JP2839762B2 - Pipe line cleaning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipeline cleaning device for cleaning the interior of a pipeline such as agricultural water or rainwater.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 4, a suction pipe 12 is arranged at an axial center (center) position C of a pipe 10A and attached to the suction pipe 12, as shown in FIG. , 34 are brought into contact with the inner surface of the pipe 10A, and the suction pipe 12 is moved by the respective wheels 34 in the axial direction of the pipe 10A.
3 is swung in the circumferential direction to suck and collect sludge 11 and the like deposited on the lower portion of the inner surface of the pipe 10A.

[0003]

However, when the suction nozzle 13 is swung within a predetermined angle range θ with respect to the vertical position V of the conduit 10A, as shown in FIG. When the pipe 12 is tilted in the pipeline 10 for some reason, the suction nozzle 13 swings within a predetermined angle range θ with respect to the tilt position R. Therefore, since the suction nozzle 13 does not swing over the entire lower portion of the inner surface of the conduit 10, there is a problem that a remaining suction portion where the sludge 11 is not sucked occurs.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a pipe cleaning apparatus which can always swing a suction nozzle within a predetermined angle range with respect to a vertical position of a pipe even if the suction pipe is inclined. is there.

[0005]

In order to achieve the above-mentioned object, the present invention comprises a suction nozzle which is arranged at an axial center of a pipeline and is oscillated in a predetermined angular range in a circumferential direction by a motor. A suction pipe, a tilt sensor attached to the suction nozzle, for detecting a tilt angle of the suction nozzle with respect to a vertical position of the pipe line, and in accordance with the detection of the tilt sensor, the suction nozzle always moves with respect to the vertical position. Control means for controlling the motor so as to swing in the predetermined angle range.

[0006]

According to the pipeline cleaning device of the present invention, the inclination sensor detects the inclination angle of the suction nozzle with respect to the vertical position of the pipeline, and the suction means constantly controls the suction nozzle by the control means in accordance with the detection of the inclination sensor. The motor is controlled so as to swing within a predetermined angle range with respect to the vertical position of the road. With this, even if the suction pipe is inclined in the pipe, the suction nozzle always swings within a predetermined angle range with respect to the vertical position, so that it is difficult for the suction left part of the sludge or the like deposited on the lower part of the pipe to be left in the pipe. Become.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the illustrated embodiments. The pipeline 10A for agricultural water or the like shown in FIG. 4 has a small inner diameter (for example, 500 mm) d1, and the pipeline 10F shown in FIG.
Is a large inner diameter (for example, 1000 mm) d6. The pipe cleaning apparatus of the present embodiment has a configuration that can be adapted to a pipe having any pipe diameter between the pipes 10A and 10F. Since the inner diameters d1 and d6 of the pipes 10A and 10F do not particularly matter, the pipes will be simply referred to as pipes 10 below.

[0008] As shown in FIG.
, A suction tube 12 that is long in the axial direction is arranged. A bellows-shaped suction nozzle 13 is swingably connected to a front end of the suction pipe 12, and a suction hose 14 is connected to a rear end of the suction pipe 12. The suction hose 14 is connected to suction means of a suction wheel (not shown).

The tip of the suction nozzle 13 and the front end of the suction pipe 12 are connected by a cylinder 16 and a link 17. The cylinder 16 and the link 17 allow the suction nozzle 13 to move to a retracted position corresponding to the axial position C; Pipeline 1 curved downward
It is swung up and down to the suction position (see the two-dot chain line) along the inner surface of 0. When the inner diameter of the pipe 10 is large, the extension nozzle 18 is connected to the tip of the suction nozzle 13 so that the tip of the extension nozzle 18 follows the inner surface of the pipe 10.

