JP2021062456A - Boring system and boring method - Google Patents

Abstract

To bore a pipe lining material that blocks a branch pipe opening by positioning a drilling blade at the branch pipe opening from the main pipe side even in the case that the branch pipe opening is blocked by the pipe lining material which hardly transmits visible light or never transmits visible light.SOLUTION: A boring system comprises: a first boring device 14 provided with a drilling blade 28 for boring a pipe lining material 13 from a main pipe side; and a second boring device 30 provided with a drilling blade 34 for forming an opening for transmitting illumination light from a light source 37 through the pipe lining material blocking a branch pipe opening 12a. The opening formed by the second boring device is photographed by cameras 27 on the main pipe side, and the drilling blade 28 is positioned on the basis of photographed images of the opening.SELECTED DRAWING: Figure 1

Description

The present invention relates to a drilling device and a drilling method for drilling a pipe lining material that closes a branch pipe opening.

Conventionally, when an existing pipe such as a sewer pipe buried in the ground becomes old, a lining method is used in which the existing pipe is lined with a pipe lining material to rehabilitate the existing pipe. As the tube lining material, a lining material obtained by impregnating a resin absorbent material made of a tubular flexible non-woven fabric with an uncured liquid curable resin, or a tube lining material made of a rigid thermoplastic resin such as vinyl chloride is used.

Since branch pipes are joined to the main pipe such as a sewage pipe, when the main pipe is lined with a pipe lining material, the pipe lining material closes the branch pipe opening at the branch pipe merging portion. For this reason, a pipe lining material that puts a pipe work robot equipped with a drilling machine and a TV camera into the main pipe and remotely controls it from the ground, and rotates the cutter (piercing blade) of the drilling machine to close the end of the branch pipe. The part is perforated from the main pipe side.

In the drilling work, since it is necessary to position the cutter of the drilling machine in each of the pipe length direction, the circumferential direction and the vertical direction of the main pipe before drilling, the center position of the branch pipe opening is detected and the cutter is detected. It is positioned at the position and drilled.

When the pipe lining material is made of a non-woven fabric, visible light is transmitted. Therefore, when the pipe lining material blocking the branch pipe opening is illuminated from inside the branch pipe, the illumination light is transmitted through the pipe lining material. When this transmitted light is viewed from inside the main pipe, a bright opening image corresponding to the branch pipe opening is formed on the inner surface of the main pipe. (Patent Document 1 below).

In addition, a laser light source is placed near the drilling blade mounted on the robot that moves in the main pipe, and by rotating this laser light source, the locus image of the laser beam drawn on the inner peripheral surface of the pipe lining material and the branch pipe side It is known that the drilling blade is positioned by matching with the opening image corresponding to the branch pipe opening formed on the inner peripheral surface of the pipe lining material by the illumination light from the pipe lining material, and the pipe lining material is drilled (the following). Patent Document 2).

Instead of drilling the pipe lining material that closes the branch pipe opening from the main pipe side, insert the drilling blade from the branch pipe and rotate the flexible shaft connected to the drilling blade to rotate the pipe lining material from the branch pipe side. Is also known (Patent Documents 3 and 4 below).

WO2017 / 203823 WO2018 / 168361A Japanese Unexamined Patent Publication No. 2006-289597 Japanese Patent No. 6090397

However, when the non-woven fabric tube lining material becomes thick, or when the non-woven fabric contains a reinforcing material such as glass fiber, the illumination light from the branch pipe side becomes less transparent and it is difficult to obtain a bright opening image. Positioning of the drilling blade as described in Patent Documents 1 and 2 becomes difficult. Further, if the pipe lining material is made of vinyl chloride or the like, the illumination light is not transmitted in the first place, so that the positioning of the drilling blade based on the illumination light from the branch pipe side becomes impossible.

On the other hand, in the drilling device for drilling from the branch pipe side as described in Patent Documents 3 and 4, a plurality of holes having a small diameter are continuously formed in the circumferential direction to form a region corresponding to the branch pipe opening diameter. There is a drawback that it is necessary to cut and the drilling operation is complicated.

