gear that meshes with the nut gear, and the cutting blade is supported by the cutting gear. A cutting blade base that rotatably holds a rotating shaft and opens and closes the cutting blade in accordance with rotation of the nut gear, and the cutting blade planetary rotating unit is a planet that rotates about the axis of the apparatus main body. The planetary rotation base supports the cutting blade base and supports the change nut screw shaft so as to rotate integrally, and the cutting moved to the cutting position. The blade rotates planetarily, the cutting blade rotation unit has an intermediate gear group that transmits the rotational driving force of the rotation driving source to the cutting blade rotation shaft, and this intermediate gear group is supported on the planetary rotation base, It is preferable to perform cutting by rotating the cutting blade on a planetary plane while rotating.

  According to the present invention, it is possible to secure a large cutting force without damaging the branch pipe by securing the force against the reaction force using the object to be cut, and the drilling work can be safely performed from the branch pipe side. Moreover, since it can be executed easily, it is possible to reduce the cost and the construction period.

  Hereinafter, a first embodiment of a perforating apparatus 1A for a branch pipe junction H according to the present invention will be described with reference to the drawings.

  FIG. 1 is an overall perspective view showing a drilling device 1A for a branch pipe junction H of the first embodiment. The drilling device 1A for the branch pipe junction H according to the first embodiment is mainly composed of a small-sized apparatus main body 2A that can enter the branch pipe E, and freely moves the apparatus main body 2A within the branch pipe E. A moving means 3 for rotating, a rotating material 4A for cutting a correction material L made of a lining material or the like along the inner peripheral surface of the branch pipe junction H, and a correction material L for closing the branch pipe junction H The apparatus main body 2A is coupled to the reaction force counter means 5A that obtains a force that opposes the reaction force in the axial direction and around the axis of the branch pipe E.

  Each component of the first embodiment will be described in more detail. As shown in FIG. 1, the apparatus main body 2 </ b> A is formed in a substantially cylindrical shape having a smaller diameter than the branch pipe E, and its axial length is formed such that it can be moved even at the bending angle of the branch pipe E. . A high-intensity light 6 and a CCD camera 7 are provided on the front end surface of the apparatus main body 2A, so that even in the dark branch pipe E, the operator can check the state of the pipe on the monitor by the image of the CCD camera 7. ing.

  The moving means 3 is divided into a rear moving unit 3a and a front moving unit 3b arranged at the front-rear position of the apparatus main body 2A, a front-rear moving function for moving forward and backward in the branch pipe E, and a branch pipe It also has a rotational movement function for rotating in the circumferential direction in E.

  Each of the rear moving unit 3a and the front moving unit 3b is supported so as to be swingable in the radial direction of the branch pipe E, and includes swing arms 31a and 31b each having an axle 32 at the tip. The axle 32 of the swing arms 31a and 31b is an omnidirectional wheel provided with a free roller 33a that is driven to rotate about an axle and is rotatably supported by a rotary shaft (not shown) perpendicular to the axle 32. 33 is pivotally supported.

  Three swing arms 31a and 31b are attached to the rear movement unit 3a and four are attached to the front movement unit 3b. These swing arms 31a and 31b are arranged at equal intervals in the outer peripheral direction of the apparatus main body 2A, and are set to open and close with the same opening amount. Further, the omnidirectional wheel 33 of the rear movement unit 3a is inclined at an equal angle with respect to the axial direction of the apparatus main body 2A, and can be moved in the front / rear / right / left diagonal direction in consideration of the frictional rotation of the free roller 33a. Yes.

  In addition, a coupling-shaped slide rotator 8 that slides back and forth in the axial direction and slides and rotates about the axis is loosely fitted on the outer periphery of the apparatus main body 2A. The four swing arms 31b of the front moving unit 3b are swingably attached to the slide rotator 8. As shown in FIG. 3, the swing arm 31 b of the front moving unit 3 b has its base end portion pivotally supported on the distal end edge of the slide rotator 8, and is always urged in a closing direction. An opening leg projection 34 projects from the inner side surface of the base end portion. On the other hand, the slide rotating body 8 is provided with an open leg guide bar 35 that reciprocates in the axial direction by hydraulic pressure. When the tip of the open leg guide bar 35 is used to push the open leg projection 34, The moving arm 31b opens outward.

  Since the swing arms 31a and 31b of the front moving unit 3b and the rear moving unit 3a are arranged at equal intervals in the circumferential direction of the apparatus main body 2A, and both are opened and closed with an equal opening amount. When the omnidirectional moving wheels provided in the swing arms 31a and 31b come into contact with the inner wall e of the branch pipe, the central axis of the apparatus main body 2A coincides with the center of the branch pipe E. Thus, the center of the branch pipe E can be positioned with high accuracy by opening and closing the three or four swing arms 31a and 31b.