As shown in detail in FIGS. 1 and 2, a reduction gear 19a, a motor 19b and an encoder 19c are provided at the front end of the suction pipe 12, and a drive roller 19d is mounted on the reduction gear 19a. The drive roller 19d is in contact with the swing cylinder 13a of the suction nozzle 13. And
The number of rotations and the direction of rotation of the motor 19b are determined by the encoder 1.
9c, the suction nozzle 13 is rotated in the circumferential direction (the pipeline 10) in a predetermined angle range θ by the forward / reverse rotation of the motor 19b.
(Left / right direction of the camera). At the upper end of the oscillating cylinder portion 13a of the suction nozzle 13, the pipe 1
A tilt sensor 21 for detecting the tilt angle of the suction nozzle 13 with respect to the vertical position V of 0 is attached. Note that FIG.
As shown in FIG. 1, a camera (CCD camera and light) 20 for monitoring the condition in the pipeline 10 is mounted above the front end of the suction pipe 12.

As shown in FIG. 7, the motor 19b and the inclination sensor 21 are connected to a control box 40 as control means. The control box 40 includes a microcomputer (not shown) having a program for performing steps S6 and S7 in FIG.
Automatic operation switch 41, manual operation switch 42, swing switch 43 for suction nozzle 13, joystick 44 for manually adjusting the swing direction and swing angle of suction nozzle 13, voltmeter 45, swing angle A total swing 46, a swing speed variable knob 47, a left swing angle setting knob 48 and a right swing angle setting knob 49 of the suction nozzle 13 are provided.

As shown in FIG. 6, the tilt sensor 21 has an output voltage of 0 when the suction nozzle 13 coincides with the vertical position V of the pipe 10, but the suction nozzle 13 is When tilted with respect to the position V, a voltage corresponding to the tilt direction and the tilt angle is output.
Is displayed with. Left and right swing angle setting knobs 48 and 49
Is for arbitrarily setting the left and right swing angles of the suction nozzle 13. The swing direction and swing angle of the suction nozzle 13 are displayed by the swing angle meter 46.

The automatic operation switch 41 is used for automatically operating the suction nozzle 13 if the swing angle and the swing speed of the suction nozzle 13 are set in advance. The manual operation switch 42 is for manually operating the joystick 44 and the knob 47 while looking at the image of the camera 20, the voltmeter 45 and the swing angle meter 46.

The control box 40 is provided with the motor 19b so that the suction nozzle 13 always swings within a predetermined angle range θ with respect to the vertical position V of the pipe 10 in response to the detection of the inclination sensor 21. A control unit for controlling is built in.

That is, as shown in FIG. 4, when the suction pipe 12 is at the correct position in the pipe 10, the suction nozzle 13 swings within a predetermined angle range θ with respect to the vertical position V of the pipe 10. Move. On the other hand, as shown in FIG. 6, when the suction pipe 12 is inclined in the conduit 10, the suction nozzle 13 swings in a predetermined angle range θ with respect to the inclined position R. Therefore, the suction nozzle 13 does not swing over the entire lower portion of the inner surface of the pipe 10, so that there is a suction remaining portion where the sludge 11 is not sucked.

Therefore, when the suction nozzle 13 swings within a predetermined angle range θ with respect to the tilt position R (that is, when the suction pipe 12 tilts), the tilt position R with respect to the vertical position V The inclination angle is detected by the inclination sensor 21. Then, in accordance with the detection of the inclination sensor 21, the control unit controls the number of rotations and the direction of rotation of the motor 19b.

For example, if the suction nozzle 13 is in the vertical position V
In contrast, when swinging to the left by θ / 2... 60 degrees and to the right by θ / 2... 60 degrees, assuming that the inclination angle of the inclination position R with respect to the vertical position V is 30 degrees, in FIG. The motor 19b is controlled so that the moving nozzle 13 swings 90 degrees to the right and 30 degrees to the left. Thereby, the suction pipe 12 is connected to the pipe 10.
The suction nozzle 13 swings substantially at 60 degrees to the left and 60 degrees to the right with respect to the vertical position V even when it is inclined inside.