The present invention has been made to solve such a problem, and even if the branch pipe opening is blocked by a pipe lining material that does not easily transmit visible light or does not transmit visible light, the main pipe An object of the present invention is to provide a drilling device and a drilling method capable of positioning a drilling blade at a branch pipe opening from the side and punching a pipe lining material blocking the branch pipe opening from the main pipe side.

The present invention
A drilling device that pierces a pipe lining material that closes the opening of a branch pipe that intersects the main pipe from the main pipe side.
A first drilling device equipped with a drilling blade that moves in the main pipe in the pipe length direction and drills a pipe lining material that closes an opening of a branch pipe.
A light source that illuminates the branch pipe opening from the branch pipe side,
A second drilling device provided with a drilling blade for forming an opening from the branch pipe side through which the illumination light from the light source is transmitted into the main pipe through the pipe lining material that closes the branch pipe opening.
A camera mounted on the first perforation device, in which the photographing optical axis is directed toward the perforation blade of the first perforation device and the opening formed by the second perforation device is photographed.
A positioning means for positioning the perforation blade of the first perforation device at the opening based on the image of the opening taken by the camera and the image of the perforation blade of the first perforation device.
It is characterized by having.

In addition, the present invention
This is a drilling method in which a pipe lining material that closes the opening of a branch pipe that intersects the main pipe is drilled from the main pipe side.
A perforating blade for perforating the pipe lining material that closes the branch pipe opening and a first perforating device equipped with a camera whose optical axis of photography is oriented in the direction of the perforating blade are carried into the main pipe and inside the main pipe. The process of moving in the pipe length direction and
A step of carrying a second drilling device equipped with a drilling blade into the branch pipe to form an opening through which the illumination light from the branch pipe side is transmitted to the pipe lining material that closes the opening of the branch pipe.
The opening formed by the second drilling device is photographed by the camera, and the drilling blade of the first drilling device is attached to the opening based on the image of the opening and the image of the drilling blade of the first drilling device. The positioning process and
It is characterized by having.

In the present invention, an opening through which the illumination light from the branch pipe is transmitted is formed in the pipe lining material that closes the branch pipe opening by the drilling device conveyed into the branch pipe, and the main pipe side camera of the opening is used. Since the drilling blade is positioned based on the image, the opening image can be obtained regardless of the material of the pipe lining material, and the drilling blade can be reliably positioned at the branch pipe opening.

It is explanatory drawing which showed the structure of the punching apparatus carried in from a main pipe side and the drilling apparatus carried in from a branch pipe side. It is a perspective view which shows the drilling device carried in from a branch pipe side. It is sectional drawing of the drilling apparatus along the line AA of FIG. It is a block diagram which showed the structure which controls the drilling device carried into a main pipe and a branch pipe. It is a front view of the light source which is put into a branch pipe. It is a perspective view which shows the branch pipe opening seen from the main pipe side. It is explanatory drawing which showed the flow of locating the drilling blade of the drilling device on the main pipe side to the opening formed in the pipe lining material of the branch pipe opening. It is explanatory drawing which showed the state which inserts another embodiment of a drilling apparatus into a branch pipe from the ground. FIG. 8 is a side view of the drilling device with the airbag removed, FIG. 8B is a vertical sectional view thereof, and FIG. 8C is a front view when the drilling blade is removed. It is a side view when the airbag of the drilling device shown in FIG. 8 is attached and expanded. It is explanatory drawing which shows the drilling state by the drilling apparatus shown in FIG. It is explanatory drawing which showed the process of attaching the airbag of the drilling apparatus shown in FIG.

Hereinafter, examples of the present invention will be described with reference to the accompanying drawings. In this embodiment, an example will be described in which an existing pipe is used as a main for sewerage, the main pipe is lined with a pipe lining material, and then a pipe lining material for a branch pipe opening closed with the pipe lining material is drilled. .. However, the present invention can be applied not only to sewerage but also to those for drilling a pipe lining material at an opening that is closed with a pipe lining material after lining with other pipe lines.

FIG. 1 shows a state in which the inner surface of an aged sewer main main 11 is lined with a pipe lining material 13. The tube lining material 13 is made by impregnating a tubular flexible non-woven fabric or a resin absorbent material reinforced by impregnating it with glass fiber with an uncured liquid curable resin, and the curable resin is cured to form a main tube. The inner surface of 11 is lined. Further, the inner surface of the main pipe 11 is also lined with a pipe lining material made of hard vinyl chloride.

