JP5837818B2 - In-pipe inspection apparatus and buried pipe diagnostic method - Google Patents

Description

The present invention, pipe inspection device used to inspect the deteriorated state of the buried pipe, to buried pipes diagnostic method using 及 beauty the tube inspection system.

  Common buried pipes such as sewage pipes and agricultural water pipes are constructed by connecting pipes such as concrete pipes. Since buried pipes constructed with pipes such as concrete pipes may leak water due to corrosion wear or damage due to deterioration over time, accurate deterioration diagnosis and appropriate repairs and updates based on the diagnosis results are indispensable. is there.

  Recently, one trolley equipped with a striking device that strikes from the inner wall surface side of the buried pipe and another trolley equipped with a receiving device that receives hammering sound and elastic waves generated by striking are connected in a row, An in-pipe working apparatus has been developed that diagnoses the deterioration state of the buried pipe while traveling along the pipe line of the buried pipe (for example, see Patent Document 1 below).

  The in-pipe working device described in Patent Document 1 is configured such that after the pin holes provided in one carriage and the other carriage are overlapped with each other, the pins are inserted into the pin holes, whereby the one carriage and the It connects other carts. Since the connected in-pipe working device can be rotated and bent around the insertion position of the pin, there is an advantage that it can be easily inserted into the buried pipe through a vertical shaft communicating with the buried pipe. is there.

JP 2005-280371 A

  By the way, the present inventor examined a method for diagnosing the degree of deterioration of the buried pipe by hitting. In this type of in-pipe working device, the more reliable the interval between the hitting point by the hitting device and the receiving position by the receiving device, the more reliable It has been confirmed that highly accurate and accurate data can be obtained. In particular, it is confirmed that more reliable data can be obtained when the interval between the striking point of the striking device and the receiving position of the receiving device is 80% or more with respect to the effective length of the tubular body constituting the buried pipe. ing.

  However, since the in-pipe work device described in Patent Document 1 directly connects the one carriage and the other carriage, the inter-vehicle distance between the one carriage and the other carriage is changed. However, the hitting point by the striking device and the receiving position by the receiving device were always at regular intervals regardless of the tube length of the tubular body constituting the buried tube.

  In the in-pipe working device described in Patent Document 1, in order to change the hitting point of the striking device and the receiving position of the receiving device, simply increasing the total length of the one carriage or the other carriage, It is only necessary to interpose a connecting member that increases the inter-vehicle distance between the cart and the other cart, but in the state where the total length of the one cart or the other cart is increased or the connecting member is interposed. When the one carriage and the other carriage are connected, it becomes very difficult to insert the in-pipe working device into the buried pipe through a shaft.

  Here, without connecting the one carriage, the other carriage, and the connecting member, each shaft is inserted into the buried pipe from the shaft in an individual state, and the connecting member is interposed in the buried pipe. A means for connecting the one carriage and the other carriage in a state where the two carriages are connected is also conceivable, but in a dark and narrow buried pipe, a pin hole provided in the one carriage and a pin provided in the other carriage The operation of connecting the members by inserting the pins into the pin holes after overlapping the holes becomes very complicated.

The present invention has been developed to solve the above technical problem, and can easily change the interval between the hitting point of the striking device and the receiving position of the receiving device, and also facilitate the connection work in the buried pipe. the novel pipe inspection apparatus as a, and an object thereof is to provide a buried pipe diagnostic method using 及 beauty the tube inspection system.

An in-pipe inspection apparatus according to the present invention is an in-pipe inspection apparatus that inspects a deterioration state of an embedded pipe from the inside of the pipe, and is provided with a plurality of rolling elements and is capable of traveling in the pipe of the embedded pipe and A second trolley, and a connecting rod for connecting the first trolley and the second trolley in a line along the traveling direction, and one of the first trolley and the second trolley includes the A striking device that strikes the inner wall of the buried pipe is provided, and the other one of the first carriage and the second carriage has an elastic wave generated by the striking given to the inner wall of the buried pipe by the striking device. Alternatively, a receiving device for receiving a hitting sound is provided, and one of the first carriage and the second carriage is protruded in a state of being urged by an elastic body and can be elastically projected and retracted. A cart-side first connecting portion having a pin body is provided, The other of the first carriage or the second carriage has a fitting hole, and the carriage-side first connecting part is inserted into the fitting hole by inserting the pin body of the carriage-side first connecting part. The connecting rod body is provided with a second connecting portion on the cart side, and the connecting rod has the same structure as the connecting rod main body and the second cart side connecting portion provided at one end of the connecting rod main body. a connecting rod-side second connecting portion of a connecting rod-side first connecting portion of the same structure as the carriage side first connecting portion provided at the other end of the connecting rod body, from it, and the first single wheel wherein When directly connecting the second cart, the cart-side first connecting portion and the cart-side second connecting portion are connected, and the first cart and the second cart are interposed via the connecting rod. In the case of connecting in a state of being made, the cart side first connecting portion and the connecting rod side second connecting portion are connected. Wherein is a carriage side second connecting portion and the connecting rod side first coupling part is connected, first connecting portion and the connecting rod side, or at least one of the coupling rod-side second connecting portion, a U-shaped bracket The connecting rod body is provided in the state where the opposing side walls of the U-shaped bracket sandwich the connecting rod body from the upper surface side and the lower surface side of the connecting rod body. At least one of the connecting rod side first connecting portion or the connecting rod side second connecting portion is pivotally attached to the connecting rod main body through a support shaft inserted into a through hole penetrating through the connecting rod. characterized that you have made swingable about said shaft (hereinafter, referred to as the present invention apparatus.).

