JPH0215909A - Operation equipment for inside of circular pipe and working method with the operation equipment - Google Patents

Abstract

PURPOSE:To enable both meeting with the bore which is to be cut and the cutting of a hole at an only necessary part by making up an operation equipment from a fixing base inserted into a circular pipe, a fro-and-rear shaft, an oscillator frame, a rotation drive motor and an operation tool able to go forth and rear in the direction of the diameter of a pipe. CONSTITUTION:An operation equipment consists of a fixing base 2, a fro-and-rear shaft 16, that is, the center shaft of a pipe P, which is able to go forth and rear axially and inhibited from revolution and driven by a fro-and-rear drive motor 24, an oscillator frame 37 which is moved forth and rear together with said shaft 16, a rotation drive motor 48 turning the oscillator frame 37 about the fro-and-rear shaft 16 and an operation tool 58 which can go forward and rear in the radial direction of a pipe. After this operation equipment is inserted into a pipe P to the specified position, the part of the fixing base 2 is fixed and the operation tool 58 is aligned with the initial position. While the rotation speeds of the fro-and-rear drive motor 24 and the rotation drive motor 48 are regulated, the operation tool 58 is moved as to the orbit drawn by the tool 58 takes the closed and agreement figure. At this time both the forward and rear movement of the operation tool 58 in the radial direction of the pipe and the center of rotation agree with the axis of the pipe so that after the end of said equipment is adjusted once, there is no need for further adjustment of the forward and rear action and the drawing is created automatically.

Description

Detailed Description of the Invention A0 Purpose of the Invention (!) Industrial Application Field This invention relates to an in-pipe working device that is inserted into the inside of a circular pipe and performs various operations such as drilling and marking on the side surface of the original pipe; Regarding the working method using the working device, Samurai relates to a hole drilling machine that drills a hole from the inside of a pipe, and a hole drilling method using the drilling machine.

(2) Prior Art A device for working from inside a pipe, a drilling device for drilling a hole in a pipe wall, is known, for example, in Japanese Utility Model Application Publication No. 55-26667.

However, in the above-mentioned conventional technology, the drilling drill moves only forward and backward in the pipe diameter direction, and only small holes are drilled, making it unsuitable for drilling large diameter holes. - On the other hand, when using a large-diameter drilling drill, there is an uneconomical need to cut more than necessary to complete the hole due to the curvature of the pipe. It is necessary to replace the drilling drill each time, resulting in poor work efficiency.

(3) Problems to be Solved by the Invention In view of the above-mentioned circumstances, the present invention provides a device for drilling holes from the inside of a pipe, which can freely correspond to the diameter to be drilled and can drill only the necessary portions. The present invention, which aims to provide a device, is also not limited to a drilling device, but one of its objects is to apply it to the similar work inside a pipe.

B0 Structure of the Invention (1) Means for Solving the Problems In order to achieve the above object, the circular pipe working device of the present invention:
A fixed base inserted into a circular pipe to be worked on and fixedly installed in the pipe, and a fixed base that is held by the fixed base and is movable in the axial direction around the central axis of the pipe and prevented from rotating. a reciprocating shaft driven by a drive motor; a rocker frame that is fixed to the front end of the retractable shaft and rotates around the retractable shaft and moves forward and backward integrally with the retractable shaft; It adopts a configuration consisting of a rotational drive motor that takes a reaction force to an advancing/retracting shaft and rotates it around the advancing/retracting shaft, and a working tool mounted on a rocker frame and capable of advancing and retreating in the radial direction of the pipe. be.

In the above configuration, the working tool may take the form of a cutting tool, a marking tool, or the like.

The present invention further provides a method for moving a working tool in the working device. That is, in the above-mentioned apparatus for working in a circular pipe, the advancing/retracting drive motor and the rotating drive motor are operated in synchronization, and the working tool is moved along a trajectory of a figure that closes against the pipe wall of the circular pipe. shall be.

(2) Operation To operate this circular pipe working device, the working device is inserted into a predetermined position in the pipe, the fixing base part is fixed, and the working tool is adjusted to the initial position. While adjusting the rotational speed of the motor and rotational drive motor, the work tool is moved so that the locus drawn by it becomes a closed figure.

At this time, the movement of the work tool in the direction of the tube axis and the center of rotation coincide with the tube axis, and once the tip of the tool is set, the movement of the tool in the direction of the tube diameter does not require adjustment, and the diagram is automatically drawn. It will be done.

(3) Embodiment An embodiment of the circular pipe working device and its working method according to the present invention will be described based on the drawings.

Figures 1 to 9 show an example of a drilling machine for drilling holes from the inside of a pipe. In other words, Figure 1 shows its overall structure, and Figures 2 to 8 show details of each part. Show the structure.