A plurality of branch pipes 12 are branched into the main pipe 11, and sewage from homes and buildings is discharged to the main pipe 11 via the branch pipe 12. When the main pipe 11 is lined with the pipe lining material 13, the open opening 12a of the branch pipe 12 is closed by the pipe lining material 13.

The drilling device 14 carried into the main pipe 11 through the manhole 16 cuts and drills the branch pipe opening 12a blocked by the pipe lining material 13. The drilling device 14 includes a working robot 20 as a moving body that moves horizontally in the main 11. The work robot 20 has four wheels, and by driving an electric motor 21 mounted in the work robot 20, or by winding a wire (not shown) connected to the front and rear of the work robot 20 with a winch on the ground. It can move back and forth in the length direction of the pipe.

An electric motor 22 is attached to the center position of the work robot 20 in the left-right direction (circumferential direction of the main pipe). A support plate 24 is attached to the tip of the motor 22 via a mount 23, and a hydraulic cylinder 25 having a disk-shaped head 25a at the upper portion is fixed to the support plate 24. A spherical drilling blade 28 in which a large number of diamond bits are arranged spherically is attached to the head 25a of the hydraulic cylinder 25. The drilling blade 28 is rotated by a hydraulic motor 26 whose rotating shaft 28a is coaxially attached to the piston rod of the hydraulic cylinder 25.

A camera 27 and a lighting device (not shown) for illuminating the inside of the main tube are attached to the upper part of the mount 23. When the perforation blade 28 comes into contact with or is close to the tube lining material 13, the image of the perforation blade 28 is displayed substantially in the center of the screen of the display 60 (FIG. 4) in the work track 17. As such, it is directed in the direction of the drilling blade 28. The image taken by the camera 27 is displayed on the display 60 installed on the ground via the signal cable in the cable pipe 15.

The electric motor 22 is attached to the work robot 20 so that its rotation shaft is coaxial with the pipe shaft 11a of the main pipe 11, and when the electric motor 22 rotates, the drilling blade 28 rotates around the main pipe 11a. The perforated blade 28 photographed by the camera 27 rotates in the same direction as the camera 27 attached to the mount 23 rotates in the same direction, and is substantially in the center of the display 60 regardless of the rotation of the electric motor 22. Is displayed in. Further, the drilling blade 28 is moved up and down by the hydraulic cylinder 25.

A tension member 29'is provided on the upper part of the work robot 20. At the time of drilling, the piston of the hydraulic cylinder 29 rises, and the tension member 29' hits the upper surface of the pipe lining material 13 to stabilize the work robot 20. Let me.

A drilling device 30 for drilling the pipe lining material 13 from the branch pipe side is carried into the branch pipe 12. As shown in FIG. 2, the drilling device 30 includes a hydraulic cylinder 31, and a disc 33 is fixed to the tip of a piston rod 32 thereof. A hydraulic motor 35 that rotates the drilling blade 34 is attached to the disc 33 coaxially with the hydraulic cylinder 31. In this embodiment, the drilling blade 34 is configured as a milling bit having a diameter smaller than the spherical bit diameter of the drilling blade 28. A camera 36 and a light source 37 are attached to the disk 33, and an image of the branch pipe opening 12a taken by the camera 36 is displayed on the display 70 (FIG. 4) in the work track 38.

As shown in FIG. 5, the light source 37 is composed of the same number of red LEDs 37r, green LEDs 37g, and blue LEDs 37b, respectively, so that if all the LEDs are turned on, almost white illumination light can be obtained. The light source 37 is connected to a power source (not shown) in the work track 38, and the illumination light from the light source 37 illuminates the pipe lining material 13 that closes the branch pipe opening 12a. When the tube lining material 13 is perforated by the perforation device 30, as shown in FIG. 6, an opening 13a for transmitting the illumination light from the light source 37 is formed in the portion.

