JP2015066538A - In-piping work device and work method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an in-piping work device and work method that enable inspection work to be carried out by freely moving to a desired point even in complex piping having branches or bend pipes.SOLUTION: A piping work device comprises a device body, a cylindrical guide hose inserted into the piping and arranged at one end of the device body, a propulsion unit circumferentially equipped with a plurality of nozzles capable of jetting a liquid by each having a velocity component of the guide hose to arrange them in the outer periphery of the guide hose, gripping means that attaches the propulsion unit to the guide hose, and control means that controls the jetting of the liquid out of the plurality of nozzles.

Description

  Each embodiment of the present invention relates to an in-pipe work apparatus and work method for performing inspection and work in a pipe.

  As a conventional technique for performing work in a pipe, a cleaning device is known that is provided with a propulsion nozzle that is attached to a guide tube and obtains a propulsive force by ejecting a fluid. (For example, see Patent Document 1)

JP 11-114513 A

  If a severe accident such as melting of the core occurs at a nuclear power plant, the shield plug, the upper cover of the reactor containment vessel, and the upper cover of the reactor pressure vessel cannot be removed easily. In-pipe work equipment will be inserted for inspection and work from existing pipes. The pipes connected to these reactor pressure vessels have portions (protrusions, recesses) such as check valves and valve seats where the diameter of the abrupt changes, and bends and T-shaped branches.

  However, in the conventional in-pipe work device described in Patent Document 1 described above, no consideration is given to moving in any direction when the pipe to be worked has a bend or a T-shaped branch. .

  The present invention has been made in order to solve such problems, and in-pipe work that can be freely moved to a desired location and inspected / worked even in complicated pipes having branching sections and bent pipes. It is an object to provide an apparatus and a working method.

  In order to solve the above problems, an in-pipe work apparatus according to an embodiment of the present invention includes an apparatus main body, a cylindrical guide hose that is inserted into the pipe and disposed at one end of the apparatus main body, Has a plurality of nozzles in the circumferential direction capable of injecting fluid with a velocity component in the axial direction of the guide hose, a propulsion unit capable of being arranged on the outer periphery of the guide hose, and a gripping means for attaching the propulsion unit to the guide hose And control means for controlling ejection of fluid from the plurality of nozzles.

  Moreover, in order to solve the said subject, the working method in piping which concerns on embodiment of this invention arrange | positions the cylindrical guide hose in the end of an apparatus main body, and the axis | shaft of the said guide hose on the outer periphery of the said guide hose A step of attaching a propulsion unit having a plurality of nozzles in the circumferential direction having a velocity component in the direction, and a step of inserting the device main body, the guide hose and the propulsion unit into a pipe, and the propulsion And a step of moving the apparatus main body, the guide hose, and the propulsion unit through the pipe by controlling the ejection of fluid from the plurality of nozzles provided in the circumferential direction of the unit.

  ADVANTAGE OF THE INVENTION According to this invention, even in the complicated piping which has a branch part and a bending pipe, the working apparatus and working method in piping which can be freely moved to a desired location and can test | inspect and work can be provided.

Schematic of the in-pipe work apparatus and the in-pipe work method according to the first embodiment of the present invention. The block diagram of the propulsion unit of the piping work apparatus which concerns on the 1st Embodiment of this invention. Schematic of the in-pipe work apparatus and the in-pipe work method according to the third embodiment of the present invention. The schematic explanatory drawing of the working method in piping which concerns on the 2nd Embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a schematic diagram of an in-pipe work apparatus and a in-pipe work method according to the first embodiment of the present invention, and FIG. 2 shows details of a propulsion unit in the in-pipe work apparatus shown in FIG. It is a block diagram. In FIG. 1 and FIG. 2, the same components are denoted by the same reference numerals, and detailed description thereof is omitted.

  As shown in FIG. 1, the pipe 1 includes not only a straight pipe part but also a T-shaped branch part. The in-pipe work apparatus according to the present embodiment can be arranged on the outer periphery of the apparatus main body 2, the cylindrical guide hose 4 inserted into the pipe 1 and disposed at one end of the apparatus main body 2, and the guide hose 4. A propulsion unit 5 and a control device 12 as a control means for controlling the propulsion unit 5.

  In the present embodiment, the apparatus main body 2 is provided with a television camera 3 as a sensor. The guide hose 4 has a hollow cylindrical shape and is made of a flexible material such as a resin.