  The swing arm 31a of the rear moving unit 3a is also pivotally supported at its base end and can be arbitrarily opened by a swing drive section (not shown). Moreover, although not shown in figure, the omnidirectional wheel drive part which rotationally drives the omnidirectional wheel 33 is also arrange | positioned at the apparatus main body 2A.

  Next, the rotary cutting means 4A cuts the rectifying material L such as a lining material along the inner peripheral surface of the branch pipe junction H while rotating with the apparatus main body 2A as a rotation reference. The slide rotating body 8 described above also functions as the rotary cutting means 4A. That is, the rotary cutting means 4A includes a slide rotary body 8 that can slide and rotate about an axis, and a swing cutting blade portion 41 that can swing in the radial direction of the branch pipe E at the tip edge of the slide rotary body 8. Is supported. A cutting blade 42 is formed at the tip of the oscillating cutting blade portion 41. In the first embodiment, four oscillating cutting blade portions 41 are provided, and are respectively disposed between the oscillating arms 31b of the front moving unit 3b described above. The swing cutting blade portion 41 swings in conjunction with the back and forth movement of the slide rotator 8 and opens and closes in the radial direction. That is, when the slide rotator 8 moves forward, the swing cutting blade 41 opens to the outside of the diameter, and when the slide rotator 8 moves backward, the swing cutting blade 41 closes to the inside of the diameter. To do.

  Further, as shown in FIGS. 1 to 3, when the swinging cutting blade portion 41 is opened, the cutting blade 42 is bent inward so as to face the correcting material L perpendicularly. Chamfering blades 43 are arranged in parallel vertically on the outer surface on the tip side of the bent portion. These chamfering blades 43 are used for chamfering and finishing the inner peripheral surface of the opening by making the swinging cutting blade portion 41 wider by opening the correcting material L in a circular shape with the cutting blade 42. It is.

  In addition, although the rocking cutting blade part 41 mentioned above forms the flat blade at the front-end | tip, it is not restricted to this. For example, as shown in FIG. 4, a small-diameter end mill may be attached and rotated so as to draw a circle and cut.

  Further, as the oscillating cutting blade portion 41, two kinds of slides, a cutting blade for a correction material suitable for cutting a resin such as the correction material L and a cutting blade for a concrete suitable for cutting a concrete material of the branch pipe E, are slid. The rotating body 8 may be provided. This is because the branch pipe E may be misaligned with the main pipe junction H and the branch pipe E due to long-term use, and in such a case cutting work, the concrete must be cut together with the correction material L. . However, according to experiments, it has been found that the soft and sticky correction material L and the hard and finely crushed concrete are too different in properties, so that both cannot be cut with the same cutting blade 42. In other words, it was found that the cutting blade targeting the correcting material L is preferably an acute cutting blade capable of removing cutting waste, but it is not preferable for hard and brittle concrete. Conversely, a cutting blade in which diamond particles suitable for cutting concrete are embedded is clogged when the correction material L is cut. Therefore, when both of them need to be cut, both the cutting blade for the correction material provided with a blade line that can shed chips and the cutting blade for concrete embedded with diamond particles etc. are alternately arranged. That's fine.

  Next, the reaction force countermeasure means 5 </ b> A includes a first reaction force counter unit 51 and a second reaction force counter unit 52. The first reaction force counter-unit 51 is a mechanism that stops the apparatus main body 2A by friction with the branch pipe inner wall e. As shown in FIG. 2, three or four frictional stoppers 53 are arranged at equal intervals in the circumferential direction on the rear side of the apparatus main body 2A. These frictional stoppers 53 protrude in the radial direction by the action of a hydraulic damper or a pneumatic damper (not shown). However, the first reaction force counter-unit 51 is supported by a light force that does not destroy the branch pipe E.

  On the other hand, the second reaction force counter unit 52 is a mechanism that couples the apparatus main body 2A to the correction material L, which is a cutting object, and counters the reaction force in the axial direction of the branch pipe E and the rotational moment around the axis. As shown in FIGS. 1 to 3, the second reaction force counter unit 52 has two drill taps 54, 54 arranged side by side at the tip of the apparatus main body 2 </ b> A. The drill taps 54 and 54 are tools in which a drill portion 54a is formed on the front end side and a tap portion 54b is formed on the rear end side. The straightening material L can be drilled by the drill part 54a, and the path of the tap part 54b on the rear end side can be attached. Then, when the tap portion 54b of the drill taps 54 and 54 is screwed with the correction material L, a force that opposes the reaction force in the axial direction that is received when the cutting blade is cut into the correction material L can be obtained. Further, by providing two or more drill taps 54, 54, it is possible to obtain a force that counteracts the reaction force of the rotational moment received when the oscillating cutting blade 41 rotates. Further, the drill taps 54, 54 rotate by receiving the driving force of the drill rotation motor 55 through the drill rotation gear group 56.