As shown in FIGS. 2 and 3, rectangular mounting plates 40 and 40'are fixed to one side of the hydraulic cylinder 31. An airbag 41 made of a flexible and elastic material such as rubber is detachably mounted on the mounting plates 40 and 40'. The airbag 41 is connected to the air pump 43 mounted on the work truck 38 via the air hose 42, and can be expanded by the high pressure air from the air pump 43.

Rectangular support plates 44, 44'are attached to the side of the hydraulic cylinder 31 opposite to the airbag 41. A curved plate 45, 45'curved according to the curvature of the inner surface of the branch pipe 12 is fixed to the side of the mounting plates 44, 44'on the opposite side of the hydraulic cylinder 31, and when the air bag 41 expands, it is shown in FIG. As described above, the curved plates 45 and 45'are in contact with the branch pipe 12 according to the curvature of the inner wall surface of the branch pipe 12, and the hydraulic cylinder 31 is firmly held in the branch pipe 12. In this case, the support plates 44 and 44'are set to a size such that the axis of the hydraulic cylinder 31 substantially coincides with the pipe axis of the branch pipe 12.

An elastic and rigid rope 51 wound around a winch 50 of the work truck 38 is attached to the end of the hydraulic cylinder 31. The drilling device 30 can be carried into the branch pipe 12 by manually inserting the rope 51 into the branch pipe. When the hydraulic cylinder 31 is operated, the camera 36, the light source 37, and the hydraulic motor 35 attached to the disk 33 move in the pipe length direction of the branch pipe 12, and when the hydraulic motor 35 is operated, the drilling blade 34 rotates.

FIG. 4 shows a configuration for controlling the drilling device 14 and the drilling device 30. The controller 61 mounted on the work track 17 rotates the electric motor 21 in the forward direction by operating the operation button 62a of the console 62 to advance the drilling blade 28 in the main pipe length direction, and operates the operation button 62b. The electric motor 21 is rotated in the reverse direction to retract the drilling blade 28. When the operation button 62c is operated, the electric motor 22 operates to rotate the drilling blade 28 and the camera 27 in the circumferential direction of the main pipe, and when the operation button 62d is operated, the electric motor 22 rotates in the reverse direction to rotate the drilling blade 28 and the camera 27. Rotates in the opposite direction. By operating the corresponding operation button 62e of the console 62, the hydraulic cylinder 25 and the hydraulic motor 26 can be operated to move the drilling blade 28 up and down and rotate it. Further, by operating the other corresponding operation buttons 62e, the hydraulic cylinder 29 can be operated to raise and lower the tension member 29'.

The image in the main 11 taken by the camera 27 is image-processed by the image processing unit 61a in the controller 61 and displayed on the display 60, and is stored in the storage device 63, if necessary. Further, the captured image in the main 11 is transferred to the controller 71 mounted on the work track 36 via the router 64 connected to the Internet 65 or by constructing a LAN between the work tracks 17 and 38 and displayed. It can also be displayed on the vessel 70.

The controller 71 of the work truck 38 operates the air pump 43 by operating the corresponding operation button 72a of the console 72 to inflate the airbag 41. When the hydraulic cylinder 31 is driven, the hydraulic motor 35, the drilling blade 34, the camera 36, and the light source 37 can be moved along the pipe axis of the branch pipe 12.

The image in the branch pipe 12 taken by the camera 36 is image-processed by the image processing unit 71a in the controller 71 and displayed on the display 70, and is stored in the storage device 73, if necessary. Further, the captured image in the branch pipe 12 is transferred to the controller 61 of the work track 17 via the router 64 or via the LAN, and can be displayed on the display 60 as well. The images taken by the cameras 27 and 36 can also be displayed on the displays 60 and 70 by the moving image distribution function connected to the Internet 65.

In FIG. 1, the hydraulic pipes of the hydraulic cylinders 25, 29, 31 and the hydraulic motors 26, 35 are not shown for simplification of the drawings, and the electric motors 21 and 22 are inside the cable pipe 15. It is connected to the power supply of the work truck 17 via the power supply line of.

Next, the operation of carrying the drilling devices 14 and 30 into the main pipe 11 and the branch pipe 12 to drill the pipe lining material 13 will be described.