On the other hand, as shown in FIG.
In the middle part of 2 is a slide cylinder 2 that is slidable in the axial direction.
2 are supported. The slide tube 22 and the suction tube 12
The slide cylinder 22 is slid to a predetermined position in the axial direction by the cylinder 23. Link brackets 24a to 24f are fixed to the outer periphery of the slide cylinder 22 at predetermined intervals in the axial direction.

A securing member 26a, 26b is attached to the outer periphery of the front part of the suction tube 12 at a predetermined interval.
The securing members 26c, 26d are also attached to the outer periphery of the rear portion 2 at predetermined intervals. A front parallel link 29 formed by connecting the securing members 26a, 26b and the front portion of the second connecting member 32 by links 29a, 29a is attached to the securing members 26a, 26b at the front of the suction tube 12. Are provided at three equally spaced positions on the circumference. Similarly, the securing members 26c and 26d at the rear of the suction tube 12 are provided with the securing members 26c and 26d and the second securing members 26c and 26d, respectively.
Rear parallel links 30, which are connected to the rear part of the connecting member 32 by links 29a, 29a, are provided at three equally-spaced positions on the same circumference as the front parallel link 29.

The front parallel link 29 and the rear parallel link 30
Are integrally connected by a second connecting member 32. The link bracket 24 of the slide cylinder 22
a and one link 29a of the front parallel link 29 are the first
They are connected by a connecting member 31. Therefore, when the slide cylinder 22 slides forward (to the left in FIG. 3), the front / rear parallel links 29, 30 are expanded radially outward by the same stroke via the first and second connecting members 31, 32. Conversely, when the slide cylinder 22 slides rearward (to the right in FIG. 3), the front / rear parallel links 29, 30 move inward in the radial direction with the same stroke via the first and second connecting members 31, 32. to shrink.

The enlarged strokes of the front and rear parallel links 29, 30 can be changed by replacing the links with links 29a having different lengths. That is, in the case of the pipe 10A having the inner diameter d1, the link 29a is replaced with a pipe having a length m1 and the pipe 10F having an inner diameter d6 is replaced with a pipe having a length m6.
The link 29a of the intermediate-size pipe 10 is appropriately replaced with a link having a length of m2 to m5. With the exchange of the link 29a, the first connecting member 31 also
Using the link brackets 24a to 24f of No. 2, replace them with ones corresponding to the lengths m1 to m6.

A drive wheel 34 is mounted on a front upper surface and a rear upper surface of each of the second connecting members 32,. Each of the brackets 33
It is pivotally connected to the second connecting member 32 so as to be pivotable. Front and rear brackets 33, 3 of the second connecting member 32
The cylinder 3 is connected by a cylinder 36. The cylinder 36 allows the drive wheel 34 to move 90 degrees between a front and rear running position where the driving wheel 34 is directed in the axial direction of the pipeline 10 and a left and right running position where the driving wheel 34 is directed in a direction perpendicular to the axis of the pipeline 10. It is possible to turn. Although not specifically shown, each of the driving wheels 34 has a motor built therein, and the motor drives the driving wheels 34 to rotate.

According to the above configuration, sludge or the like 11 in the pipeline 10
In order to collect by suction, the suction pipe 12 is set at the inlet of the pipe 10, the slide cylinder 22 is slid forward by the cylinder 23, and the front / rear parallel links 29 and 30 are moved outward in the radial direction. When enlarged by the same stroke, each drive wheel 34 of the second connecting member 32 comes into contact with the inner surface of the conduit 10 at a position equally divided on the circumference (see FIG. 4). These parallel links 29,3
The suction tube 12 is accurately arranged at the axial center position C of the conduit 10 by the stretching action accompanying the enlargement of 0. Then pipe 1
The suction nozzle 13 is swung downward to the suction position calculated from the inner diameter of 0.