  As shown in FIG. 4, the moving mechanism of the oscillating cutting blade 41 in the front-rear direction is interlocked with the movement of the slide rotator 8. The slide rotator 8 is normally biased to the rear side of the apparatus main body 2A. And when moving ahead, oil is filled into the hydraulic chamber 81 shown in FIG. 4 from the hydraulic hole 82, and the slide rotary body 8 is slid forward by the oil pressure. As a result, the oscillating cutting blade portion 41 is also moved forward and at the same time is opened outward. On the other hand, when the oscillating cutting blade 41 is rotated, the power of the cutting blade rotation motor 44 provided in the apparatus main body 2A is transmitted to the slide rotator 8 by the transmission gear group 45, and the slide rotator 8 is rotated. Then, the oscillating cutting blade 41 is rotated together. At this time, since the swing arm 31b also rotates together, the swing cutting blade 41 is stably rotated by the omnidirectional wheel 33 pivotally supported at the tip of the swing arm 31b.

  Here, another embodiment of the reaction force countermeasure means 5A is shown in FIGS. The reaction force counter means 5A shown in FIG. 5 has one drill tap 54 disposed at the center position of the tip of the apparatus main body 2A, and counteracts the rotational moment around the axis so as to surround the base of the drill tap 54. A counter projection ring 57 is provided. The cutting force (axial force) of the cutting blade is secured by the tap portion 54b of one drill tap 54, and the rotational moment of the oscillating cutting blade portion 41 is secured by the rotation-suppressing fixed blade.

  Further, in the reaction force countermeasure means 5A shown in FIG. 6, two hole saws 58, 58 are arranged side by side at the tip of the apparatus main body 2A. The hole saws 58, 58 used here are cutting tools provided with a cylindrical saw blade 58a at the tip of the rotary shaft 58b, and the two rotary shafts 58b are parallel to the tip surface of the apparatus main body 2A. It is pivotally supported so that it can slide. That is, by rotating the two hole saws 58 and 58 to punch the correction material L, and then sliding the hole saw 58 in a direction parallel to the tip surface of the apparatus main body 2A, the bottom surface of the cylindrical saw blade 58a becomes the correction material L. Since the hooking axial direction is restricted, the cutting force of the cutting blade can be secured. Further, the rotational moment of the oscillating cutting blade portion 41 can be secured by the two hole saws 58 and 58.

  Next, the operation of the perforating apparatus 1A for the branch pipe junction H having the above-described configuration will be described with reference to FIGS.

  In the drilling operation, first, the drilling device 1A is thrown into the branch pipe E from the sewage basin on the residential land side leading to the branch pipe E. As shown in FIG. 7, the perforating apparatus 1A at this time moves the slide rotating body 8 to the rear side of the apparatus main body 2A, and swings the swing arm 31a of the rear moving unit 3a and swinging arm 31b of the front moving unit 3b. The swing cutting blade 41 is housed on the innermost side in the radial direction and is in a compact state that can be easily put into the branch pipe E.

  Next, as shown in FIG. 8, the swing arms 31a and 31b of the rear moving unit 3a and the front moving unit 3b are opened outward in the radial direction, and the omnidirectional wheels 33 are brought into contact with the branch pipe inner wall e. . As a result, the apparatus main body 2A is supported by the rear moving unit 3a and the front moving unit 3b and can move freely in the branch pipe E. Then, the high-intensity light 6 is turned on and the CCD camera 7 is operated to display the in-pipe image on the monitor. If a foreign object such as a tree root is discovered while the omnidirectional wheel 33 is rotationally driven and moved in the pipe, it can be avoided or removed. Since the omnidirectional wheel 33 can rotate the apparatus main body 2A in the circumferential direction in the branch pipe E, the omnidirectional wheel 33 can check the monitor image and the omnidirectional wheel 33 can be rotated even if the apparatus main body 2A is turned upside down. You can prepare your posture.

  When the drilling device 1 </ b> A moves to the branch pipe junction H and the tips of the drill taps 54, 54 come into contact with the correction material L, a sensor (not shown) detects the contact of the drill taps 54, 54 to detect the omnidirectional wheel 33. Stop rotation. Thereafter, branch pipe centering control is performed. Since each of the swing arms 31a and 31b of the rear moving unit 3a and the front moving unit 3b is spread with an equal opening amount, the state in which the omnidirectional wheel 33 is in contact with the inner wall e of the branch pipe is shown in FIG. The center of 2A matches the center of the branch pipe E. This allows easy center alignment.