In the device according to the present invention, the distance between the opposite side walls of the U-shaped bracket is 10 mm or more longer than the distance from the upper surface to the lower surface of the connecting rod body, and the support inserted into the through-hole is inserted. By allowing the shaft to move up and down along the through hole, at least one of the connecting rod side first connecting portion or the connecting rod side second connecting portion can move up and down with respect to the connecting rod main body. Is a preferred embodiment.
In the device according to the present invention, a preferred embodiment is one in which the connecting rod is extendable along the length direction by a slide structure.

  In the device according to the present invention, it is preferable that at least one of the cart side first connecting portion or the cart side second connecting portion is provided with an auxiliary rolling element that rolls in contact with the inner wall of the buried pipe. Become.

  The buried pipe diagnosis method of the present invention is characterized by inspecting the deterioration state of the buried pipe from the inside of the pipe using the apparatus of the present invention.

  According to the present invention, the interval between the striking point of the striking device and the receiving position of the receiving device can be easily changed, and the connecting operation in the buried pipe is also facilitated.

FIG. 1 is a side view showing a device of the present invention arranged in an embedded pipe. FIG. 2 is an enlarged perspective view (a) and a top view (b) showing a cart-side first connecting portion in the first cart. FIG. 3 is an enlarged perspective view showing a cart-side second connecting portion in the second cart. FIG. 4 is an exploded perspective view showing the connecting rod side second connecting portion of the connecting rod in an enlarged manner. FIG. 5 is an exploded perspective view showing the connecting rod side first connecting portion of the connecting rod in an enlarged manner. FIG. 6 is a schematic view showing a state in which the deterioration state of the buried pipe is inspected from the inside of the pipe using the apparatus of the present invention. FIGS. 7A to 7F are schematic views showing a process of placing the device of the present invention on the buried pipe through the start side shaft. FIG. 8 is a side view showing the device of the present invention provided with auxiliary rolling elements. FIG. 9 is a side view showing another example of the device of the present invention arranged in the buried pipe. FIG. 10 is a schematic diagram showing a state in which the deterioration state of the buried pipe is inspected from the inside of the pipe using the device of the present invention. 11 (a) to 11 (f) are schematic views showing the steps of arranging the device of the present invention on the buried pipe through the start side shaft.

  Hereinafter, embodiments of the present invention will be described. Note that the present invention is not limited to this embodiment.

<Embodiment 1>
FIG. 1 shows the device 1 of the present invention arranged in an embedded pipe 200. The device 1 of the present invention includes a first carriage 2, a second carriage 3, and a connecting rod 4.

  The first carriage 2 includes a base 21 and a plurality of wheels (corresponding to “rolling elements” in claim 1) 22 provided on the base 21. By rotating in contact with the inner wall surface of the buried pipe 200 on the tube bottom side, it is possible to travel inside the buried pipe 200. A striking device 5 is provided on the base 21 in the first cart 2.

  The striking device 5 is installed on the base 21 of the first carriage 2 via an elevating mechanism 7 that is driven by an electric or air cylinder. The striking device 5 is provided with an impulse hammer 51 that strikes the inner wall surface of the buried pipe 200 on the top side of the buried pipe 200 with a constant force.

  The elevating mechanism 7 includes parallel links 71 including an upper link 711 and a lower link 712 on both sides, and is installed on the upper link 711 by a driving force transmitted to the lower link 712. The striking device 5 is moved up and down. The lifting mechanism 7 raises the striking device 5 toward the top of the buried pipe 200 when the impulse hammer 51 strikes the inner wall of the buried pipe 200. On the other hand, when the device 1 of the present invention travels in the pipe, the lifting mechanism 7 lowers the striking device 5 to a predetermined position so that the striking device 5 does not contact the inner wall of the buried pipe 200.

  The base 21 of the first cart 2 is provided with a cart-side first connecting portion 23. As shown in the perspective view of FIG. 2A and the top view of FIG. 2B, the carriage-side first connecting portion 23 extends from the base 21 on the front side in the traveling direction of the first carriage 2. Two struts 231 provided so as to stand up and a cart-side first connecting portion main body 232 are provided.

