JP2529450B2 - Pipe cleaning robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention includes a traveling device driven by a fluid pressure drive device, and a pipe cleaning device in a cleaning robot body, and high-pressure cleaning for the pipe cleaning device. The present invention relates to a pipe cleaning robot in which a water supply device is provided separately from the cleaning robot body.

[Conventional technology]

In such a conventional pipe cleaning robot, the pipe cleaning device is configured to be supplied with a high-pressure cleaning liquid for cleaning, and the fluid pressure drive device is operated by a working fluid other than the cleaning liquid such as air. It was supposed to be. An example of the circuit of the pipe cleaning robot having such a configuration will be described below. FIG. 5 shows a drive circuit for the fluid pressure drive device and a cleaning liquid supply circuit for the pipe cleaning device. First, the drive circuit will be described. Such a drive circuit includes a main air switching valve (Voa) and a directional switching valve (Voa).
The air motor (Ma) as the fluid pressure drive device (M) and the air pump (Pa) are connected via 1) and. Here, the main switching valve for air (Voa) is for switching operation of driving and stopping the air motor (Ma), and the directional switching valve (V1) is for entering the main switching valve for air (Voa). According to the cutting operation, the operation is switched to two operation positions corresponding to the forward rotation and the reverse point of the motor to operate the forward rotation and the reverse rotation of the air motor (Ma). On the other hand, the cleaning liquid supply circuit is provided as a separate circuit from the drive circuit,
A water pump (Pw) and an in-pipe cleaning device (C) are provided in order to supply a cleaning liquid, for example, high-pressure water (5 kg / cm ² ), to a cleaning nozzle (n) attached to the tip of the in-pipe cleaning device (C). It is configured to be connected via a main switching valve (Vow). And when starting the cleaning,
By operating the main water switching valve (Vow), high-pressure water is supplied to the cleaning nozzle (n), and cleaning starts.

Now, the positional relationship between each device and the pipe to be cleaned in these circuits (driving and cleaning water supply) will be described.
The main equipment group (air motor, directional control valve, pipe cleaning device, cleaning nozzle, etc.) in the broken line on the upper side of the figure is attached to the cleaning robot body running inside the pipe to be cleaned, while the lower part of FIG. On the side of the alternate long and short dash line on the outside of the equipment group (air pump, water pump, main switching valve for air,
The main water switching valve, etc.) is placed at the outer end of the pipe to be cleaned and is the target of operation by the operator. Further, in the conventional configuration, the main body equipment group and the extra-pipe equipment group are connected by two supply paths of air and water.

[Problems to be Solved by the Invention]

Now, the above-mentioned pipe cleaning robot is for cleaning the inner surface of a pipe extending up to 300 m. For this reason, in the case of the above-mentioned configuration, it is necessary to provide two supply paths for air and water respectively for this length, and to perform the cleaning work while dragging this supply pipe. Two such piping materials
It will be about 0 kg. Therefore, in the pipe cleaning robot, it is necessary to design the driving and traveling device including the weight of the pipe material, which is a big obstacle to downsizing the driving device and downsizing. .

Therefore, in view of the above, the present invention is to provide a pipe cleaning robot capable of simplifying the pipes related to drive and supply of cleaning water as much as possible.

[Means for solving the problem]

In order to achieve this object, the pipe cleaning robot according to the present invention adopts a pressure water drive type as a fluid pressure drive device,
The fluid pressure drive device is connected to a single supply path that connects the high-pressure cleaning water supply device and the in-pipe cleaning device, and the branch connection part of the fluid pressure drive device to the supply path is provided in the cleaning robot body. The cleaning water supply device is provided for cleaning the inside of the pipe with the cleaning water supplied to the single supply passage by the cleaning water supply device, and supplies water grease to the single supply passage at the end of the pipe cleaning operation. A water grease supply device is provided on the side of the cleaning water supply device.