  Subsequently, as shown in FIG. 8, the two drill taps 54, 54 are rotated to make holes in the correction material L. The pushing force of the drilling operation is obtained by the propulsive force by the omnidirectional wheel 33 of the rear moving unit 3a and the front moving unit 3b. At this time, the friction type stopper 53 may be operated by operating the first reaction force counter unit. Holes are drilled by the drill portions 54a of the drill taps 54, 54, and are subsequently pushed in the manner of forming screw holes by the tap portions 54b, and the tap portions 54b and the correction material L are screwed together so that the apparatus main body 2A does not shift back and forth. . Thereby, the setting of the second reaction force countermeasure unit 52 is completed.

  Here, when the friction type stopper 53 of the first reaction force counter unit 51 is not used, the hydraulic pressure is activated during the drilling operation, and the friction type stopper 53 projects toward the inner wall e of the branch pipe, Ensure frictional force.

  Next, as shown in FIG. 9, the swinging cutting blade portion 41 is largely opened, and the slide rotating body 8 is rotated while being moved forward so that the cutting blade is brought into contact with the correction material L in the branch state. Rotate along the inner peripheral surface of the tube E. At this time, the frictional stopper 53 and the two drill taps 54, 54 absorb the backward reaction force and the rotational moment reaction force received by the cutting blade by the action of the first reaction force reaction unit 51 and the second reaction force reaction unit 52. To ensure cutting power.

  After that, when the perforation of the straightening material L at the branch pipe junction H is completed as shown in FIG. 10, the slide rotary body 8 is further slid forward as shown in FIG. By opening the legs and rotating in this state, the chamfering blade 43 is used to chamfer the finished surface of the correction material L.

  Thereafter, the swing cutting blade 41 is closed and stored inward, and when a machining completion signal is transmitted, the operator reverses the drill taps 54 and 54 while confirming with the image of the CCD camera 7 to isolate the cutting piece. Perform the action. When the friction stopper 53 is stored in the apparatus main body 2A by releasing the hydraulic pressure, a storage signal is transmitted. As a result, the omnidirectional wheel 33 is reversely rotated to retract the perforating apparatus 1A, and when it reaches the insertion port, a return signal is transmitted and collected. Thereby, the correction material drilling operation of the branch pipe junction H is completed.

According to the first embodiment as described above, the following effects can be obtained.
A) A large cutting force can be secured without damaging the branch pipe E by securing the force against the reaction force by using the rectifying material L.
B) It is not necessary to perform drilling positioning each time from the main pipe side, and the construction period is greatly shortened.
C) Since it is a work from the residential side, it can be implemented with almost no traffic restrictions, and safety and inconvenience to the surroundings can be minimized.
D) Perforation almost the same as the inner diameter of the branch pipe E is possible, and a uniform finish can be achieved.
E) Currently, there is a problem of misalignment of the junction of branch pipe E and main pipe due to ground change and increase in vehicle loading weight. Can be reproduced.

  Next, a second embodiment of the branch pipe junction perforating apparatus 1B according to the present invention will be described with reference to the drawings. Note that, among the configurations of the second embodiment, the same or corresponding components as those of the first embodiment described above are denoted by the same reference numerals, and the description thereof is omitted.

  FIG. 12 is a side cross-sectional view showing the branch pipe junction perforation apparatus 1B according to the second embodiment, and FIGS. 14 to 19 are cross-sectional views taken along one-dot chain lines AA to FF in FIG. . In the second embodiment, the input shaft unit 9 arranged separately from the apparatus main body 2B, the center guide unit 10 for arranging the center of the apparatus main body 2B at the center of the branch pipe E, and the apparatus main body 2B are branched. It has a friction type fixing unit 11 for fixing in the pipe E, a reaction force countermeasure means 5B, and a mechanically configured rotating cutting means 4B. In the second embodiment, an end mill cutter 46 is used as the cutting blade 42 of the rotary cutting means 4B.

  The input shaft unit 9 includes a drive source including a drive motor and an air pump (not shown), and transmits the rotational force of the drive motor and the air supplied from the air pump to the apparatus main body 2B. As shown in FIGS. 13A and 13B, the input shaft unit 9 includes five drive shafts for driving the end mill cutter 46 and the drill tap 54. These drive shafts include a tap rotation drive shaft 91 for rotating the drill tap 54, a tap shaft direction drive shaft 92 for driving the drill tap in the axial direction, an opening / closing drive shaft 93 for opening and closing the end mill cutter 46, and an end mill cutter. The drive shaft 94 for planetary rotation for driving the planet 46 to rotate and the drive shaft 95 for rotation for driving the end mill cutter 46 to rotate are constituted. The input shaft unit 9 includes two air supply / exhaust ports. The input shaft unit 9 includes a guide air supply / exhaust port 96 for supplying and exhausting air to the guide cylinder of the center guide unit 10 and a fixed cylinder of the friction type fixing unit 11. A fixing air supply / exhaust port 97 for supplying and exhausting air is provided.