  The cart-side first connecting portion main body 232 includes a pipe body 2321 arranged so as to bridge the two pillars 231, and a string-wound spring inserted into the pipe body 2321 (“elastic body in claims”). ) 2322 and a pair of pin bodies 2323 inserted into the pipe body 2321 with the string spring 2322 interposed therebetween. Two long holes 2324 are provided on the upper surface side of the pipe body 2321 along the length direction of the pipe body 2321, and a pair of operation knobs 2325 are inserted into the respective long holes 2324, Are respectively joined to the pin bodies 2323. That is, the cart-side first connecting portion 23 is picked so that an operator sandwiches the pair of operation knobs 2325 and moves the operation knob 2325 inward along the elongated hole 2324 provided in the pipe body 2321. Then, if the pair of pin bodies 2323 sunk from both ends of the pipe body 2321 and an operator releases the operation knob 2325 or loosens the force sandwiching the operation knob 2325, the pair of pin bodies 2323 has a mechanism that elastically protrudes from both ends of the pipe body 2321.

  As shown in FIG. 1, the second carriage 3 includes a base 31 and a plurality of wheels (corresponding to “rolling elements” in claim 1) 32 provided on the base 31. Thus, the wheel 32 can travel along the pipe line of the buried pipe 200 by rotating in contact with the inner wall surface of the pipe at the bottom of the buried pipe 200. The second carriage 3 is provided with a receiving device 6.

  The receiving device 6 receives an elastic wave generated by the impact applied to the inner wall of the buried pipe 200 by the hitting device 5, and an acceleration for receiving the elastic wave propagated through the buried pipe 200. A sensor 61 is provided. The receiving device 6 is installed on the base 31 of the second carriage 3 via an elevating mechanism 7 that is driven by an electric or air cylinder. The elevating mechanism 7 is the same as the elevating mechanism 7 provided in the first carriage 2.

  The base 31 of the second cart 3 is provided with a cart-side second connecting portion 33. As shown in FIG. 3, the carriage-side second connecting portion 33 includes two support columns 331 provided so as to rise from the base 31 on the rear side in the traveling direction of the second carriage 3, and two And a pair of fitting holes 332 provided so as to face each other on the distal end side of the column 331.

  As shown in FIG. 1, the connecting rod 4 includes a connecting rod main body 41 having a certain length, a connecting rod side second connecting portion 43 provided at one end of the connecting rod main body 41, and the connecting rod main body. A connecting rod side first connecting portion 42 provided at the other end of 41.

  The connecting rod body 41 is made of a steel square pipe. As shown in the exploded perspective views of FIGS. 4 and 5, one end and the other end penetrate from the upper surface to the lower surface of the connecting rod body 41. The through-holes 411 are provided so as to form a line along the width direction of the connecting rod main body 41 at regular intervals of three places. Hereinafter, among the through holes 411, the through holes 411 having circular openings at the center of the line are referred to as main through holes (corresponding to “through holes” in the claims) 411 M, and both sides of the lines are aligned. The through-hole 411 having an elongated opening shape provided in is referred to as a sub-through-hole 411S.

  As shown in FIG. 4, the connecting rod side second connecting portion 43 includes a pair of metal plates 431 bent in a U-shape and a pair of opposing side walls of the metal plate 431 that face each other. The fitting hole 432. The interval between the fitting holes 432 and the diameter of the fitting hole 432 are set to be the same as the interval between the fitting holes 332 and the diameter of the fitting hole 332 in the carriage-side second connecting portion 33. ing. That is, the connecting rod side second connecting portion 43 has the same structure (basic structure) as the cart side second connecting portion 33.

  The connecting rod side second connecting portion 43 is provided on the connecting rod main body 41 via a U-shaped bracket 44. The bracket 44 is provided with three mounting holes 441 on each of opposite side walls. The distance between the opposite side walls of the bracket 44 is set to be 10 mm or more longer than the thickness of the connecting rod body 41 (the distance from the upper surface to the lower surface).

  The connecting rod side second connecting portion 43 and the bracket 44 are integrated by welding the intermediate wall portions sandwiched between both opposing side walls. In providing the connecting rod side second connecting portion 43 to the connecting rod main body 41 via the bracket 44, first, the opposite side walls of the bracket 44 are on the upper surface side and lower surface side of the connecting rod main body 41. The connecting rod main body 41 is sandwiched between the three attachment holes 441 provided in the bracket 44 and the three through holes provided in one end of the connecting rod main body 41 (main through hole 411M, sub-through). The holes 411S) 411 are overlapped and positioned so as to communicate with each other.

  Next, the main shaft 45 is inserted into the connecting rod main body 41 through the main through hole 411M provided at one end of the connecting rod main body 41, and is fixed with bolts 47 from the upper surface side and the lower surface side of the bracket 44. The main shaft 45 corresponds to a “support shaft” in the claims.

  Further, the auxiliary shaft 46 is inserted into the connecting rod main body 41 through two auxiliary through holes 411 </ b> S provided at one end of the connecting rod main body 41, and is fixed with bolts 47 from the upper surface side and the lower surface side of the bracket 44.

  In this way, the connecting rod side second connecting portion 43 provided in the connecting rod main body 41 can swing around the main shaft 45 inserted so as to penetrate the connecting rod main body 41. The swing range of the connecting rod side second connecting portion 43 is restricted by the sub through hole 411S and the sub shaft 46. The swing range of the connecting rod side second connecting portion 43 is preferably ± 5 degrees to ± 15 degrees.