The drilling device 14 is carried into the main pipe 11 through the manhole 16, and by operating the operation buttons 62a to 62d, the drilling blade 28 moves in the main pipe length direction and rotates in the circumferential direction. The drilling device 40 is conveyed into the branch pipe 12 by contracting the airbag 41 and pushing the rope 51. The light source 37 lights all the LEDs 37r, 37g, and 37b so that white illumination light can be obtained. The inside of the branch pipe 12 illuminated by the light source 37 is photographed by the camera 36 and displayed on the indicators 70 and 60.

When the tip of the drilling blade 34 approaches the branch pipe opening 12a as shown in FIG. 1, the air pump 43 is operated to sufficiently inflate the airbag 41. At this time, as shown in FIG. 3, the curved plates 45, 45'contact the branch pipe 12 according to the curvature of the inner wall surface of the branch pipe 12, and the hydraulic cylinder 31 is firmly held in the branch pipe 12. ..

In this state, the hydraulic motor 35 is driven to rotate the drilling blade 34, and the hydraulic cylinder 31 is driven to advance the drilling blade 34. Since the perforation blade 34 is positioned substantially at the center of the pipe axis of the branch pipe 12, the perforation blade 34 perforates the pipe lining material portion that closes the branch pipe opening 12a, and as shown in FIG. An opening 13a is formed in the center thereof.

At this time, the captured image 80 of the camera 36 is shown on the left side of the display 60 in FIG. 7. An opening 13a formed by the drilling device 30 is displayed in the central portion of the captured image 80, and the position of the branch pipe opening 12a is illustrated by a virtual line. The photographed image 81 of the camera 27 is shown on the right side of FIG. 7, and the spherical perforation blade 28 is displayed in the central portion thereof. The captured images 80 and 81 displayed on the display 60 are also displayed on the display 70 of the work track 38 in the same manner.

When the working robot 20 advances and the drilling blade 28 approaches the branch pipe opening 12a, the camera 27 can take a picture of the opening 13a formed by the drilling device 30 as shown in the middle part of FIG. .. Since the opening 13a transmits the illumination light from the light source 37, the opening 13a is photographed as a bright point. When the pipe lining material 13 transmits the illumination light, the image of the branch pipe opening 12a is also displayed as shown by the virtual line. In this case, since the camera 27 faces diagonally upward, the image of the branch duct opening 12a is a curved image.

Further advancing the work robot 20, the drilling blade 28 is substantially positioned at the opening 13a, and as shown in the lower part of FIG. 7, the image of the drilling blade 28 and the image of the opening 13a substantially match. When it is determined that the robot 20 is present, the work robot 20 is stopped. In consideration of the diameter of the drilling blade 28 and the diameter of the opening 13a, when the image of the opening 13a is included in the image of the drilling blade 28, or when both images are partially overlapped, both images are displayed. Try to judge that they are almost the same.

While the work robot 20 is moving, the work robot 20 rotates (rolls) around the pipe axis, and when, for example, it rotates clockwise when viewed in the traveling direction, as shown in the middle part of FIG. 7, the opening 13a The image is displayed off-center. In this case, the electric motor 22 is rotated in the opposite direction, the drilling blade 28 and the camera 27 are rotated counterclockwise in the circumferential direction of the main pipe, and the image of the opening 13a is positioned at the center in the left-right direction. , Positioning. In this way, the perforation blade 28 is positioned at the opening 13a by moving the perforation blade 28 in the main pipe length direction and the main pipe circumferential direction so that the image of the perforation blade 28 and the image of the opening 13a substantially match. can do.

As shown in FIG. 5, the light source 37 is composed of three-color LEDs of red, green, and blue. Therefore, the LED of any color is turned on and a predetermined time (for example, 1 to 2 seconds) has elapsed. If the LEDs of different colors are turned on each time, the color of the opening 13a changes every time a predetermined time elapses, and the detection of the opening 13a can be facilitated.

Further, since the camera 27 is attached to a position where the drilling blade 28 moves in the main circumferential direction in conjunction with the movement in the main circumferential direction, positioning can be performed substantially at the center of the photographed image 81 of the camera 27 in the left-right direction. It can be done and positioning becomes easy. As shown by the virtual line in FIG. 1, when the camera 27 is mounted on the work robot 20 independent of the main circumferential movement of the drilling blade 28, for example, the work robot 20 rolls around the main pipe axis. In this case, the image of the opening 13a may be displayed at a position deviated from the center as shown by a dotted line in the middle of FIG. 7, and positioning may be difficult.

