JP4352407B2 - In-pipe blasting equipment - Google Patents

Description

  The present invention relates to an in-pipe blasting apparatus, and more particularly to an in-pipe blasting apparatus that projects a blast medium onto an inner wall surface of a pipe and grinds the inner wall surface to adjust the substrate.

  For example, a vent pipe (pipe) arranged in a suppression chamber, which is a part of a nuclear reactor containment facility, has a plurality of outer peripheral surfaces and inner peripheral surfaces that are excellent in corrosion resistance, decontamination, etc. It is painted by repainting the paint. The re-painting work will be carried out around 10 years after the start of operation. As a pre-work for the re-painting work, the outer peripheral surface and the coating film containing radioactive material on the inner peripheral surface are ground to roughen the painted surface. Grinding and decontamination work is performed to adjust the substrate.

  Conventionally, there is no device that grinds and decontaminates the inner peripheral surface of the vent pipe, and only the outer peripheral surface is sandblasted, but grinding and decontamination work can also be performed on the inner peripheral surface of the vent pipe. It was desired. In addition, as disclosed in Patent Document 1, the sandblasting method is a method in which a blasting material such as steel grit injected with high-speed air is made to collide with the workpiece, and the surface of the workpiece is ground by the impact force. This is a roughening method.

By the way, Patent Document 2 discloses an in-pipe cleaning device that cleans the inner peripheral surface of a pipe. This in-pipe cleaning device inserts a blast nozzle into the inside of the pipe, sprays ice particles from the blast nozzle onto the inner wall surface of the pipe, and peels and removes dirt adhering to the inner wall surface. The blast nozzle is formed in a bifurcated shape, and is configured to swivel by a sprinkler effect generated by ice-feeding air.
JP 9-109029 A Japanese Patent Laid-Open No. Sho 63-127872

  However, in the above-mentioned vent pipe, it is necessary to ensure the quality of the inner wall surface by grinding and decontamination work because of the repainting work in the subsequent process. Since the in-pipe cleaning apparatus to be removed cannot grasp the state of removal of dirt, that is, the quality of the substrate, there is a drawback that the substrate quality of the inner wall after grinding cannot be guaranteed.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an in-pipe blasting device capable of guaranteeing the quality of an inner wall surface ground by a blasting medium.

In order to achieve the above object, the invention relating to a blasting apparatus in a pipe according to the present invention includes an apparatus main body movably provided in the pipe, and a blasting medium provided in the apparatus main body toward the inner wall surface of the pipe. A nozzle for projecting light, illumination means for illuminating the base of the inner wall surface ground by the blast medium, and imaging of the base provided in the apparatus main body and illuminated by the illumination means The image pickup means, the illumination means and the image pickup means are accommodated in the accommodation space, and the casing is sealed between the inner wall surface of the pipe and the inner wall surface of the pipe. storage and recovery means for recovering the blasting medium, and traction means for moving the apparatus main body in the pipe, the movement position relative to the pipe of the apparatus main body by said traction means It is characterized by having a that position storage means.

According to the present invention, the inner wall surface is ground by projecting the blast medium from the nozzle of the apparatus main body arranged in the piping to the inner wall surface of the piping. The ground of the inner wall surface exposed by grinding is illuminated by the illumination means and imaged by the imaging means. Thereby, the work can be performed while confirming the grinding state during the grinding work, so that the quality of the substrate can be guaranteed. When grinding the entire inner wall surface, the apparatus main body may be moved along the pipe. Further, since the illumination means and the imaging means are accommodated in the housing space of the casing, and this housing space is sealed between the casing and the inner wall surface of the pipe, the substrate is illuminated in a clean environment. Can be taken. Therefore, a clear image of the substrate can be obtained, which is suitable for determining the substrate quality. Furthermore, since the used blast medium is recovered by the recovery means, the grinding operation can be performed in a clean environment. Further, the apparatus main body is moved in the pipe by the pulling means. In the case of a pipe arranged in the vertical direction, it can be moved down by its own weight and moved up by a suspension means which is a pulling means. Further, in the case of a pipe arranged in the horizontal direction, it can be reciprocated by pushing and pulling the apparatus main body with a pulling means. Furthermore, by storing the movement position of the apparatus main body with respect to the piping by the traction means in the position storage means, for example, the resumption position after the middle stage of the blasting operation can be easily grasped, so that the work efficiency is improved. .