  Further, the connecting rod side second connecting portion 43 provided in the connecting rod main body 41 in this way has a distance between opposite side walls of the bracket 44 that is 10 mm or more longer than the thickness of the connecting rod main body 41. In addition, since the main shaft 45 can be moved up and down along the main through hole 411M, the connecting rod side second connecting portion 43 can be moved up and down with respect to the connecting rod main body 41. . The distance between the opposite side walls of the bracket 44 is preferably longer by 10 to 30 mm than the thickness of the connecting rod main body 41. In other words, it is preferable that the stroke range of the vertical movement of the connecting rod side second connecting portion 43 is in the range of 10 to 30 mm.

  As shown in FIG. 5, the connecting rod side first connecting portion 42 is arranged so as to bridge a support frame 421 made of a metal plate bent in a U-shape and opposite side walls of the support frame 421. A pipe body 423, a string-wound spring (corresponding to an “elastic body” in the claims) 424 inserted into the pipe body 423, and the string-wound spring 424 so as to be inserted into the pipe body 423. And a pair of pin bodies 425. The pipe body 423 is provided with two long holes 426 along the length direction, and an operation knob 427 is inserted through each of the long holes 426 and joined to the pair of pin bodies 425. .

  The length of the pipe body 423 and the diameter of the pin body 425 are set to be the same as the length of the pipe body 2321 and the diameter of the pin body 2323 in the cart-side first connecting portion 23. That is, the connecting rod side first connecting portion 42 has the same structure (basic structure) as the cart side first connecting portion 23.

  The connecting rod side first connecting portion 42 is provided on the connecting rod main body 41 via a U-shaped bracket 44 in the same manner as the connecting rod side second connecting portion 43. Accordingly, the first connecting portion 42 on the connecting rod side can swing around the main shaft 45 and can move up and down with respect to the connecting rod main body 41.

  In the case of directly connecting the first carriage 2 and the second carriage 3, the device 1 of the present invention having the above-described configuration has the carriage-side first connection portion 23 and the carriage-side second connection portion 33. And are connected. On the other hand, when connecting the first cart 2 and the second cart 3 with the connecting rod 4 interposed, the cart-side first connecting portion 23 and the connecting rod-side second connecting portion. 43 is connected, and the cart side second connecting portion 33 and the connecting rod side first connecting portion 42 are connected.

  The connection between the cart-side first connecting portion 23 and the cart-side second connecting portion 33 is picked by an operator so as to sandwich the pair of operation knobs 2325 provided on the cart-side first connecting portion 23. Thus, while the pair of pin bodies 2323 are submerged in the pipe body 2321, the cart side first connecting portion 23 and the cart side second connecting portion 33 are brought closer to each other and provided on the cart side second connecting portion 33. This is done by inserting the pin body 2323 into the fitted hole 332.

  The connection between the cart-side first connecting portion 23 and the connecting rod-side second connecting portion 43 and the connection between the cart-side second connecting portion 33 and the connecting rod-side first connecting portion 42 are also made on the cart side. The connection is made in the same manner as the connection between the one connecting portion 23 and the cart-side second connecting portion 33.

  Hereinafter, the buried pipe diagnosis method of the present invention in which the deterioration state of the buried pipe 200 constructed by connecting the pipe bodies 100 is inspected from the inside of the pipe by using the apparatus 1 of the present invention having the above-described configuration will be described.

  As shown in FIG. 6, the buried pipe diagnosis method of the present invention causes the apparatus 1 of the present invention to travel along a pipeline of the buried pipe 200 from a starting side shaft 201 toward an arrival side shaft (not shown). After stopping the device 1 of the present invention at a predetermined inspection position, the impact device 5 installed on the first carriage 2 and the receiving device 6 installed on the second carriage 3 are raised to a predetermined position. The impulse hammer 51 strikes the inner wall of the buried pipe 200, and the receiving device 6 installed in the second carriage 3 receives the elastic wave propagated through the buried pipe 200. Do by. That is, the buried pipe diagnosis method of the present invention estimates the deterioration state of the buried pipe 200 based on the elastic wave received by the receiving device 6. In addition, raising / lowering of the said impacting device 5 and the said receiving device 6, and provision of the impact by the said impulse hammer 51 are performed by the remote operation of the worker distribute | arranged on the ground.

  By the way, in this embodiment, since the self-propelling function is not given to the device 1 of the present invention, the travel of the device 1 of the present invention in the pipe line of the buried pipe 200 is the traveling direction of the device 1 of the present invention. This is performed by a traveling robot 8 having a self-running function connected to the front. The traveling robot 8 is driven by a motor driven by electric power, and the electric power is supplied to the traveling robot 8 through a power cable C extended from a generator car E arranged on the ground. The traveling robot 8 is provided with a camera so that an operator can remotely control the traveling and stopping of the traveling robot 8 while looking at the monitor M provided on the ground. In addition, when the self-propelling function is given to the device 1 of the present invention, the traveling robot 8 is not necessary.