After the drilling blade 28 is positioned in the opening 13a, the hydraulic motor 26 is driven to rotate the drilling blade 28, and the hydraulic cylinder 25 is driven to raise the drilling blade 28, whereby the diameter is larger than that of the opening 13a. Pipe lining material can be cut and drilled.

After a hole corresponding to the ball diameter of the drilling blade 28 is formed in the branch pipe opening 12a, the branch pipe opening is repeated by repeatedly moving the drilling blade 28 back and forth by the electric motor 21 and rotating the drilling blade 28 left and right by the electric motor 22. All the pipe lining material 13 that closes the portion 12a is cut. Since this cutting state can be photographed by the camera 36 from the branch pipe side and displayed on the display 60, accurate perforation of the pipe lining material becomes possible. Further, since the drilling blade 28 is spherical and a large number of bits are arranged on the spherical surface, it is possible to smoothly drill the periphery of the branch pipe opening 12a.

In the above-described embodiment, since the work robot 20 moves in the main 11 for a long distance (for example, 50 m), it becomes difficult to transmit the captured image from the camera 27 mounted on the work robot 24 to the ground, and the image Quality deteriorates. Therefore, the work robot 20 is also provided with a controller so that the captured image is transmitted to the controller 61 of the work track 17 via the LAN cable.

8 to 12 show another embodiment of the drilling device carried in from the branch pipe 12. The drilling device 110 of this embodiment has substantially the same configuration and function as the configuration described in Patent Document 4.

The drilling device 110 has a flexible shaft 120 provided with a rotating shaft 121, and the other end of the flexible shaft 120 is coupled to an electric motor 115 mounted on the work truck 38, as shown in FIG. The rotating shaft 121 is rotatably bearing via a bearing portion 122 mounted in the sliding shaft 124, and the other end of the rotating shaft 121 has a diameter smaller than the radius of the branch pipe 12 configured as a hole saw. The drilling blade 123 is fixed.

The sliding shaft 124 is attached to the flexible shaft 120 via a connecting metal fitting 131 so that the sliding shaft 124 can slide in the support shaft 125 supported between the support plates 126 and 127. The sliding shaft 124 is urged toward the flexible shaft 120 by a spring 128 attached between the support shaft 125 and the connection fitting 131, and can slide in the support shaft 125 against the urging force. ..

A pressing plate 130 whose outer peripheral surface is curved according to the curvature of the inner wall of the branch pipe 12 is detachably attached to the lower portion of the support shaft 125. The thickness of the pressing plate 130 is set to a value such that the drilling shaft 123a of the drilling blade 123 deviates from the pipe shaft of the branch pipe 12. A mounting pipe 129 for holding the airbag 140 is attached to the upper portion of the support shaft 125 so that the central axis substantially coincides with the pipe axis of the branch pipe 12. Further, a light source 132 having the same configuration as the light source 37 of the first embodiment for illuminating the inside of the branch pipe 12 and a camera 133 for photographing the inside of the branch pipe are attached to the support plate 126.

As shown in the upper part of FIG. 12, the airbag 140 has a ring shape so that the center is a space. After removing the pressing plate 130 from the support plates 126 and 127, the mounting pipe 129 and the support shaft 125 Is arranged between the support plates 126 and 127 so that is located in the space. Subsequently, as shown in the middle stage, the pressing plate 130 is attached to the supporting plates 126 and 127 so that a part of the airbag 140 is sandwiched between the pressing plate 130 and the supporting shaft 125.

As shown in FIG. 8, the airbag 140 is connected to the air compressor 116 via the air hose 141. When compressed air is supplied to the airbag 140, the airbag 140 expands in the radial direction of the branch pipe as shown in the lower part of FIGS. 10 and 12. When the airbag 140 is sufficiently expanded, the pressing plate 130 is pressed against the inner wall surface of the branch pipe 12 and held there, and the drilling blade 123 is also held at a position where the drilling shaft 123a deviates from the branch pipe shaft.