In the case of automatic operation, referring to FIG. 8, the automatic operation switch 41 is turned on in step S1, and the swing speed of the suction nozzle 13 is adjusted by the swing speed variable knob 47 of the control box 40 in step S2. Are set, and in steps S3 and S4, the left and right swing angle setting knobs 48, 49 are used to set the swing angle of the swing nozzle 13 (eg, θ / 2
.. 60 ° to the right, θ / 2... 60 °), and step S
At 5, the swing switch 43 is turned on.

The suction pipe 12 is connected to the pipe 1 by each drive wheel 34.
0, the motor 19 is driven in step S6.
b is rotated to the left, and the oscillating nozzle 13 is oscillated to the left by 60 degrees. Next, in step S7, the motor 19b is rotated clockwise, and the swing nozzle 13 swings rightward by 60 degrees. In this case, since the suction nozzle 13 swings by 60 degrees in the left-right direction with respect to the vertical position V of the pipe 10, a remaining portion of the sludge 11 such as suction is hardly generated. If the swing switch 43 is not turned on in step S5, the motor 19b is stopped in step S8, and the process ends in step S9.

On the other hand, if the suction pipe 12 is tilted for some reason during the cleaning operation (see FIG. 6), the tilt angle of the tilt position R with respect to the vertical position V, for example, 30 degrees is determined by the tilt sensor 2.
1 is detected. By this detection, the motor 19 is caused to swing the swing nozzle 13 to the left by 30 degrees in step S6.
b is rotated to the left, and the motor 19b is rotated to the right so as to swing the swing nozzle 13 to the right at 90 degrees in step S7. Thereby, in a state where the suction tube 12 is inclined at 30 degrees,
The suction nozzle 13 swings left and right by 60 degrees with respect to the vertical position V of the pipeline 10, so that the remaining suction portion of the sludge 11 and the like hardly occurs.

[0027]

As is apparent from the above description, the pipe line cleaning device of the present invention detects the tilt angle of the suction nozzle with respect to the vertical position of the pipe line by using the tilt sensor. The control means controls the motor such that the suction nozzle is always swung within a predetermined angle range with respect to the vertical position of the pipeline.

Therefore, according to the present invention, even if the suction pipe is inclined in the pipeline, the suction nozzle always swings within a predetermined angle range with respect to the vertical position, so that the sludge deposited on the lower portion of the inner surface of the pipeline is formed. And the like, and the remaining portion of the suction is less likely to occur.

[Brief description of the drawings]

FIG. 1 is a front view of a suction nozzle of the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is a side view of the cleaning device.

FIG. 4 is a sectional view of a conduit having a small inner diameter.

FIG. 5 is a sectional view of a large-diameter pipe line.

FIG. 6 is a cross-sectional view illustrating a state where the cleaning device is inclined.

FIG. 7 is a front view of the control box.

FIG. 8 is a control flowchart using a control box.

[Explanation of symbols]

10 pipe line, 12 suction pipe, 13 suction nozzle, 19b
... Motor, 21 ... Tilt sensor, 40 ... Control box (control means), C ... Axis position, R ... Tilt position, V
... vertical position.

Continuation of the front page (56) References JP-A-64-11685 (JP, A) JP-A-2-48188 (JP, U) JP-A-63-118989 (JP, U) JP-A-60-193288 (JP , U) Japanese Utility Model Showa 49-11302 (JP, U) Japanese Utility Model Showa 50-36853 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) B08B 9/00-9/06

Claims (1)

(57) [Claims] 1. A suction pipe having a suction nozzle which is arranged at an axial center position of a pipe and is oscillated in a circumferential direction by a motor in a predetermined angular range, and which is attached to the suction nozzle and which is perpendicular to the pipe. A tilt sensor for detecting a tilt angle of the suction nozzle with respect to the position, and controlling the motor so that the suction nozzle is always swung within the predetermined angle range with respect to the vertical position in accordance with the detection of the tilt sensor. And a control means for performing the cleaning.