In order to achieve the above object, the invention relating to a blasting apparatus in a pipe according to the present invention includes an apparatus main body movably provided in the pipe, and a blasting medium provided in the apparatus main body toward the inner wall surface of the pipe. Between the nozzle that projects the nozzle, the collecting means that sucks and collects the blast medium projected on the inner wall surface, and the nozzle and the collecting means are housed in the housing space and between the inner wall surface of the pipe A casing that seals the housing space, an illumination unit that is provided in the apparatus main body and that illuminates the base of the inner wall surface ground by the blast medium, and is provided in the apparatus main body and is illuminated by the illumination unit. imaging means for imaging the green body was, and traction means for moving the apparatus main body in the pipe, stores the movement position relative to the piping of the apparatus main body by said traction means It is characterized by having a that position storage means.

According to the present invention, the blast medium is projected from the nozzle of the apparatus main body arranged in the pipe onto the inner wall surface of the pipe to grind the inner wall surface, and the used blast medium is collected by the collecting means. The ground of the inner wall surface exposed by grinding is illuminated by the illumination means and imaged by the imaging means. Thereby, the work can be performed while confirming the grinding state during the grinding work, so that the quality of the substrate can be guaranteed. When grinding the entire inner wall surface, the apparatus main body may be moved along the pipe. Further, the nozzle and the recovery means are accommodated in the accommodating space of the casing, and this accommodating space is sealed between the casing and the inner wall surface of the pipe, and the blast medium is scattered in the accommodating space, so that it is clean. You can illuminate the substrate in the environment and shoot the substrate. Accordingly, a clear image of the substrate can be obtained, which is suitable for determining the quality of the substrate. Also, the grinding operation can be carried out in a totally clean environment. Further, the apparatus main body is moved in the pipe by the pulling means. In the case of a pipe arranged in the vertical direction, it can be moved down by its own weight and moved up by a suspension means which is a pulling means. Further, in the case of a pipe arranged in the horizontal direction, it can be reciprocated by pushing and pulling the apparatus main body with a pulling means. Furthermore, by storing the movement position of the apparatus main body with respect to the piping by the traction means in the position storage means, for example, the resumption position after the middle stage of the blasting operation can be easily grasped, so that the work efficiency is improved. .

The present invention is characterized in that the wheels of the front Symbol apparatus main body having a pressing means for pressing contact with the inner wall surface of the pipe.

According to the present invention , the apparatus main body can be stopped at a desired position in the pipe arranged in the vertical direction by pressing the wheels of the apparatus main body against the inner wall surface of the pipe by the pressing means. As this pressing means, an air cylinder is suitable in consideration of a working environment containing a large amount of dust.

The present invention, before Symbol apparatus body is characterized in that a self-propelled vehicle having a wheel for magnetically attached to the inner wall surface of the pipe.

According to the present invention , by magnetizing the magnet wheel to the inner wall surface of the pipe, the self-propelled vehicle that is the main body of the apparatus can be braked at a desired position on the inner wall surface of the pipe.

The present invention, before Symbol nozzles provided rotatably around the axis of the pipe, is characterized by having a nozzle rotating means for rotating the nozzle.