  As shown in FIG. 19, the center guide unit 10 has three guide cylinders 101, 101, 101 that move forward and backward in the radial direction on the rear side of the apparatus main body 2 </ b> B at equal intervals. These guide cylinders 101, 101, 101 are connected by a guide air supply / exhaust port 96 and an air supply / exhaust tube, and advance and retract the guide cylinder 101 in the radial direction by air pressure. A ball bear 102 is fixed to the end face of each guide cylinder 101, and the ball bear 102 abuts against the inner wall e of the branch pipe to perform center alignment accurately.

  As shown in FIG. 16, the friction type fixing unit 11 includes three fixed cylinders 111, 111, 111 that advance and retreat in the radial direction at the center of the apparatus main body 2B. These fixed cylinders 111, 111, 111 are connected to a fixed air supply / exhaust port 97 by an air supply / exhaust tube, and advance and retract the fixed cylinder 111 in the radial direction by air pressure. A friction pad 112 having a high frictional resistance against the inner wall e of the branch pipe is attached to the end face of each fixed cylinder 111.

  As shown in FIG. 12, the reaction force counter means 5B in the second embodiment has a tap rotation shaft 59 that transmits the driving force of the tap rotation drive shaft 91 disposed on the central axis of the apparatus main body 2B. A tap rotating gear 60 is attached to the tip end side of the tap rotating shaft 59, and two tap driven gears 61 that rotate integrally with each drill tap 54 mesh with the tap rotating gear 60.

  A tap ball screw 62 is connected to the tap shaft direction drive shaft 92. A tap mounting base 63 is screwed into the tap ball screw 62, and is reciprocated in the axial direction by the rotation of the tap ball screw 62. A hollow connecting shaft 64 is fixed to the tap mounting base 63, and a bearing body 65 that holds the drill tap 54 rotatably is fixed to the tip of the connecting shaft 64. A tap rotation shaft 59 is inserted and disposed in the hollow of the connection shaft 64.

  Next, the rotary cutting means 4B in the second embodiment includes a cutting blade opening / closing unit 47 that opens and closes a plurality of cutting blades 42 to a storage position (inner side) and a cutting position (outer side), and the cutting blade 42 to the apparatus body 2B. A cutting blade planetary rotation unit 48 for planetary rotation about the axis of the cutting blade and a cutting blade rotation unit 49 for rotating the cutting blade 42 are provided.

  The cutting blade opening / closing unit 47 is connected to an opening / closing drive shaft 93 and rotated and driven, and an opening / closing ball screw 47a, and a screw shaft support base 47b screwed into the opening / closing ball screw 47a to reciprocate in the axial direction. The screw shaft support base 47b reciprocates in the axial direction, and is supported by a bearing so as to be rotatable separately from the screw shaft support base 47b. The change nut screw shaft 47c formed with the screw and the helical screw of the change nut screw shaft 47c are screwed together and rotated while being guided by the helical screw as the change nut screw shaft 47c moves in the axial direction. A nut gear 47d, an opening / closing gear 47e meshing with the nut gear 47d, and an end mill cutter And it is configured to 46 of the cutting blade rotating shaft 49d and a rotatably held to have the nut gear 47d cutting blade base 47f which together with the rotating opening and closing the end mill cutter 46.

  Further, the cutting blade planetary rotation unit 48 is driven to rotate by receiving the driving force of the planetary rotation drive shaft 94, and has a planetary rotation gear shaft 48a provided with a gear at its tip, and the planetary rotation gear shaft 48a. The internal gear body 48b meshes with the gear, and the planetary gear frame 48c is fixed to the internal gear body 48b and is rotatable about the axis of the apparatus main body 2B. The planetary gear frame 48c holds a change nut screw shaft 47c on the tip surface, and the rotation of the change nut screw shaft 47c is constrained to rotate integrally. Further, the planetary gear frame 48c holds the nut gear 47d and the cutting blade base 47f, and rotates the end mill cutter 46 moved to the cutting position around the axis of the apparatus main body 2B (see FIG. 14). Middle arrow A).

  The cutting blade rotation unit 49 is rotated by receiving a driving force from the rotation drive shaft 95 and has a rotation gear shaft 49a provided with a gear at the tip, and an intermediate gear 49b rotated by the rotation gear shaft 49a. And three intermediate gear shafts 49c having gears at both ends, one of which is meshed with the intermediate gear 49b, and gears meshing with the gear on the tip side of these intermediate gear shafts 49c are provided at one end. The cutting blade rotating shaft 49d has an end mill cutter 46 fixed to the other end of the cage.