[Work]

In this pipe cleaning robot, a conventional circuit is adopted as the cleaning water supply circuit. Further, the fluid pressure drive device receives the high pressure water from the high pressure wash water supply device which is the high pressure source and is driven by this. That is, the air pump as the extra-facility equipment and the supply path piping connected to the air pump are unnecessary. A single supply path from the high-pressure cleaning water supply device to the cleaning robot main body supplies high-pressure water (high-pressure cleaning water), and a branch connection part is provided in the cleaning robot main body to provide a fluid pressure drive device. It is configured to supply high-pressure water. That is,
In the pipe to be cleaned, only one supply pipe is required up to the cleaning robot body.

〔The invention's effect〕

As described above, since the supply passages for the fluid pressure drive device and the pipe cleaning device need only be a single supply passage, the weight of the supply pipe can be reduced to about half that of the conventional one. Therefore, the load applied to the fluid pressure drive device is greatly reduced, and the fluid pressure drive device and the traveling device driven by the fluid pressure drive device are compatible with low horsepower and can be downsized.

On the other hand, since the pipe cleaning is performed using water, there is a possibility that rust or the like may occur especially in the fluid pressure drive device or the pipe cleaning device when the cleaning device is not operating. Need to stop.

Therefore, in the present invention, the water grease supply device is connected to the single supply passage, and after the cleaning work is completed, the water grease can be supplied from the water grease supply device to the single supply passage. Therefore, as described above, it is possible not only to expect a rust preventive effect of the fluid pressure drive device and the like, but also to prevent running out of lubricating oil of the fluid pressure drive device and the like, while being used for both traveling drive and cleaning by water. There are also advantages. In other words, supplying water grease at the end of each cleaning operation means that grease is reliably supplied at regular intervals, which means that in conventional cleaning devices, lubricating oil such as grease is used as the operating part. It is necessary to perform regular lubrication and maintenance, and if the lubrication work is neglected, the device may be damaged.On the other hand, in the cleaning device of the present invention, the injection of water grease is a cleaning operation process. This is because it is a part and does not run out of lubricating oil due to excessive maintenance work.

〔Example〕

An embodiment of the present application in which the cleaning operation is performed with high-pressure water will be described with reference to the drawings. FIG. 1 shows a circuit diagram of a drive and cleaning water supply circuit (2) of the pipe cleaning robot (1) of the present application, and FIGS. 2, 3, and 4 show the entire pipe cleaning robot (1). The figure is shown. First, the schematic configuration of this pipe cleaning robot (1) will be described with reference to FIGS.

In the figure, the main equipment (motor (m1) within the broken line
(M2), directional control valve (V1), pipe cleaning device (C), cleaning nozzle (n), etc. are attached to the cleaning robot body (1m) running inside the pipe to be cleaned. The extra-equipment equipment (water pump (Pw), water main switching valve (Vow)) in the alternate long and short dash line is placed at the outer end of the pipe to be cleaned and is the target of operation by the operator. An in-pipe cleaning device (C) equipped with a cleaning nozzle (n) is arranged at the tip (f) of the in-pipe cleaning robot (1), and the interior of the pipe is rotated while the cleaning nozzle (n) is rotating. As the cleaning robot (1) advances, sludge and the like adhering to the inner wall of the pipe (outside the drawing) are cleaned with a jet flow. Here, high-pressure water is supplied to the cleaning nozzle (n) from a high-pressure water supply mechanism (a supply path (Lw), a water pump (Pw) as a high-pressure water supply device, etc.) connected to the pipe cleaning robot (1). Supplied. By the way, this pipe cleaning robot (1) is driven by a water motor as two pressure water drive type fluid pressure drive devices (M) in the main frame part (m) in the substantially central part of the pipe cleaning robot (1). This is done by arranging (m1) and (m2). This water motor (m1) (m2) is also connected to the pipe cleaning robot (1) through the branch connection (Lb) from the high pressure water supply mechanism (supply path (Lw), water pump (Pw), etc.). It is driven by the supply of high-pressure water. Here, the water motors (m1) and (m2) are driven by the pipe cleaning robot (1) and the pipe cleaning robot (1) via the transmission mechanism (Tf) (Tb) provided on the front side and the rear side, respectively. It is transmitted to the belt type traveling unit (3) as three traveling devices arranged around the periphery. Further, at the rear part (b) of the pipe cleaning robot (1), a control unit (4) for controlling the normal rotation and the reverse rotation of the fluid pressure drive device (M) is arranged. Here, this control unit (4)
Is a part for controlling the forward and backward movements of the pipe cleaning robot (1) in accordance with the switching operation of the water main switching valve (Vow) on the operator's side (not shown).