According to the present invention , by rotating the nozzle about the axis of the pipe by the nozzle rotating means, the entire inner wall surface of the pipe can be ground by the operation of moving the apparatus main body in the pipe axial direction. As the nozzle rotating means, a dust explosion-proof motor and an air motor are suitable in consideration of a working environment containing a large amount of dust. By using such a motor capable of controlling nozzle rotation, the number of nozzle rotations and the moving speed of the apparatus body can be used as parameters, and the relationship between these parameters and the finish of the substrate can be converted into data. Therefore, the nozzle rotation speed and / or the moving speed of the apparatus main body can be controlled based on the required finish of the substrate, and efficient work can be performed. Alternatively, the nozzle may be three-dimensionally curved to obtain a sprinkler effect without using a motor, and the nozzle may be rotated by the sprinkler effect. Furthermore, the inner surface of the nozzle is preferably rubber-lined in order to suppress grinding by the blast medium. This rubber absorbs the impact of the blast medium, and the grinding can be suppressed.

The present invention, before Symbol blasting medium is characterized in that the grinding material is a sponge-piece shaped blasting medium which is included in the porous elastic body.

According to the present invention , a sponge piece blast medium in which an abrasive is contained in a porous elastic body is used as the blast medium. When this blasting medium collides with the inner wall surface of the pipe, the blasting medium becomes flat and the mixed abrasive material directly collides with the inner wall surface at a high speed, so that the inner wall surface can be ground as in the sandblasting method. Further, since dust that normally floats in the air is taken into the sponge piece and falls as it is, scattering of the dust can be greatly reduced.

  According to the in-pipe blasting apparatus of the present invention, the ground surface of the exposed inner wall surface is illuminated by the illuminating means and imaged by the imaging means, so that the work can be performed while checking the grinding status during the grinding operation. Can be implemented. Therefore, the quality of the substrate can be guaranteed. Further, since the illumination means and the imaging means are accommodated in the housing space of the casing, and this housing space is sealed between the casing and the inner wall surface of the pipe, the substrate is illuminated in a clean environment. Can be taken. Therefore, a clear image of the substrate can be obtained, which is suitable for determining the quality of the substrate.

  Further, according to the pipe blasting apparatus of the present invention, the ground surface of the exposed inner wall surface is illuminated by the illuminating means and imaged by the imaging means, so that the work can be performed while checking the grinding status during the grinding work. Can be implemented. Therefore, the quality of the substrate can be guaranteed. Further, the nozzle and the recovery means are accommodated in the accommodating space of the casing, and this accommodating space is sealed between the casing and the inner wall surface of the pipe, and the blast medium is scattered in the accommodating space, so that it is clean. You can illuminate the substrate in the environment and shoot the substrate. Therefore, a clear image of the substrate can be obtained, which is suitable for determining the quality of the substrate.

  A preferred embodiment of an in-pipe blasting apparatus according to the present invention will be described below in detail with reference to the accompanying drawings.

  FIG. 1 is an explanatory view showing a basic structure of a sponge blasting device 20 applied to the in-pipe blasting device of the embodiment. First, the sponge blasting method using the sponge blasting device 20 will be described. As shown in FIG. 2, the blasting medium 26 used in this method is made of different materials (steel grit, alumina, starlight, urea resin, etc.) depending on the application. ) (In the case of UNIA resin, it is also referred to as a polishing material) in a sponge piece (porous elastic body) 24, and this blast medium 26 is projected onto the coating film 28 by high-pressure air. In this method, the coating film 28 is ground and the coated surface 30 is roughened to adjust the substrate. Further, when the coating film 28 is contaminated with radiation like a vent pipe, the coating surface 30 can be decontaminated with the blast medium 26.

  According to the sponge blasting method, when the blast medium 26 collides with the coating film 28 as shown in FIG. 2 (A), the blast medium 26 becomes flat as shown in FIG. 2 (B), and the mixed abrasives 22, 22. It strikes the membrane 28 directly at high speed. Thereby, the coating film 28 can be ground like FIG.2 (C) similarly to the sandblasting method. Also, dust 32, 32... That normally drifts in the air is taken into the sponge piece 24 and falls as it is, so that dust scattering can also be prevented. Further, since the repelling force is also absorbed by the sponge piece 24, the blast medium 26 can be prevented from being rebounded.