In the figure, P is the pipe to be drilled, regardless of its material, such as steel pipe, cast iron pipe, concrete pipe, or synthetic resin pipe. Note that the drilling means described later depends on the material of this pipe P. The ashes will be buried as appropriate. Q is a hole drilled in the side surface of this pipe P.

Thus, the hole drilling machine S of this embodiment is installed inside this pipe P, and is used to drill a hole Q@ from the inner surface of the pipe P.

This drilling machine S generally consists of a fixed part l and a movable part 2 that is linked to the fixed part 1, and the movable part 2 includes a drilling device 3.
The configuration is such that it is equipped with

The detailed structure of each part will be explained below.

Once the imperial fixing part 1 is installed at its base, it is provided with a base part 12 consisting of a flat bottom plate 1O and a base 11 that is removably attached to the bottom plate 1O. The bottom plate 10 has various members installed on its top surface, and two dovetails 10a on its bottom surface.
is formed protrudingly.

The upper surface of the base 11 has a dovetail groove 11. which receives the dovetail lOa of the bottom plate 10. a is formed, and the bottom surface 11b is formed in an arc shape that matches the inner circumference of the pipe P. The bottom plate 1
0, struts 13 (front struts 13A, rear struts 13B) are erected front and rear at predetermined intervals in the tube axis direction, and bearing members 14 (front bearing members 14A1) are mounted on the struts 13, respectively.
A rear bearing member 14B) is arranged.

The bearing member 14 has a cylindrical shape with a rectangular screw 14a carved on its inner surface, and one or more (two in this embodiment) keyways 14b are recessed in the axial direction across the screw i4a. , a key 15 is fixedly held in the keyway 14b. Note that the bearing member 14 is divided into upper and lower halves to facilitate assembly.

A retractable shirt 16 is inserted into and supported by these bearing members 14 so as to be freely movable in the ring direction.

The reciprocating shaft 16 consists of a spindle part 17 at the front and a threaded frame part 18 at the rear. The spindle part 17 is relatively short and the threaded frame part 18 is long. A vertical groove 18a is formed in the longitudinal direction to be screwed into the screw 14a and to slidably receive the key 15 disposed in the keyway 14b.

A thrust gear 22 is disposed between the front and rear bearing members 14 and is screwed into the threaded frame portion 18 of the reciprocating shaft 16 via a thrust bearing 20. More specifically, the thrust gear 22
has an annular shape, the outer periphery is formed with external teeth 22a, the inner periphery is formed with an internal thread 22b, and the internal thread 22b is screwed into the screw frame portion 18 of the reciprocating shaft 16. The thrust bearing 20 is concentrically fixed to the thrust gear 22, and both ends thereof are rotatably supported by the bearing member 14.

As a result, when the thrust gear 22 rotates in the forward or reverse direction, the threaded frame portion 18 of the forward/backward shaft 16 rotates around the thrust gear 22.
It rotates back and forth according to the pitch of the internal thread 22b.

The base 10 is equipped with a drive mechanism for the thrust gear 22.

The drive mechanism includes an electric motor 2 as a drive motor for advancing and retreating.
4, a reduction gear device 25 attached to the electric motor 24,
A thrust gear 22 is fixed to the output shaft 25a of the reduction gear 25.
The small gear 26 meshes with the small gear 26.

More specifically, the electric motor 24 is fixedly mounted on the bottom plate 10 via a body 27 and is driven via an electric wiring 28 led out to the outside, and this rotation is caused by the reduction gear 2
5, the rotation speed is reduced to a constant ratio. This drive mechanism is provided near the center of the bottom plate 10, but if an eccentric load cannot be avoided, a counterweight 29 is provided at the opposite position.

30 is a fixing device arranged front and back on the bottom plate 10,
It consists of an air cylinder 31, a piston rod 32, and a pressure bonding plate 33, and is mounted on a support frame 34 fixed on the bottom plate IO.

That is, an air conduit led out to the outside is connected to the air cylinder 31, and the piston rod 32 is moved up and down by the air pressure sent through the air conduit, and the crimp plate 33 at the tip thereof is pressed against the inner surface of the pipe P. The base portion 12 is fixed.

A large gear 35 that interlocks with a drive gear of the movable section 2, which will be described later, is integrally fixed to the spindle section 17 of the reciprocating shaft 16.

And mJLL The movable part 2 is provided with a rocker frame 37 and is arranged in conjunction with the forward and backward movement shaft 16 of the fixed leg part 1.