  In executing the buried pipe diagnosis method of the present invention, first, as shown in FIG. 7, after the traveling robot 8 is arranged in the vicinity of the start side shaft 201 in the pipeline of the buried pipe 200, the apparatus of the present invention is used. 1 is suspended through a start side shaft 201 that leads to the buried pipe 200, and the device 1 of the present invention is arranged in the pipeline of the buried pipe 200 and is connected to the traveling robot 8. The traveling robot 8 is suspended from the start side shaft 201 to the buried pipe 200 and then disposed in the vicinity of the start side shaft 201 in the pipe line of the embedded pipe 200. In the present embodiment, the traveling robot 8 is disposed in the conduit of the buried pipe 200 before the apparatus 1 of the present invention is suspended, but the traveling robot 8 is connected to the apparatus 1 of the present invention. You may hang together with the said invention apparatus 1 in the connected state.

  As shown in FIG. 7 (a), the device 1 of the present invention is configured such that the first cart 2 and the second cart 33 are connected to the first cart 2 and the second cart 33. In this state, the cable body W is connected to the first carriage 2 and is suspended through the departure side shaft 201.

  The device 1 of the present invention suspended down to the buried pipe 200 through the start side shaft 201 is bent at a connection position between the cart side first connecting portion 23 and the cart side second connecting portion 33 (see FIG. 7 (b)). This bending is performed by an operator deployed in the departure side shaft 201.

  Here, there is a case where the buried pipe 200 is diagnosed in a state in which the pipe body 100 constituting the buried pipe 200 is short and the first carriage 2 and the second carriage 3 are directly connected to each other. Then, the worker connects the traveling robot 8 and the second carriage 3 and then inserts the second carriage 3 into the buried pipe 200 while slowly pulling down the second carriage 3. The connection position between the portion 23 and the cart side second connection portion 33 is released, and the first cart 2 is inserted into the buried pipe 200 following the second cart 3. The traveling robot 8 and the second carriage 3 are connected by means of connecting the first carriage 2 and the second carriage 3 (the carriage-side first connection portion 23 and the carriage-side second connection portion 33). It is preferable to connect by the same connecting means as the above-mentioned connecting means.

  On the other hand, when diagnosing the buried pipe 200 by connecting the first carriage 2 and the second carriage 3 with the connecting rod 4 interposed, the worker After connecting the traveling robot 8 and the second cart 3, the second cart 3 is inserted into the buried pipe 200, and then the cart-side first connecting portion 23 and the cart-side second connecting portion 33. And the first carriage 2 and the second carriage 3 are separated. Therefore, the second carriage 3 is arranged in the conduit of the buried pipe 200 in a state of being connected to the traveling robot 8, and the first carriage 2 is suspended by the rope body W. And left in the starting side shaft 201 (see FIG. 7C).

  Next, another cable body W is connected to the connecting rod 4 and suspended through the starting side shaft 201 (see FIG. 7D). The connecting rod 4 is suspended with the other end of the connecting rod side first connecting portion 42 facing downward. The worker who has received the suspended connecting rod 4 connects the connecting rod side first connecting portion 42 of the connecting rod 4 and the cart side second connecting portion 33 of the second carriage 3, The cord body W is removed from the connecting rod 4. Thereafter, the traveling robot 8 is made to travel a little toward the arrival side shaft, or an operator pushes the connecting rod 4 so that the second carriage 3 is moved to the arrival side shaft by the length of the connecting rod 4. (See FIG. 7 (e)).

  After connecting the connecting rod 4 to the second carriage 3, the first carriage 2 left in the starting side shaft 201 in the state suspended by the cable body W is connected to the connecting rod 4. Connect (see FIG. 7F). The first cart 2 and the connecting rod 4 are connected by connecting the cart-side first connecting portion 23 of the first cart 2 to the connecting rod-side second connecting portion 43 of the connecting rod 4. .

  After the connection between the first carriage 2 and the connecting rod 4 is completed, the traveling robot 8 is slightly moved toward the arrival side shaft, or the operator pushes the connecting rod 4 while The first carriage 2 that is suspended by W is slowly pulled down, and the first carriage 2 is inserted into the conduit of the buried pipe 200. Thereafter, when the cable body W is removed from the first carriage 2, the arrangement of the device 1 of the present invention in the pipe line of the buried pipe 200 is completed.

  By the way, although the arrangement | positioning operation | work of this invention apparatus 1 in the pipe line of the said buried pipe 200 which consists of such a procedure will be performed in the dark and narrow start side shaft 201, in this invention apparatus 1, For the connection and release of the first carriage 2 and the second carriage 3 and the connection and release via the connecting rod 4, the first side connecting portion 23 and the first connecting portion 42 on the connecting rod side are provided. Since the operation can be performed simply by operating the operation knobs 2325 and 427, the operation can be performed very easily even in the dark and narrow starting side shaft 201.

  After the arrangement of the device 1 of the present invention in the pipe line of the buried pipe 200 is completed, the device 1 of the present invention is caused to travel along the pipe line of the buried pipe 200 as shown in FIG.

  In the device 1 of the present invention, since the connecting rod side first connecting portion 42 and the connecting rod side second connecting portion 43 are swingable with respect to the connecting rod main body 41, the buried pipe 200. Even if the pipe has a curve, the curve can be smoothly passed.