  As shown in FIG. 1, the sponge blast device 20 includes a sponge blast supply device 34, a compressor 36, a nozzle 38, a suction device 40, a recycle separator 42, and a hopper 44.

  The sponge blast supply device 34 is supplied with high-pressure air from the compressor 36 and blast medium 26 (see FIG. 2) from the hopper 44. The blast medium 26 is air-fed through a hose 46 by high-pressure air from the compressor 36 and is projected from the tip of the nozzle 38 toward the object 48 at a high speed. The used blast medium 26 falls in the state where the dust 32, 32... (See FIG. 2C) is taken in, and is sucked into the suction machine 40 from the suction port 50 installed in the vicinity of the drop position. And sent to the recycling separator 42.

  The recycle separator 42 is configured by stacking two sieves 52 and 54 on a shaker 56 with a large sieve mesh size. First, the blast medium 26 is fed into a sieve 52 having a large eye size, and the sieve 52 is vibrated by a vibrator of a vibrator 56, whereby the large-sized blast medium 26 is selected and sieved 52. Taken from. The blast medium 26 that has passed through the sieve 52 falls to the sieve 54, and the medium-sized blast medium 26 is sorted out by the sieve 54 that is also vibrated by the vibrator. The large and medium-sized blast medium 26 removed from the sieves 52 and 54 can be used as it is, and is conveyed to the hopper 44. The fine blast medium 26 that has passed through the sieve 54 is stored in a container 58 and discarded because it cannot be reused. The reusable blast medium 26 is about 90% of the whole. The above is the basic structure of the sponge blasting device 20.

  FIG. 3 is a structural diagram of an in-pipe blasting device 60 for blasting the inner wall surface 12 of the vent pipe 10 disposed in the suppression chamber of the nuclear reactor containment facility.

  The in-pipe blasting device 60 shown in FIG. 2 has the basic structure of the sponge blasting device 20 shown in FIG. Further, although depending on the size of the nuclear reactor, the vent pipe 10 is vertically suspended from the diaphragm floor 14 into the suppression chamber 16 in the vertical direction, and has a diameter of about 60 cm and a length of about 10 m. The distance between adjacent vent pipes 10 is set to about 30 cm. The inner wall surface 12 of the vent pipe 10 is coated by repeatedly applying a plurality of paints excellent in corrosion resistance, decontamination property, etc. As a pre-work of the repainting work, an in-pipe blast device 60 shown in FIG. Grinding and decontamination work using is performed.

  The in-pipe blast device 60 mainly comprises an apparatus main body 62, a nozzle 64, a light (illuminating means) 66, a CCD camera (imaging means) 68, a casing 70, and a recovery device (recovery means) 72.

  As shown in FIGS. 3 and 4, the apparatus main body 62 is formed in a substantially cylindrical shape, and three leg portions 74, 74, and 74 are projected in the radial direction at equal intervals on the outer periphery thereof. Each leg 74 includes an air cylinder 76 and a wheel 78 fixed to the apparatus main body 62, and the wheel 78 is rotatably provided on a piston 80 of the air cylinder 76 via a shaft 82.

  As shown in FIG. 5, a tube 84 for supplying air to the air cylinder 76 is disposed in the hollow device main body 62. This tube 84 is arranged in a flexible tube 86 connected to the upper portion of the apparatus main body 62 as shown in FIG. 3 and a three-way valve (not shown) is provided to an air pump (pressing means) 88 installed outside the vent tube 10. Are connected through. Therefore, the three-way valve is driven to open the air pump 88 side and close the air side, so that compressed air from the air pump 88 is supplied to the air cylinder 76 via the tube 84.