That is, the rocker frame 37 is formed into a long shape roughly in the tube axis direction from the floor plate portion 37a and the front and rear vertical wall portions 37b, 37c, and the front portion of the spindle portion 17 of the forward/retractable shaft 16 extends from this rear vertical wall portion. A rotary bearing 39 is inserted into the hole 38 drilled in 37c.
It is inserted through the bolt 40 for temporary installation and bolt 41 for tightening.
It is fixed in place to prevent it from being pulled out. Thereby, the rocker frame 37 is rotatably attached to the advance/retreat shaft 16.

Further, a wheel portion 4 is provided on the front vertical wall portion 37b of the rocker frame 37.
2 is attached to allow the rocking frame 37 to swing (see FIGS. 6 and 7).More specifically, the wheel portion 42 consists of a vertical wall portion 43a and an arcuate extending portion 43b. The attachment is to the frame 43, and the attachment is to the overhanging portion 43 of the frame 43.
The ribs 44 projecting radially on the lower surface of b, and the ribs 4
4 and a wheel 45 attached to the wheel via an axle,
In this mounting, the vertical wall portion 43a of the frame 43 and the front vertical wall portion 37b of the rocker frame 37 are rotatable via a pin 46. Since the wheels 45 are arranged in two parts, the wheel portions 42 are stable and stably support the rocking frame 37.

A swing drive mechanism is disposed in the swing frame 37.

The swing drive mechanism includes an electric motor 48 as a rotation drive motor, and a speed reduction device 49 attached to the electric motor 47.
and a small gear 50 that meshes with a large gear 35 that is fixed to the output shaft 49a of the speed reduction device 49 and attached to the advancement/retraction shaft 16.

More specifically, the electric motor 48 is fixed to the rocker frame 37 and driven via an air line led out to the outside, and its rotation is reduced to a constant ratio of rotation via a speed reduction device 49.

- Small gear 50 at the tip of the output shaft 49a and the forward/backward shaft 16
In meshing with the large gear 35, the forward/backward shaft 16 is prevented from rotating, so the small gear 50 rotates around the large gear 35, performing a so-called planetary motion.

Further, a lifting device 52 is provided on the bottom plate portion 37a of the rocker frame 37.
will be arranged. The lifting device 52 includes air cylinders 53 arranged at a predetermined interval in the front and rear, and these air cylinders 5.
The frame consists of a frame 55 that is passed between three piston wands 54.

An air conduit led out to the outside is connected to the air cylinder 53, and the piston rod 54 is extended by the air pressure introduced through the air conduit, and the pedestal 55 is lifted. Note that the moving direction of the piston rod 54 is not eccentric from the center of the tube and coincides with the diametrical direction including the center of the tube.

A drilling device 3 and a television camera 4 for monitoring are mounted on the pedestal 55.
will be installed.

The drilling device 3 consists of an air motor 57 and a cutting tool 58 that is attached to and detached from the drive shaft of the air motor 57. The air motor 57 is connected to an air conduit leading to the outside, and is driven by the air pressure.

The television camera 4 has a monitor television connected to the tip of the electric wiring led out to the outside, and monitors the movement of the tip of the cutting tool 58 via this television.

A fixed television camera 4 is sufficient.

□ e Of the above-mentioned components, the electric motor 24.4B and the television camera 4 constitute an electric circuit.

FIGS. 8(a) and 8(b) show an example of this electric circuit.

(a) In the figure, each electric motor 24, 4B is a DC motor, and a variable resistor 62.63 is connected to a power source 60.61.
and a knob 66.6? electrically connected via an amplifier 64.65 and interlocked with a variable resistor 62.63. The rotation speed of electric motor 24.4B is controlled by.

Figure (c) shows the automatic control of the above electric circuit.

In the figure, based on the radius value of the perforation Q input to the function generator 70, a predetermined signal is sent to the electric motor 24.4B via comparators 71, 72 and amplifiers 73, 74, and at a predetermined rotation speed. Rotate these motors. A position detector 7 attached in conjunction with these motors 24, 47
5.76 detects the current position every moment and comparator 71.7
A predetermined circular locus is drawn based on the comparison and correction in step 2.

The air motor 57 and the air cylinders 31, 53 are so-called pneumatic actuators, and each of these air actuators is provided with a long air conduit (or hose).
is connected to the terminal, and an air compressor is connected to its terminal via a control device consisting of various control valves.

FIG. 9 shows an example of the pneumatic circuit.

In the figure, each pneumatic actuator 31, 53, 57
are connected to switching pulps 80, 81 and 82 respectively,
Each pneumatic actuator is operated independently by the switching operation. Although the switching pulp uses an electromagnetic operated valve in the figure, it is of course possible to use a manually operated valve.

By using a solenoid operated valve, the operation can be automated via the control unit.

Next, the operation of the hole drilling machine S and the hole drilling method of this embodiment will be explained.