  The apparatus 1 of the present invention is stopped at a predetermined inspection position in the pipe line of the buried pipe 200, and then the impulse hammer 51 of the hitting device 5 installed in the first carriage 2 is used for the buried pipe 200. Stroke the inner wall of the pipe. The receiving device 6 installed in the second carriage 3 receives the elastic wave propagated through the buried pipe 200.

  Here, the present inventor has examined a method of diagnosing the deterioration degree of the buried pipe 200 by such a hit, and it is more reliable if the interval between the hit point of the hitting device 5 and the receiving position of the receiving device 6 is increased. It has been confirmed that highly accurate data can be obtained. In particular, if the interval between the hitting point of the impacting device 5 and the receiving position of the receiving device 6 is 80% or more (more preferably 85 to 95%) with respect to the effective length of the tubular body 100 constituting the buried tube 200, it will be even more. It has been confirmed that accurate data can be obtained.

  In this regard, the device 1 of the present invention directly connects the first carriage 2 and the second carriage 3, or the first carriage 2 and the second carriage 3 with the connecting rod 4 interposed therebetween. By connecting in a state, the interval between the impact position by the impulse hammer 51 and the reception position by the receiving device 6 can be changed according to the length of the tubular body 100 constituting the buried pipe 200. As a result, it is possible to obtain highly reliable and accurate data, and thus it is possible to more accurately diagnose the degree of deterioration of the buried pipe 200. At this time, by changing the length of the connecting rod 4 or connecting a plurality of the connecting rods 4 according to the length of the tube 100 constituting the buried tube 200, It is preferable to set the interval between the reception positions of the receiving device 6 to 80% or more (more preferably 85 to 95%) with respect to the effective length of the tubular body 100 constituting the buried pipe 200.

  By the way, when the inter-vehicle distance between the first bogie 2 and the second bogie 3 is increased by interposing the connecting rod 4, when overcoming a gap such as unevenness existing in the conduit of the buried pipe 200, There are cases where the first carriage 2 and the second carriage 3 collide with the gap.

  In this regard, in the device 1 of the present invention, the connecting rod side first connecting portion 42 and the connecting rod side second connecting portion 43 are movable up and down with respect to the connecting rod main body 41. Even if there is a gap in the conduit of the buried pipe 200, the first carriage 2 and the second carriage 3 can quickly get over while moving up and down in accordance with the gap.

  Moreover, in this invention apparatus 1, as shown in FIG. 8, the position where the said cart side 1st connection part 23 in the said 1st cart 2 exists, and the said cart side 2nd connection part 33 in the said 2nd cart 3 are shown. It is preferable to provide the auxiliary rolling element 9 that rolls in contact with the inner wall of the buried pipe 200 at the existing position.

  If this auxiliary rolling element 9 is provided (especially if it is provided on the side of the subsequent carriage (the first carriage 2 in this embodiment)), the first carriage 2 and the second carriage 3 are It is possible to get over smoothly without colliding with a gap existing in the pipe line of the buried pipe 200. The auxiliary rolling element 9 may be provided on the connecting rod 4.

<Embodiment 2>
FIG. 9 shows the device 1 of the present invention arranged in the buried pipe 200. The device 1 of the present invention includes a first carriage 2, a second carriage 3, and a connecting rod 4.

  The first carriage 2 is the same as that used in the first embodiment, and is provided with a striking device 5 that strikes the inner wall of the buried pipe 200. The cart side first connecting portion 23 provided in the first cart 2 also has the same structure as that used in the first embodiment.

  The second carriage 3 is the same as that used in the second embodiment, and a receiving device 6 that receives an elastic wave generated by hitting the inner wall of the buried pipe 200 by the hitting device 5. Is provided. The cart side second connecting portion 33 provided in the second cart 3 also has the same structure as that used in the first embodiment.

  The connecting rod 4 is provided at a connecting rod main body 41 having a certain length, a connecting rod side second connecting portion 43 provided at one end of the connecting rod main body 41, and the other end of the connecting rod main body 41. And a first connecting portion 42 on the connecting rod side.

  The connecting rod body 41 has a slide structure in which a plurality of steel square pipes are slidable by a core-sheath structure. The connecting rod main body 41 can determine the expansion / contraction length of the connecting rod main body 41 stepwise by operating each plunger pin 48 provided in each square pipe constituting the connecting rod main body 41. It is a mechanism.

  The connecting rod side second connecting portion 43 and the connecting rod side first connecting portion 42 have the same structure as that used in the first embodiment, and have been described in the first embodiment. The connecting rod main body 41 is provided by the same means.

  Therefore, when the first cart 2 and the second cart 3 are directly connected to each other, the device 1 of the present invention having the above-described configuration has the cart-side first connecting portion 23 and the cart-side second connecting. The unit 33 is connected. On the other hand, when connecting the first cart 2 and the second cart 3 with the connecting rod 4 interposed, the cart-side first connecting portion 23 and the connecting rod-side second connecting portion. 43 is connected, and the cart side second connecting portion 33 and the connecting rod side first connecting portion 42 are connected.