  Thereby, the piston 80 is extended and the wheel 78 is brought into contact with the inner wall surface 12 of the vent pipe 10. Therefore, the apparatus main body 62 is supported in the vent pipe 10 via the legs 74, 74, 74 so as to be movable up and down. The apparatus main body 62 can be held at a desired height position of the vent pipe 10 by increasing the pressure of the compressed air and increasing the pressing force of the wheels 78 against the inner wall surface 12 of the vent pipe 10. Further, the holding force of the apparatus main body 62 can be increased by configuring the wheels 78 as magnet wheels and magnetically attaching the wheels 78 to the inner wall surface 12. Furthermore, by using the wheel 78 as an electromagnet, the holding force can be turned ON / OFF, and the apparatus main body 62 can be braked at a desired height position.

  On the other hand, the flexible tube 86 is disposed outside the vent tube 10 through a slit 92 of a comb-shaped cap 90 attached to the upper portion of the vent tube of the diaphragm floor 14. A hose 46 for supplying the blast medium 26 from the sponge blast supply device 34 to the nozzle 64 is disposed in the flexible tube 86. The hose 46 is disposed in the apparatus main body 62 as shown in FIG. 5 via a flexible tube 86, and is connected to the nozzle 64 via a connecting tube 94. The nozzle 64 is curved so that the injection port 65 at the tip thereof faces the inner wall surface 12, and is connected to the connection pipe 94 via the bearing 96, thereby rotating around the axis P of the apparatus main body 62. It is provided freely.

  A gear 100 is fixed to the outer periphery of the rigid base 98 of the nozzle 64 fitted into the bearing 96. The gear 100 meshes with a gear 104 of an explosion-proof motor 102 built in the apparatus main body 62. A cord 106 for supplying electric power to the explosion-proof motor 102 is disposed in the flexible tube 86 from within the apparatus main body 62 and is connected to a controller 108 with a monitor installed outside the vent tube 86 as shown in FIG. The controller 108 can control the rotation speed of the explosion-proof motor 102 by adjusting the power supply with an operation knob such as a dial, so that the rotation speed of the nozzle 64 can be controlled. As shown in FIG. 5, the inner surface of the nozzle 64 is rubber-lined to suppress grinding by the blast medium 26. The impact of the blast medium is absorbed by the lined rubber 63, and the grinding of the nozzle 64 by the blast medium 26 is suppressed.

  Incidentally, the light 66 and the CCD camera 68 shown in FIG. 3 are fixed adjacent to the front end of the arm 110 extending in the horizontal direction on the apparatus main body 62, and the CCD camera 68 has an inner wall surface illuminated by the light 66. 12 has an optical system capable of capturing images. A cable for supplying power to the light 66 and a signal cable for transmitting a video signal output from the CCD camera 68 are disposed in the flexible tube 86 from within the apparatus main body 62 and connected to the controller 108 with a monitor. Yes. By operating the light ON switch of the controller 108, the light 66 is turned on. By operating the camera ON switch of the CCD camera 68, the image of the inner wall surface 12 illuminated by the light 66 is displayed by the CCD camera 68. The captured image is displayed on the monitor 112 of the controller 108.

  The light 66 and the CCD camera 68 are disposed in the accommodation space 114 of the casing 70 fixed to the arm 110. The casing 70 has a surface facing the inner wall surface 12 open, and a rubber seal member for sealing the accommodation space 114 between the inner wall surface 12 and a self-lubricating polytetrafluoroethylene at the opening edge. A seal member made of a synthetic resin (trade name: Teflon) is attached. Since the housing space 114 is sealed between the apparatus main body 62 and the inner wall surface 12 by such a sealing member, the base of the inner wall surface 12 (the inner wall surface after grinding) is illuminated by the light 66 in a clean environment. The substrate can be photographed by the CCD camera 68.