  Next, the operation of the perforating apparatus 1B according to the second embodiment having the above-described configuration will be described.

  When the drilling device 1B moves to the branch pipe junction H and the tip of the drill tap 54 comes into contact with the correction material L, the rotation of the omnidirectional wheel 33 is stopped and branch pipe centering control is performed. At this time, air of equal pressure is supplied to each guide cylinder 101 from the guide air supply / exhaust port 96, so that the state where the ball bear 102 is in contact with the inner wall e of the branch pipe is the center of the apparatus main body 2B and the branch pipe E. Will match the center of.

  Subsequently, air of equal pressure is supplied to each fixed cylinder 111 from the fixed supply / exhaust port 97. Thereby, the three friction pads 112 abut against the inner wall e of the branch pipe, and the apparatus main body 2B in which the center position of the branch pipe E is aligned is fixed.

  When the apparatus main body 2B is fixed, the rotational force of the drive motor is transmitted to the tap rotation shaft 59 via the tap rotation drive shaft 91, and the two drill taps 54, 54 rotate to start the drilling operation. The pushing force for the drilling operation is obtained by the rotational force of the tap shaft direction drive shaft 92 transmitted from the drive motor. That is, when the tap shaft direction drive shaft 92 rotates the tap ball screw 62, the tap mounting base 63, the connecting shaft 64, the bearing body 65, and the two drill taps 54, 54 move in the axial direction. Thereby, the tap part 54b and the correction material L are screwed together, and the apparatus main body 2B is fixed so as not to be displaced forward and backward.

  When the apparatus main body 2B is fixed in the branch pipe E, the cutting process is started. First, the end mill cutter 46 is expanded to the cutting position. When the opening / closing drive shaft 93 is rotated by the rotational force of the drive motor, the opening / closing ball screw 47a rotates. When the screw shaft support base 47b is moved forward in the axial direction of the apparatus main body 2B by the rotation of the opening / closing ball screw 47a, the change nut screw shaft 47c supported by the screw shaft support base 47b is also moved in the axial direction. Moving. When the change nut screw shaft 47c moves in the axial direction, the nut gear 47d is guided and rotated along the spiral screw formed on the outer peripheral surface thereof. The rotation of the nut gear 47d causes the three open / close gears 47e to mesh with the gears, whereby the cutting blade base 47f that holds the open / close gear 47e is fixed to the cutting blade rotating shaft 49d and the end mill cutter. 46, the three end mill cutters 46 move to contact with the inner wall e of the branch pipe, and are arranged at the cutting position.

  Subsequently, rotation of the end mill cutter 46 is started. When the rotation gear shaft 49a rotates upon receiving the driving force of the rotation drive shaft 95, the three intermediate gear shafts 49c, 49c, 49c rotate via the intermediate gear 49b. As a result, the cutting blade rotating shaft 49d meshed with the gear of the intermediate gear shaft 49c rotates and rotates each end mill cutter 46.

  Then, the planetary rotation of the end mill cutter 46 is started almost simultaneously or after some time. When the planetary rotation gear shaft 48a rotates by receiving the driving force of the planetary rotation drive shaft 94, the internal gear body 48b meshed with the planetary rotation gear shaft 48a rotates, and the planetary gear fixed to the internal gear body 48b integrally. The gear frame 48c rotates. The planetary gear frame 48c restrains main components such as the cutting blade base 47f, the nut gear 47d, and the change nut screw shaft 47c, and the shaft center of the apparatus main body 2B while rotating the end mill cutter 46. Rotate the planet around.

  In order to move the end mill cutter 46 in the axial direction, it may be moved by the moving means 3 or the drill body 54 may be moved by moving the drill tap 54 in the axial direction. By the above operation, the correction material L closing the junction H of the branch pipe E can be punched. After the drilling is finished, the rotation of the planetary rotation drive shaft 94 and the rotation drive shaft 95 is stopped, and the tap rotation drive shaft 91 is rotated in the reverse direction to remove the cut correction material L, or in the tap axis direction. The drive shaft 92 is reversely rotated to hold the cut correction material L. Thereafter, the end mill cutter 46 is closed by rotating the opening / closing drive shaft 93 in the reverse direction, and the drilling operation of the branch pipe junction H is completed by collecting the drilling device 1B.