  As shown in FIG. 2, the propulsion unit 5 is supplied with pressure fluid from pressure fluid supply hoses 8a, 8b, 8c, 8d,. The pressure fluid supply hoses 8a, 8b, 8c, 8d,... Can be connected to the propulsion unit 5 through the guide hose 4. The propulsion unit 5 is provided with a plurality of nozzles 6a, 6b, 6b, 6d,... Connected to the pressure fluid supply hoses 8a, 8b, 8c, 8d,. The nozzles 6a, 6b, 6b, 6d,... Can inject the pressure fluid supplied from the pressure fluid supply hoses 8a, 8b, 8c, 8d,. Has been placed.

  In the present embodiment, the jet direction of the pressure fluid from the nozzles 6 a and 6 c and the nozzles 6 b and 6 d is configured to be opposite to the axial direction of the guide hose 4. The nozzles 6a, 6c,... (Or 6b, 6d,...) Having the same injection direction with respect to the axial direction of the guide hose 4 are arranged so that the circumferential positions of the guide hose 4 are different. That is, the propulsion unit 5 has a plurality of nozzles 6a, 6c,... (Or 6b, 6d,...) Having at least three circumferential positions different and the same injection direction with respect to the axial direction of the guide hose 4. Is provided.

  The propulsion unit 5 includes gripping means 9 for gripping the guide hose 4 and arranging and fixing the propulsion unit 5 on the outer periphery of the guide hose 4. Further, the propulsion unit 5 is provided with cameras 10a and 10b and lights 11a and 11b as sensors for judging the traveling direction of the apparatus main body 2, the guide hose 4 and the propulsion unit 5. In addition to the cameras 10a and 10b and the illuminations 11a and 11b, an acceleration sensor, a gyro, a fluid nozzle, or the like can be used as the sensor.

  The control device 12 provided in the propulsion unit 5 ejects pressure fluid from the plurality of nozzles 6a, 6b, 6c, 6d,... And attaches and detaches the propulsion unit 5 to the guide hose 4 by the gripping means 9. Further, the cameras 10a and 10b and the lights 11a and 11b are controlled.

  In the present embodiment configured as described above, the guide hose 4 is disposed at one end of the apparatus main body 2, the propulsion unit 5 is attached to the outer periphery of the guide hose 4, and the apparatus main body 2, the guide hose 4 and the propulsion unit 5 are piped. Insert in 1.

  Then, the control device 12 controls the strength of the ejected fluids 7a, 7c,... Ejected from the nozzles 6a, 6c,. As a result, the apparatus main body 2, the guide hose 4 and the propulsion unit 5 move in the pipe 1 while adjusting their traveling directions.

  The jet fluids 7a, 7c,... Are adjusted by adjusting the pressure of the pressure fluid from the pressure fluid supply hoses 8a, 8c,. In this embodiment, the control device 12 is provided in the propulsion unit 5, but the control device 12 is not provided in the propulsion unit 5 but on the supply side of the pressure fluid supply hoses 8a, 8b, 8c, 8d,. It is also possible to provide it.

  It is also possible to move (retreat) the guide hose 4 in the reverse direction by ejecting fluid from the nozzles 6b, 6d,... Provided in front of the propulsion unit 5 by the control device 12.

  At the branch portion of the pipe 1, the control device 12 is operated while confirming the posture of the device body 2, the propulsion unit 5, and the guide hose 4 using the cameras 3 a and 10 b mounted on the device body 2 and the propulsion unit 5. The apparatus main body 2, the propulsion unit 5 and the guide hose 4 are moved in a desired direction.

  In the present embodiment, since the propulsion unit 5 grips the guide hose 4 by the gripping means 9, the apparatus main body 2 and the guide hose 4 can be moved to predetermined positions in the pipe 1.

  In the present embodiment, the apparatus main body 2, the guide hose 4 and the propulsion unit 5 are integrally inserted into the pipe 1 and moved in a state where the guide hose 4 is arranged in advance at one end of the apparatus main body 2. The main body 2 may be configured to be movable in the guide hose 4.

  In this case, first, the guide hose 4 to which the propulsion unit 5 is attached is moved to a predetermined position by the propulsion unit 5 without the apparatus main body 2. Thereafter, the apparatus main body 2 is inserted into the guide hose 4 and moved to the end of the guide hose 4 using a moving means provided in the apparatus main body 2, and the guide hose 4 is positioned at one end of the apparatus main body (arranged). )

  Alternatively, the apparatus main body 2, the guide hose 4 and the propulsion unit 5 can be prepared as an in-pipe working apparatus, and the apparatus can be inserted into the pipe 1 for work. In this case, an integrated pipe work device is prepared in the airtight chamber together with necessary pipes and cables, and the work pipe 1 and the airtight chamber are connected with an extension hose, so that the integrated pipe work in the airtight chamber is performed. It is also possible to make it fair to operate the device remotely.