This control unit (4) operates between the two operating positions of the directional switching valve (V1) by one operation of the main switching valve for water (Vow) on the mobile side (operation from the stopped state to the advanced state). Is configured so that the directional control valve (V1) can be switched from to the other position. Here, a mechanism for performing this direction switching is referred to as a direction switching mechanism (H).

The drive and wash water supply circuit (2), which is a characteristic configuration of the present application, will be described below with reference to FIG. That is, as shown in the figure, in this pipe cleaning robot (1), a single supply path (Lw) extending from the water pump (Pw) is extended to the pipe cleaning device (C), and control is performed. The part (4) is provided with a branch connecting part (Lb), and this circuit is also connected to the fluid pressure drive device (M). The difference from the conventional one will be described below. First, on the outside facility equipment side, the pump and its supply system are one system. A water grease supply device (5) is provided in this single supply path (Lw). This water grease supply device (5) supplies water grease into the drive and wash water supply circuit after the cleaning work inside the pipe is completed, and the water motor (m1) (m2) and valve (Vow) (in this pipe system) This is to prevent the generation of rust in V1).

Further, in the drive circuit, since the high pressure state of the washing water cannot be used as it is for the drive mechanism, the pressure reducing adjustment valve (6) is provided.

In this way, in this circuit, driving and cleaning of the pipe cleaning robot can be performed by supplying high-pressure water from the same high-pressure water supply device (P). That is, here, the supply pipe to the cleaning robot main body (1 m) could be configured by a single supply path (Lw).

[Another embodiment]

In the above-described embodiment, the high-pressure water supply mechanism (supply path (Lw), water pump (Pw) as high-pressure water supply device)
, Etc. are provided outside the pipe to be cleaned, but this high-pressure water supply mechanism may be provided inside the pipe if allowed.

Further, in the above-mentioned embodiments, water is used for cleaning, but any water can be used as long as it can be used as a cleaning liquid. Therefore, the above-mentioned high-pressure water supply device (P) is referred to as a high-pressure cleaning liquid supply device, and the fluid pressure drive device (M) is referred to as a pressure liquid drive type.

It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the structures of the accompanying drawings by the entry.

[Brief description of drawings]

1 to 4 show an embodiment of a pipe cleaning robot according to the present invention, FIG. 1 is a configuration diagram of a drive and cleaning water supply circuit, and FIGS. 2 to 4 are diagrams showing a pipe cleaning robot, FIG. 5 is a diagram of a conventional drive and wash water supply circuit. (P) ... High-pressure water supply device, (M) ... Fluid pressure drive device, (V1) ... Direction switching valve, (Lw) ... Single supply path,
(Vow) …… Main switching valve for water.

Claims (1)

(57) [Claims] 1. A cleaning robot body (1 m) is provided with a traveling device (3) driven by a fluid pressure drive device (M) and a pipe cleaning device (C), and a high pressure for the pipe cleaning device (C) is provided. Is a pipe cleaning robot in which the cleaning water supply device (P) of (1) is provided separately from the cleaning robot body (1 m), and a fluid pressure drive device (M) of a pressure water drive type is adopted. The fluid pressure drive device (M) is connected to a single supply path (Lw) connecting the cleaning water supply apparatus (P) and the in-pipe cleaning apparatus (C), and the fluid pressure drive device (M) is connected to the supply path (Lw). The branch connection part (Lb) of the fluid pressure drive device (M) is provided in the cleaning robot body (1m), and the inside of the pipe is cleaned by the cleaning water supply device (P) by the single supply path ( It is performed by the cleaning water supplied to Lw). First supply passage of the water grease supply device for supplying water grease (Lw) (5), said pipe cleaning robot that is provided on the side of the flush water supply device (P).