The electric motor 115, the air compressor 116, the light source 132, and the camera 133 are controlled by the same controller 71 as in the first embodiment.

In such a configuration, the airbag 140 is contracted and the drilling device 110 is inserted into the branch pipe 12 from the ground. As shown in FIG. 8, when the drilling blade 123 approaches or comes into contact with the pipe lining material 13, the air compressor 116 is operated to sufficiently inflate the airbag 140 and firmly hold the support shaft 125.

In this state, the electric motor 115 is rotated to rotate the drilling blade 123, and the flexible shaft 120 is pushed in to cut the pipe lining material 13 blocking the branch pipe opening 12a. When the drilling is completed, as shown in FIG. 11, an opening 13b having a diameter corresponding to the diameter of the drilling blade 123 is formed near the inner wall surface of the branch pipe 12. Illumination light from the light source 132 is transmitted from the opening 13b, and the opening 13b is observed and photographed as a bright point from the main tube 11. Therefore, the drilling device 14 is subjected to the method described in Example 1. The drilling blade 28 can be positioned at the opening 13b, and the pipe lining material 13 is drilled from the main pipe side.

In the second embodiment, as shown in the lower part of FIG. 12, since the airbag 140 expands in the substantially all-circumferential direction of the branch pipe 12, the drilling blade 123 can be held more stably than the configuration of the first embodiment. .. Further, when the airbag 140 contracts, the distance in the branch pipe radial direction of the drilling device 110 is smaller than that of the drilling device 30 of the first embodiment, so that there is an advantage that it is easy to insert the airbag 140 into the branch pipe 12. Further, since the opening portion 13b having a larger diameter can be formed in the pipe lining material 13 as compared with the first embodiment, there is an advantage that the bright portion region becomes large and the positioning of the drilling blade becomes easy.

Further, since the opening 13b having a relatively large diameter is formed by the drilling device 110, the formation of the opening 13b is performed by the first drilling (provisional drilling) of the pipe lining material 13 that closes the branch pipe opening 12a. As perforation), subsequent perforation can be performed by the perforation blade 28 of the perforation device 14 on the main pipe side. In this case, since the drilling blade 28 is configured as a spherical bit, the drilling blade 28 is inserted into the opening 13b by making the diameter of the ball the same as or smaller than the diameter of the opening 13b. The first drilling of the pipe lining material 13 can be started from the main pipe side, and the drilling efficiency can be improved.

In the first and second embodiments, the drilling devices 30 and 110 are equipped with the cameras 36 and 133 and the light sources 37 and 132, but the punching devices and the drilling devices are not equipped with the cameras 36 and 133 and the light sources 37 and 132. You can also do it. If an opening having a small diameter of, for example, about 5 mm is formed from the branch pipe side, this opening can be observed as a three-dimensional black spot from the main pipe side, and the drilling blade as described in connection with FIG. 7 The positioning of 28 can be performed reliably. Even when the camera is not mounted, when the opening is formed, the load applied to the hydraulic motor or the electric motor that rotates the drilling blade is reduced, so that the formation of the opening can be detected.

Further, the perforation of the pipe lining material from the branch pipe side may be performed in synchronization with the perforation from the main pipe side, but the formation of the opening by the perforation device on the branch pipe side is performed by the perforation on the main pipe side. It may be performed independently of the perforation by the device. In this case, the drilling from the branch pipe side can be performed one after another prior to the time-consuming drilling on the main pipe side, and the drilling efficiency can be improved.

11 Main pipe 12 Branch pipe 12a Branch pipe opening 13 Pipe lining material 13a, 13b Opening 14 Drilling device 17 Work truck 20 Work robot 21 Electric motor 22 Electric motor 23 Mount 25 Hydraulic cylinder 26 Hydraulic motor 27 Camera 28 Drilling blade 29 Hydraulic Cylinder 29'Tension member 30 Punching device 31 Hydraulic cylinder 34 Punching blade 35 Hydraulic motor 36 Camera 37 Light source 38 Work truck 41 Air bag 42 Air hose 43 Air pump 45, 45'Curved plate 50 winch 51 Rope 60 Indicator 61 Controller 62 Console 63 Storage device 70 Display 71 Controller 72 Console 73 Storage device 110 Drilling device 115 Electric motor 116 Air compressor 120 Flexible shaft 121 Rotating shaft 122 Bearing part 123 Drilling blade 124 Sliding shaft 125 Support shaft 126 127 Support plate 128 Spring 129 Mounting Pipe 130 Press plate 132 Light source 133 Camera 140 Air bag 141 Air hose