  One end of a tow rope 116 is connected to the upper portion of the apparatus main body 62. The rope 116 extends from the pulley 118 pivotally supported by the cap 90 to the outside of the vent pipe 10 through the slit 92 and is wound around a take-up reel 120 of a winch (traction means). The take-up reel 120 is rotated by a servo motor 122, whereby the apparatus main body 62 is moved up and down in the vent pipe 10. An output signal from the servo motor 122, that is, a signal indicating the position of the apparatus main body 62 with respect to the height position of the vent pipe 10 is output to the controller 108, and the controller 108 determines the height position of the vent pipe 10 based on the signal. The position of the apparatus main body 62 with respect to the character is displayed on the monitor 112. Therefore, the monitor 112 simultaneously displays the image of the inner wall surface of the vent pipe 10 and the position of the apparatus main body 62 displayed with the characters. The controller 108 has a built-in recorder (position storage means) 109 such as an HDD or a DVD, and can record and reproduce the captured image, position information of the apparatus main body 62 with respect to the height of the vent pipe 10, and the like.

  The recovery device 72 is detachably provided at the lower portion of the vent pipe 10 and includes a hopper 124 attached to a lower opening of the vent pipe 10, a recycle separator 42, and a suction fan 126. According to the recovery device 72 configured in this manner, the used blast medium 26 that has been projected from the nozzle 64 onto the inner wall surface 12 and dropped onto the hopper 124 is recovered by the recycle separator 42 by the suction force of the fan 126. Here, what can be recycled is separated from what cannot be recycled.

  Next, the operation of the in-pipe blast device 60 configured as described above will be described.

  First, the apparatus main body 62 is inserted into the vent pipe 10, and the apparatus main body 62 is held at the uppermost position of the vent pipe 10. In this holding method, the servo motor 122 of the winch is locked, the air pressure applied to the air cylinder 76 of the leg 74 is increased to increase the pressing force of the wheel 82, or the electromagnet wheel 78 is turned on to turn the wheel 78 on. Is magnetically attached to the inner wall surface 12.

  Next, the apparatus main body 62 is moved downward, and the inner wall surface (painted surface) is ground while the nozzle 64 is rotated by the explosion-proof motor 102.

  The ground surface of the inner wall surface 12 exposed by grinding is illuminated by a light 66 following the nozzle 64 and imaged by the CCD camera 68 and displayed on the monitor 112 together with its height display. Thereby, the work can be performed while confirming the grinding state during the grinding work, so that the quality of the substrate can be guaranteed.

  The light 66 and the CCD camera 68 are housed in the housing space 114 of the casing 70, and the housing space 114 is sealed between the casing 70 and the inner wall surface 12, so that the substrate can be placed in a clean environment. You can illuminate and photograph the substrate. Therefore, a clear image of the substrate can be obtained, which is suitable for determining the substrate quality. Further, since the used blast medium 26 is collected at any time by the collecting device 72, the inner wall surface 12 of the vent pipe 10 can be ground in a clean environment.

  Note that the light 66 and the CCD camera 68 are configured to rotate along the apparatus main body 62, and the rotation of the light 66 and the CCD camera 68 and the raising / lowering operation of the apparatus main body 62 are linked to each other. Image data can be acquired. Therefore, the grinding state of the entire inner wall surface can be grasped. Also in this case, it is preferable in terms of dust environment to select an explosion-proof motor or an air motor as a motor for rotating the light 66 and the CCD camera 68.

  Further, the controller 108 of the in-pipe blast device 60 is provided with a recorder 109 for storing the height position of the device main body 62 with respect to the vent pipe 10 by the winch. By storing the position, for example, the resuming position after the middle stage of the blasting operation can be easily grasped. Therefore, working efficiency is improved.

  Further, the controller 108 of the in-pipe blast device 60 uses the rotation speed of the nozzle 64 and the moving speed of the device main body 62 as parameters, and converts the relationship between these parameters and the finish of the substrate into data, and this data is sent to the recorder 109. It is recorded. Therefore, it is possible to perform efficient work by reading the data from the recorder 109 and controlling the number of rotations of the nozzle 64 and / or the moving speed of the apparatus main body 62 based on the required finish of the substrate. .