  According to the present embodiment, the control device 12 adjusts the strength of the ejected fluids 7a, 7c,... Ejected from the nozzles 6a, 6c,. Since the direction can be freely adjusted, even if the pipe 1 has a complicated shape having a branching portion, a bent pipe, etc., the work apparatus in the pipe can be freely moved to a desired location for inspection and work. it can.

  Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 3 is a schematic diagram of the in-pipe work apparatus and the in-pipe work method according to the second embodiment of the present invention. FIG. 4 is a schematic explanatory diagram of the in-pipe work method according to the second embodiment of the present invention. 3 and 4, the same components as those in FIGS. 1 and 2 are denoted by the same reference numerals, and redundant description is omitted.

  In this embodiment, in addition to the propulsion unit 5 of the first embodiment shown in FIG. 1, a second propulsion unit 25 having a different axial position of the guide hose 4 is provided, and two propulsion units are provided. 5 and 25 are provided.

  The configuration of the second propulsion unit 25 is the same as that of the propulsion unit 5, and nozzles 26 a, 26 b, 26 c, 26 d,... That eject the pressure fluid and a gripping mechanism 29 that grips the guide hose 4 are provided. Although not shown, pressure fluid supply hoses are connected to the nozzles 26a, 26b, 26c, 26d,.

  In the present embodiment configured as described above, the guide hose 4 is inserted into the pipe 1 and moved by controlling the propulsion unit 5 and the propulsion unit 26 as in the first embodiment. As shown in FIG. 4 (a), the guide hose 4 may be caught at the corners of the T-shaped branch portion or elbow portion of the pipe 1, and the load for inserting the guide hose 4 due to frictional resistance or the like is increased. There is a risk of increase.

  In such a case, as shown in FIG. 4 (b), the gripping means 29 of the second propulsion unit 25 is released by the control device 12, and the ejection fluids 27b, 27d,... Are ejected from the nozzles 26b, 26d,. Then, the second propulsion unit 25 is moved backward in the direction of the arrow R in the drawing along the outer surface of the guide hose 4.

  At this time, since the propulsion unit 5 grips the guide hose 4 with the gripping mechanism 9 and moves in the direction of arrow F, only the second propulsion unit 25 can be returned along the outer surface of the guide hose 4.

  When the second propulsion unit 25 is returned in the direction of arrow R along the outer surface of the guide hose 4, the control device 12 controls the grip means 29 of the second propulsion unit 25 to grip the guide hose 4 again. The guide hose 4 is extended by ejecting the ejection fluids 27a, 27c,... From the nozzles 26a, 26c,. Thereby, the apparatus main body 2 is advanced in the arrow A direction.

  As described above, according to the present embodiment, the second propulsion unit having a different position with respect to the axial direction of the guide hose 4 is provided, so that the position of the guide hose 4 can be adjusted in the pipe having a complicated shape. It is possible to move the entire in-pipe work device to a desired position while adjusting it arbitrarily.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 1 ... Piping 2 ... Apparatus main body 3 ... Television camera 4 ... Guide hose 5, 25 ... Propulsion unit 6a, 6b, 6c, 6d, 26a, 26b, 26c, 26d ... Nozzle 7a, 7b, 7c, 7d, 27a, 27b, 27c, 27d ... jet fluid 8a, 8b, 8c, 8d ... pressure fluid supply hose 9, 29 ... gripping means 10a, 10b ... camera 11a, 11b ... illumination 12 ... control device

Claims (4)

The device body;
A cylindrical guide hose that is inserted into the pipe and disposed at one end of the apparatus main body,
A plurality of nozzles in the circumferential direction each capable of injecting fluid with a velocity component in the axial direction of the guide hose, and a propulsion unit that can be arranged on the outer periphery of the guide hose;
Gripping means for attaching the propulsion unit to the guide hose;
And a control means for controlling ejection of fluid from the plurality of nozzles.
  The in-pipe work apparatus according to claim 1, further comprising a sensor that determines a traveling direction of the apparatus main body. While providing a plurality of the propulsion unit at different positions in the axial direction of the guide hose,
The in-pipe work apparatus according to claim 1, wherein the control unit controls attachment and detachment to / from the guide hose by the gripping unit of at least one of the plurality of propulsion units. Arranging a cylindrical guide hose at one end of the apparatus body;
A step of attaching a propulsion unit having a plurality of nozzles in the circumferential direction capable of injecting fluid to the outer periphery of the guide hose so as to have a velocity component in the axial direction of the guide hose;
Inserting the device body, the guide hose and the propulsion unit into a pipe;
A step of moving each of the apparatus main body, the guide hose, and the propulsion unit in the pipe by controlling the ejection of fluid from the plurality of nozzles provided in the circumferential direction of the propulsion unit. How to work in piping.

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