  Hereinafter, the buried pipe diagnosis method of the present invention in which the deterioration state of the buried pipe 200 constructed by connecting the pipe bodies 100 is inspected from the inside of the pipe by using the apparatus 1 of the present invention having the above-described configuration will be described.

  As shown in FIG. 10, the buried pipe diagnosis method of the present invention causes the apparatus 1 of the present invention to travel along a pipeline of the buried pipe 200 from a starting side shaft 201 toward an arrival side shaft (not shown). After stopping the device 1 of the present invention at a predetermined inspection position, the impact device 5 installed on the first carriage 2 and the receiving device 6 installed on the second carriage 3 are raised to a predetermined position. The impulse hammer 51 strikes the inner wall of the buried pipe 200, and the receiving device 6 installed in the second carriage 3 receives the elastic wave propagated through the buried pipe 200. Do by.

  In executing the buried pipe diagnosis method of the present invention, first, the traveling robot 8 is arranged in the vicinity of the starting side shaft 201 in the pipe line of the buried pipe 200, and then the device 1 of the present invention is led to the buried pipe 200. The device 1 of the present invention is arranged in the pipe line of the buried pipe 200 through the starting side shaft 201 and is connected to the traveling robot 8. In the present embodiment, the traveling robot 8 is disposed in the conduit of the buried pipe 200 before the apparatus 1 of the present invention is suspended, but the traveling robot 8 is connected to the apparatus 1 of the present invention. You may hang together with the said invention apparatus 1 in the connected state.

  As shown in FIG. 11 (a), the device 1 of the present invention is configured such that the cable body W is connected in a state where the first carriage 2 and the second carriage 3 are connected, and the starting side shaft 201 is used. Hanging down.

  The device 1 of the present invention suspended from the start side shaft 201 to the buried pipe 200 is bent at a connection position between the cart side first connecting portion 23 and the cart side second connecting portion 33 (see FIG. 11 (b)).

  An operator deployed in the departure side shaft 201 connects the traveling robot 8 and the second carriage 3, and then inserts the second carriage 3 into the buried pipe 200, and the carriage-side first connection portion. 23 and the cart side second connecting portion 33 are disconnected, and the first cart 2 and the second cart 3 are separated (see FIG. 11C).

  Next, another cable body W is connected to the connecting rod 4 and suspended through the starting side shaft 201 (see FIG. 11D). At this time, the connecting rod 4 is preferably in the most contracted state. The connecting rod 4 is suspended with the other end of the connecting rod side first connecting portion 42 facing downward. The worker who has received the suspended connecting rod 4 connects the connecting rod side first connecting portion 42 of the connecting rod 4 and the cart side second connecting portion 33 of the second carriage 3. The cord W is removed from the connecting rod 4. Thereafter, the operator operates the plunger pin 48 while causing the traveling robot 8 to travel a little toward the arrival side shaft, or the operator pushes the connecting rod 4, thereby moving the connecting rod 4 to a predetermined length. The second carriage 3 is moved toward the arrival side shaft while extending (see FIG. 11 (e)).

  After connecting the connecting rod 4 to the second carriage 3 and extending the connecting rod 4 to a predetermined length, the first carriage 2 left in the start side shaft 201 is connected to the connecting rod 4. To do. The first cart 2 and the connecting rod 4 are connected by connecting the cart-side first connecting portion 23 of the first cart 2 to the connecting rod-side second connecting portion 43 of the connecting rod 4. (Refer FIG.11 (f)).

  After the connection between the first carriage 2 and the connecting rod 4 is completed, the traveling robot 8 is slightly moved toward the arrival side shaft, or the operator pushes the connecting rod 4 while The first carriage 2 that is suspended by W is slowly pulled down, and the first carriage 2 is inserted into the conduit of the buried pipe 200. Thereafter, when the cable body W is removed from the first carriage 2, the arrangement of the device 1 of the present invention in the pipe line of the buried pipe 200 is completed.

  After the placement of the device 1 of the present invention in the conduit of the buried pipe 200 is completed, the device 1 of the present invention is run along the conduit of the buried pipe 200 as shown in FIG. After stopping the device 1 of the present invention at the position, the inner wall of the buried pipe 200 is hit by the impulse hammer 51 of the hitting device 5 installed on the first cart 2, and the second cart 3 is hit. The installed receiving device 6 receives the elastic wave propagated through the buried pipe 200.

  The device 1 of the present invention configures the buried pipe 200 by connecting the first carriage 2 and the second carriage 3 with the connecting rod 4 made extendable. According to the tube length of the tubular body 100, since the interval between the impact position by the impulse hammer 51 and the reception position by the receiving device 6 can be changed, highly reliable and accurate data can be obtained. It becomes possible to more accurately diagnose the degree of deterioration of the buried pipe 200. At this time, the interval between the hit point of the impacting device 5 and the receiving position of the receiving device 6 is 80% or more (more preferably 85 to 95%) with respect to the effective length of the tubular body 100 constituting the embedded tube 200. It is preferable to determine the degree of expansion / contraction of the connecting rod 4.

  The expansion and contraction work of the connecting rod 4 can be performed by operating the plunger pin 48 provided on the connecting rod main body 41. Therefore, it can be performed very easily even in a dark and narrow shaft.