  Further, without using the explosion-proof motor 102, the nozzle 64 may be curved three-dimensionally to obtain the sprinkler effect, and the nozzle may be rotated by the sprinkler effect.

  FIGS. 6 to 8 are structural diagrams of an in-pipe blast device 160 according to another embodiment, and the same or similar members as those in the in-pipe blast device 60 shown in FIGS. The description is omitted.

  As shown in FIG. 6, the in-pipe blast device 160 mainly includes an apparatus main body 62, a nozzle 64, a light (illuminating means) 66, a CCD camera (imaging means) 68, a casing 70, and a recovery device (recovery means) 172. .

  The recovery device 172 has a suction nozzle 174 surrounding the nozzle 64 as shown in FIGS. As shown in FIG. 8, the suction nozzle 174 is connected to a suction pipe 176 surrounding the hose 46 via a bearing 178 and a connection pipe 180.

  The connecting pipe 180 is inserted into the flexible pipe 86 from the apparatus main body 62 and disposed outside the vent pipe 10, and is connected to the recycle separator 42 and the suction fan 126. According to the recovery device 172 configured in this way, the used blast medium 26 projected from the nozzle 64 to the inner wall surface 12 is immediately absorbed by the suction nozzle 176 by the suction force of the fan 126 immediately after colliding with the inner wall surface 12. The material is collected from the tip opening 177 through the suction pipe 176 to the recycle separator 42, where recyclable and non-recyclable are separated. The recyclable material is returned to the sponge blast supply device 34.

  The suction nozzle 174 is supported by a bearing 178 so as to be rotatable coaxially with the nozzle 64. The suction nozzle 174 is rotated by an explosion-proof motor (not shown) built in the apparatus main body 62, and this rotational force is configured to be transmitted to the nozzle 64 via a power transmission member (not shown). Accordingly, the nozzle 64 is rotated in conjunction with the suction nozzle 174.

  On the other hand, the nozzle 64 and the suction nozzle 174 are disposed in the accommodating space 184 of the casing 182 fixed to the suction nozzle 174 as shown in FIG. The casing 182 has a surface facing the inner wall surface 12 open, and a rubber seal member for sealing the accommodating space 184 between the inner wall surface 12 and a self-lubricating polytetrafluoroethylene at an opening edge thereof. A seal member 186 made of a synthetic resin (trade name: Teflon) is attached. Since the accommodation space 184 is sealed between the apparatus main body 62 and the inner wall surface 12 by such a sealing member 186, the blast medium 26 can be confined in the accommodation space 184. As a result, the substrate of the inner wall surface 12 (the inner wall surface after grinding) can be illuminated by the light 66 provided on the side surface of the apparatus main body 62 in a clean environment, and the substrate can be photographed by the CCD camera 68.

  According to the in-pipe blasting device 160, first, the lower opening of the vent pipe 10 is closed by the cap 188, and then blasted from the nozzle 64 of the apparatus main body 62 disposed in the vent pipe 10 to the inner wall surface 12 of the vent pipe 10. The medium 26 is projected to grind the inner wall surface 12, and the used blast medium 12 is collected by the suction nozzle 174.

  The ground surface of the inner wall surface 12 exposed by grinding is illuminated by a light 66 and imaged by a CCD camera 68. Thereby, the work can be performed while confirming the grinding state during the grinding work, so that the quality of the substrate can be guaranteed.

  The nozzle 64 and the suction nozzle 174 are accommodated in the accommodating space 184 of the casing 182, and the accommodating space 184 is sealed between the casing 182 and the inner wall surface 12 of the vent pipe 10, and the blast medium 26 is It scatters in the storage space 184. Therefore, the substrate can be illuminated by the light 66 in a clean environment, and the substrate can be photographed by the CCD camera 68. Therefore, a clear image of the substrate can be obtained, which is suitable for determining the quality of the substrate. Further, the grinding operation can be performed in the vent pipe 10 under a totally clean environment.