Claims (17)

A drilling device that pierces a pipe lining material that closes the opening of a branch pipe that intersects the main pipe from the main pipe side.
A first drilling device equipped with a drilling blade that moves in the main pipe in the pipe length direction and drills a pipe lining material that closes an opening of a branch pipe.
A second drilling device equipped with a drilling blade that forms an opening from the branch pipe side in the pipe lining material that closes the branch pipe opening, and
A camera mounted on the first perforation device, in which the photographing optical axis is directed toward the perforation blade of the first perforation device and the opening formed by the second perforation device is photographed.
A positioning means for positioning the perforation blade of the first perforation device at the opening based on the image of the opening taken by the camera and the image of the perforation blade of the first perforation device.
A drilling device comprising. The drilling device according to claim 1, wherein the opening is illuminated from the branch pipe side. The positioning according to claim 1 or 2, wherein the positioning is performed by moving the drilling blade of the first drilling device so that the image of the opening and the image of the drilling blade of the first drilling device match. The drilling device according to. The invention according to any one of claims 1 to 3, wherein the camera is attached to a position where the drilling blade of the first drilling device moves in the circumferential direction of the main pipe in conjunction with the movement in the circumferential direction of the main pipe. Drilling device. The drilling device according to any one of claims 1 to 4, wherein an opening having a diameter smaller than the radius of the branch pipe is formed by the second drilling device. The method according to any one of claims 1 to 5, wherein the drilling blade of the first drilling device has a diameter equal to or smaller than the diameter of the opening formed by the second drilling device. Drilling device. The drilling device according to any one of claims 1 to 6, wherein the drilling blade of the first drilling device is a spherical bit in which a plurality of bits are arranged on a spherical surface. The drilling device according to any one of claims 1 to 7, wherein the drilling blade of the second drilling device is a hole saw or a milling bit. This is a drilling method in which a pipe lining material that closes the opening of a branch pipe that intersects the main pipe is drilled from the main pipe side.
A perforating blade for perforating the pipe lining material that closes the branch pipe opening and a first perforating device equipped with a camera whose optical axis of photography is oriented in the direction of the perforating blade are carried into the main pipe and inside the main pipe. The process of moving in the pipe length direction and
A process of carrying a second drilling device equipped with a drilling blade into a branch pipe to form an opening from the branch pipe side in a pipe lining material that closes the opening of the branch pipe.
The opening formed by the second drilling device is photographed by the camera, and the drilling blade of the first drilling device is attached to the opening based on the image of the opening and the image of the drilling blade of the first drilling device. The positioning process and
A drilling method comprising. The ninth aspect of the present invention is characterized in that the positioning is performed by moving the drilling blade of the first drilling device so that the image of the opening and the image of the drilling blade of the first drilling device match. How to drill. The drilling method according to claim 9 or 10, wherein the formation of the opening by the second drilling device is performed independently of the drilling of the pipe lining material by the first drilling device. The drilling method according to any one of claims 9 to 11, wherein the opening is illuminated from the branch pipe side. The drilling method according to claim 12, wherein the opening is illuminated with a different color each time a predetermined time elapses. The drilling method according to any one of claims 9 to 13, wherein an opening having a diameter smaller than the radius of the branch pipe is formed by the second drilling device. Any one of claims 9 to 14, wherein a camera for photographing a perforated state is inserted into a branch pipe, and an image taken by the camera and an image taken by a camera in the main pipe are displayed side by side. The drilling method described in the section. The drilling method according to any one of claims 9 to 15, wherein an opening is formed in a central portion of a pipe lining material that closes the branch pipe opening by the second drilling device. The drilling method according to any one of claims 9 to 15, wherein an opening is formed in a peripheral portion of a pipe lining material that closes the branch pipe opening by the second drilling device.

Images