  Further, since the connecting rod 4 can be shrunk, it is very easy to introduce the connecting pipe 4 through the starting side shaft 201 to the buried pipe 200. In addition, it is preferable that the length when the connecting rod 4 is most contracted is determined according to the total length of the longer one of the first carriage 2 and the second carriage 3. Specifically, it is preferable that the length is 50 to 120% (preferably 60 to 100%) with respect to the total length of the longer one of the first carriage 2 and the second carriage 3. .

  Since the remainder of the present embodiment is the same as that of the first embodiment, description thereof is omitted.

  The present invention can be implemented in various other forms without departing from the spirit or main features thereof. Therefore, the above-mentioned embodiment is only a mere illustration in all points, and should not be interpreted limitedly. The scope of the present invention is indicated by the claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

  The present invention can be suitably used for inspecting the deterioration state of the buried pipe.

1 Device of the present invention (in-pipe inspection device)
2 First Bogie 23 Bogie Side First Connecting Portion 231 Column 232 Bogie Side First Connecting Portion Body 2321 Pipe Body 2322 String Winding Spring 2323 Pin Body 2324 Slot 2325 Operation Knob 3 Second Bogie 33 Bogie Side Second Connecting Portion 331 Column 332 Fitting hole 4 Connecting rod 41 Connecting rod body 411 Through hole 411M Main through hole 411S Sub through hole 42 Connecting rod side first connecting portion 421 Support frame 423 Pipe body 424 String winding spring 425 Pin body 426 Long hole 427 Operation knob 43 Connecting rod Side second connecting portion 431 Metal plate 432 Fitting hole 44 Bracket 45 Main shaft 46 Sub shaft 47 Bolt 48 Plunger pin 5 Impact device 51 Impulse hammer 6 Receiving device 61 Acceleration sensor 7 Elevating mechanism 8 Traveling robot 9 Auxiliary rolling element 100 Tube 200 Buried pipe 201 Starting side shaft W W

Claims (5)

An in-pipe inspection device that inspects the deterioration of buried pipes from the inside of the pipe,
A plurality of rolling elements, a first carriage and a second carriage that are capable of traveling in the pipe of the buried pipe;
A connecting rod for connecting the first carriage and the second carriage in a line along the traveling direction;
Comprising
One of the first carriage and the second carriage is provided with a striking device that strikes the inner wall of the buried pipe, and the other of the first cart or the second cart is provided with the striking device. A receiving device for receiving an elastic wave or a sound generated by the impact applied to the inner wall of the buried pipe;
One of the first carriage and the second carriage is provided with a carriage-side first connecting portion that protrudes in a state of being urged by an elastic body and has a pin body that can be elastically projected and retracted. And
The other of the first cart or the second cart has a fitting hole, and the cart-side first connecting portion is inserted into the fitting hole by the pin body of the cart-side first connecting portion. A carriage-side second connecting portion that can be connected to
The connecting rod, the connecting rod main body, a connecting rod-side second coupling part of the same structure as the carriage side second connecting portion provided at one end of the connecting rod main body, provided at the other end of the connecting rod main body a connecting rod-side first connecting portion of the same structure as the carriage side first connecting portions consist,
When directly connecting the first cart and the second cart, the cart side first coupling portion and the cart side second coupling portion are connected,
When connecting the first cart and the second cart with the connecting rod interposed, the cart-side first connecting portion and the connecting rod-side second connecting portion are connected. The cart side second coupling part and the coupling rod side first coupling part are connected ,
At least one of the connecting rod side first connecting portion or the connecting rod side second connecting portion is provided on the connecting rod body via a U-shaped bracket,
In the state where the opposite side walls of the U-shaped bracket sandwich the connecting rod body from the upper surface side and the lower surface side of the connecting rod body, the support shaft inserted into the through hole penetrating the connecting rod body is provided. By being pivotally attached to the connecting rod body via
The connecting first connecting portion rod side, or at least one of the coupling rod-side second connecting portion, the tube testing device characterized that you have made swingable around the support shaft. The in-pipe inspection apparatus according to claim 1 ,
The distance between opposite side walls of the U-shaped bracket is 10 mm or more longer than the distance from the upper surface to the lower surface of the connecting rod body, and the support shaft inserted into the through hole is formed in the through hole. By being able to move up and down along,
An in-pipe inspection apparatus in which at least one of the connecting rod side first connecting portion or the connecting rod side second connecting portion is vertically movable with respect to the connecting rod main body. In the in-pipe inspection apparatus according to claim 1 or 2 ,
An in-pipe inspection apparatus in which the connecting rod is extendable along the length direction by a slide structure. The in-pipe inspection device according to any one of claims 1 to 3 ,
An in-pipe inspection apparatus in which an auxiliary rolling element that rolls in contact with an inner wall of an embedded pipe is provided in at least one of the cart-side first connecting portion or the cart-side second connecting portion. An embedded pipe diagnosis method, wherein the deterioration state of an embedded pipe is inspected from the inside of the pipe using the in-pipe inspection apparatus according to any one of claims 1 to 4 .

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