  In the embodiment, the sponge blasting apparatus using the sponge-like blast medium 26 has been described. However, the present invention is not limited to this, and a general sandblasting apparatus can also be applied. Also, the pipe blasting devices 60 and 160 of the embodiment can be applied to an inner wall surface grinding work of a horizontal pipe without being limited to a vertical pipe such as the vent pipe 10.

Explanatory drawing showing the basic structure of the sponge blasting device Illustration explaining the mechanism of sponge blasting Explanatory drawing which showed the structure of the blasting apparatus in piping of embodiment Bottom view of the pipe blasting device shown in FIG. Cross-sectional view of the main part of the in-pipe blasting device shown in FIG. Explanatory drawing which showed the structure of the blasting apparatus in piping of other embodiment Bottom view of the pipe blasting device shown in FIG. Cross-sectional view of the main part of the in-pipe blasting device shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Vent pipe, 12 ... Inner wall surface, 20 ... Sponge blasting device, 22 ... Abrasive material, 24 ... Sponge piece, 26 ... Blasting medium, 34 ... Sponge blast supply device, 42 ... Recycle separator, 60 ... Blasting device in piping 62 ... device main body, 64 ... nozzle, 66 ... light, 68 ... CCD camera, 70 ... casing, 72 ... collection device, 78 ... wheel, 86 ... flexible tube, 102 ... explosion-proof motor, 108 ... controller, 116 ... rope 122 ... Servo motor 160 ... Blasting device in pipe 172 ... Recovery device 174 ... Suction nozzle 182 ... Casing

Claims (6)

An apparatus main body movably provided in the pipe;
A nozzle that is provided in the apparatus main body and projects a blast medium toward an inner wall surface of the pipe;
Illumination means for illuminating the base of the inner wall surface provided in the apparatus main body and ground by the blast medium;
An imaging unit provided in the apparatus main body and imaging the substrate illuminated by the illumination unit;
A casing that houses the illumination means and the imaging means in the accommodation space and seals the accommodation space between the inner wall surface of the pipe,
A collecting means for collecting the blast medium projected on the inner wall surface of the pipe;
Traction means for moving the device body in the pipe;
Position storage means for storing a movement position of the apparatus main body with respect to the pipe by the pulling means;
An in-pipe blasting device characterized by comprising: An apparatus main body movably provided in the pipe;
A nozzle that is provided in the apparatus main body and projects a blast medium toward an inner wall surface of the pipe;
A collecting means for sucking and collecting the blast medium projected on the inner wall surface;
A casing that houses the nozzle and the recovery means in the housing space, and seals the housing space between the inner wall surface of the pipe,
Illumination means for illuminating the base of the inner wall surface provided in the apparatus main body and ground by the blast medium;
An imaging unit provided in the apparatus main body and imaging the substrate illuminated by the illumination unit;
Traction means for moving the device body in the pipe;
Position storage means for storing a movement position of the apparatus main body with respect to the pipe by the pulling means;
An in-pipe blasting device characterized by comprising: The in-pipe blast device according to claim 1 or 2 , further comprising a pressing unit that presses and contacts the wheel of the device main body with an inner wall surface of the pipe. The in-pipe blast device according to any one of claims 1, 2, and 3 , wherein the device main body is a self-propelled vehicle including wheels magnetically attached to an inner wall surface of the pipe. The nozzle is rotatably mounted about the axis of the pipe, the pipe according to any one of claims 1, 2, 3 or 4, characterized in that it has a nozzle rotating means for rotating the nozzle Inner blasting device. The blast media, piping according to any one of claims 1, 2, 3, 4 or 5, characterized in that the grinding material is a sponge-piece shaped blasting medium which is included in the porous elastic body Inner blasting device.

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