According to the second embodiment as described above, the following effects can be obtained in addition to the effects such as the shortening of the construction period, the improvement of safety, the relaxation of traffic regulations, and the like obtained in the first embodiment.
A) Since each component is driven by a mechanical structure via a gear group or the like, the reliability of the behavior in a low-temperature region can be increased, and the cost can be reduced.
B) By configuring the drive source separately from the drilling device main body, the overall length of the drilling device main body can be reduced, and even a branch pipe having a small inner diameter or a branch pipe curved at a steep angle can be easily moved. .

  The perforating apparatuses 1A and 1B according to the present invention are not limited to the above-described embodiments, and can be appropriately changed.

  For example, in the rotary cutting means 4A and 4B of each embodiment, the oscillating cutting blade portion 41 and the end mill cutter 46 are rotated to perforate the correction material L. Instead, a water injection nozzle is provided on the slide rotating body 8. It may be attached and rotated along the inner surface of the branch pipe to perform water jet cutting.

1 is a perspective view showing a first embodiment of a perforating device for a branch pipe junction according to the present invention. It is a three-dimensional perspective view which shows 1st Embodiment of the perforation apparatus of the branch pipe junction which concerns on this invention. It is a partial cross section top view which shows the drive mechanism of this 1st Embodiment. It is a partial cross section top view which shows the end mill type of the rotary cutting means in this 1st Embodiment. It is a schematic diagram which shows the single drill tap type of the reaction force countermeasure means in this 1st Embodiment. It is a schematic diagram which shows two hole saw types of the reaction force countermeasure means in this 1st Embodiment. In this 1st Embodiment, it is a schematic diagram which shows the perforation apparatus when throwing in in a branch pipe. In this 1st Embodiment, it is a schematic diagram which shows the punching apparatus which moves the inside of a branch pipe to a branch pipe junction. In this 1st Embodiment, it is a schematic diagram which shows the state which ensures reaction force opposing force with two drill taps, and starts cutting. In this 1st Embodiment, it is a schematic diagram which shows the state which the drilling by the rocking cutting blade part was completed. In this 1st Embodiment, it is a schematic diagram which shows the state which performs a backward movement after performing chamfering finishing with a chamfering blade. It is side surface sectional drawing which shows 2nd Embodiment of the piercing | piercing apparatus of the branch pipe junction which concerns on this invention. It is the (a) side view and (b) front view which show the input shaft unit of the 2nd embodiment. It is sectional drawing in the dashed-dotted line AA of FIG. It is sectional drawing in the dashed-dotted line BB of FIG. It is sectional drawing in the dashed-dotted line CC of FIG. It is sectional drawing in the dashed-dotted line DD of FIG. It is sectional drawing in the dashed-dotted line EE in FIG. It is sectional drawing in the dashed-dotted line FF of FIG.

Explanation of symbols

1A, 1B Drilling device 2A, 2B Device main body 3 Moving means 3a Rear moving unit 3b Front moving unit 4A, 4B Rotating cutting means 5A, 5B Reaction force counter means 6 High-intensity light 7 CCD camera 8 Slide rotating body 9 Input shaft unit 10 Center guide unit 11 Friction type fixed unit 31a Swing arm (rear moving unit)
31b Swing arm (front moving unit)
32 Axle 33 Omni-directional wheel 33a Free roller 34 Opening leg protrusion 35 Opening leg guide rod 41 Oscillating cutting blade part 42 Cutting blade 43 Chamfering blade 44 Cutting blade rotation motor 45 Transmission gear group 46 End mill cutter 47 Cutting blade opening / closing unit 47a Open / close ball screw 47b Screw shaft support base 47c Change nut screw shaft 47d Nut gear 47e Open / close gear 47f Cutting blade base 48 Cutting blade planetary rotation unit 48a Planetary rotation gear shaft 48b Internal gear body 48c Planetary gear frame 49 Cutting blade rotation unit 49a For rotation Gear shaft 49b Intermediate gear 49c Intermediate gear shaft 49d Cutting blade rotating shaft 51 First reaction force counter unit 52 Second reaction force counter unit 53 Friction type stopper 54 Drill tap 54a Drill portion 54b Tap portion 55 Drill rotation mode Data 56 Drill rotating gear group 57 Reaction force resisting ring 58 Hole saw 58a Cylindrical saw blade 58b Rotating shaft 59 Tap rotating shaft 60 Tap rotating gear 61 Tap driven gear 62 Tap ball screw 63 Tap mounting base 64 Connecting shaft 65 Bearing body 81 Hydraulic chamber 82 Hydraulic hole 91 Tap rotation drive shaft 92 Tap shaft direction drive shaft 93 Opening and closing drive shaft 94 Planetary rotation drive shaft 95 Autorotation drive shaft 96 Guide supply / exhaust port 97 Fixing supply / exhaust port 101 Guide cylinder 102 Ball bear 111 Fixed cylinder 112 Friction pad E Branch pipe e Branch pipe inner wall L Straightening material H Merge port

Claims (10)

A branch pipe junction drilling device for drilling a correction material blocking the junction between a main pipe and a branch pipe,
An apparatus body formed in a shape capable of traveling in the branch pipe;
Moving means for moving the device body in the branch pipe;
Rotating cutting means that expands in the radial direction of the apparatus main body, rotates in the outer peripheral direction around the apparatus main body, and cuts the corrective material along the inner peripheral surface of the merging port;
The apparatus main body is connected and fixed to a rectifying material closing the merging port in order to counteract the reaction force in the axial direction of the branch pipe and the reaction force around the axis that are received during cutting by the rotary cutting means. A branch pipe junction punching device comprising: a force counter means.   2. The reaction force counter means according to claim 1, wherein the reaction force counter means includes a drill portion on a tip end side, and a drill tap provided with a tap portion that opposes an axial reaction force on a rear end side of the drill portion. A branch pipe junction perforating apparatus, wherein at least two are arranged side by side in the section.   2. The reaction force counter means according to claim 1, wherein a drill tap having a drill portion on a tip end side and a tap portion that opposes a reaction force in the axial direction is provided on a rear end side of the drill portion. A branch pipe junction drilling device, wherein one is arranged at the center of the section and a reaction force resisting projection ring is provided around the base of the drill tap to counteract the reaction force of the rotational moment.   In Claim 1, the said reaction force countermeasure means arrange | positions the hole saw provided with the saw blade at the front-end | tip of a rotating shaft along with the front-end | tip part of the said apparatus main body, arrange | positions these each rotating shaft on the front end surface of the said apparatus main body. A piercing device for a branch pipe merging port, wherein the piercing device is supported so as to be slidable in parallel.   3. The rotary cutting means according to claim 1, wherein the rotary cutting means reciprocates in the axial direction along the outer periphery of the apparatus main body and rotates about the axis, and the diameter of the branch pipe on the slide rotary body A branch pipe joining port drilling device having a swing cutting blade portion supported so as to be swingable in a direction and having a cutting blade at a tip portion.   6. The rotating body according to claim 5, wherein the oscillating cutting blade portion is divided into two types, a cutting blade for correcting material for cutting the correcting material and a cutting blade for concrete for cutting the concrete material of the branch pipe. A piercing device for a branch pipe merging port, wherein   7. The branch pipe junction punching device according to claim 5, wherein a chamfering blade for chamfering the cutting surface is formed on an outer surface of the oscillating cutting blade portion. 8. The swing arm according to claim 1, wherein the moving means is supported by the device main body so as to be swingable in a radial direction of the branch pipe, and has a swing arm having an axle at a tip portion thereof. An omnidirectional wheel that is driven to rotate around and has free rollers around a rotation axis that is perpendicular to the axle,
The swing arm is composed of at least three, and is arranged at equal intervals along the outer periphery of the apparatus main body, and the open leg amounts of all the swing arms are equally maintained. Perforating device for branch pipe junction.   9. The branch pipe junction punching device according to claim 8, wherein the swing arm disposed on the front side is swingably supported by the slide rotating body of the rotary cutting means. 2. The rotary cutting means according to claim 1, wherein the rotary cutting means includes a cutting blade opening / closing unit that opens and closes a plurality of cutting blades to an inner storage position and an outer cutting position, and a cutting blade that causes the cutting blade to rotate around the axis of the apparatus main body. It has a planetary rotation unit and a cutting blade rotation unit that rotates the cutting blade,
The cutting blade opening and closing unit is a change nut screw shaft that is reciprocally movable in the axial direction of the apparatus main body by a driving force of an opening and closing drive source and is rotatably supported and has a helical screw formed on the outer peripheral surface. A nut gear that is screwed to the helical screw of the change nut screw shaft and rotates along the helical screw as the change nut screw shaft moves in the axial direction, and an open / close gear that meshes with the nut gear And a cutting blade base that rotatably supports a cutting blade rotating shaft on which the cutting blade is supported, and has a cutting blade base that opens and closes the cutting blade as the nut gear rotates,
The cutting blade planetary rotation unit has a planetary rotation base that rotates about the axis of the apparatus main body, and the planetary rotation base supports the cutting blade base and integrally connects the change nut screw shaft. It is pivotally supported to rotate, the cutting blade moved to the cutting position is rotated on a planet,
The cutting blade rotation unit has an intermediate gear group that transmits the rotational driving force of the rotation driving source to the cutting blade rotation shaft, the intermediate gear group is supported by the planetary rotation base, and the planetary blade is rotated while rotating. A branch pipe junction punching device characterized in that cutting is performed by rotation.