In this embodiment, the installation of the lining pipe in the sewer pipe and the connection from the ground to the sewer pipe will be explained with reference to a drilling operation in which a hole is cut for communication with the pipe.

Fig. 10 is a cross-sectional view showing the perforated part. Mortar M is filled in the gap between P and P.

In this drilling operation, the lining pipe P and the mounting pipe T are communicated with each other by cutting.

The construction procedure will be explained below.

(1) Insert the main hole drilling machine S into the pipe P from the end of the lining pipe P through a manhole (not shown) through its front part, that is, the wheel part 42. At this time, the distance between the grounding point of the wheel 45 and the pin 46 is adjusted to match the radius of the pipe P.

(2) Insert the movable part 2 into the pipe P, and then insert the fixed part l. At this time, the bottom surface 11b of the base portion 12 is in contact with the inner surface of the tube, and the advancing/retracting shaft 16 coincides with the central axis of the tube P. Note that this hole drilling machine S is too long to be carried in through a manhole, so the fixed part 1 and the movable part 2 are carried in separately, and the bolt 41 at the tip of the advancing/retracting shaft 16 is tightened. Integrate the two.

(3) After advancing the main hole drilling machine S to a predetermined position inside the pipe P, actuate the fixing device 30 of the fixing part l and press the crimp plate 33 against the inner surface of the pipe P. to be fixed.

The position of the cutting tool 58 of the drilling device 3 is adjusted so that it matches the starting point (usually the rearmost end) of the hole Q to be drilled. The position adjustment is normally performed by slightly operating the electric motors 24, 4B for advancing and retracting and for rotating.

(4) In this way, the air motor 57 of the drilling device 3
At the same time, the air cylinder 53 of the lifting device 52 is activated.
is operated, and a small hole is drilled using the cutting tool 58 to penetrate the lining pipe P and the mortar layer M and reach the mounting pipe T. In this state, the extension of the air cylinder 53 is stopped.

(5) After signing, electric motor for advancing/retracting and rotating 24°4
8, the rocker frame 37 is displaced in the advance/retreat direction (X direction) and the circumferential direction (Y direction) by adjusting the rotational speed of both motors 24, 4B, and the cutting tool 58 is moved in the combined direction. The trajectory is moved along the inside of the tube T.

The cutting tool 58 can be moved by manual operation or by automatic control, but the key is to move the cutting tool 58 by the electric motor 2.
The point remains that it is due to the synchronized operation of 4 and 4B.

In the case of manual operation, the rotation of the electric motors 24, 4B is adjusted by rotating the knobs 66, 67 of the variable resistors 62, 63 (see FIG. 8(a)).

In this case, the monitor camera 4
, monitor this on the ground monitor TV, and turn knob 6.
6.Turn 67 to move the cutting tool 5 days.

In the case of automatic control, a predetermined radius value is input to the function generator 7o, and the start button is pressed to start the electric motor 24.4B. The 5th day of the cutting tool draws a predetermined circumferential trajectory (but
Disturbances are corrected according to the detected values of the position detectors 75 and 76 (see FIG. 8(b)).

In addition, when using the automatic control, the initial position can be set at the center of the hole Q to be drilled.

In addition, it is easy to use not only a circular trajectory but also an elliptical trajectory, and initial positioning and cutting movement are much easier than manual operations.

Through the above steps, the lining pipe P and the mortar M are simultaneously perforated Q.

According to the drilling device S of this embodiment, since the screw feeding mechanism is used, the forward and backward shaft can be moved accurately. Therefore, accurate locus movement of the cutting tool can be performed. In addition, since the actuator is mainly driven by pneumatic pressure, it is easy to operate and does not cause environmental pollution, so it can be carried out in a pollution-free manner.

In the above embodiments, a drilling device has been described, but if the cutting tool is replaced with a marking tool, it becomes a marking device.

The present invention is not limited to the above-mentioned embodiments, and various modifications can be made within the scope of the basic technical idea of the present invention. That is, the following aspects are included within the technical scope of the present invention.

■A rack and pinion mechanism can be used instead of the screw feed mechanism for the forward and backward movement mechanism of the forward and backward shaft.

That is, a rack is formed on the forward/backward shaft, and a pinion that engages with the rack is rotated in forward and reverse directions by a forward/backward drive motor to move the forward/backward shaft forward or backward.

■Air actuator 31.53. - Hydraulically or electrically driving the 57 is a design matter to be done as appropriate.

C1 Effects of the Invention The circular pipe working device of the present invention has the above-described structure and functions, and therefore has the following unique effects.

■The work trajectory of the work tool can be freely changed to the desired size, eliminating the need to replace tools and improving work efficiency.

■Since the working tool is held at a substantially fixed distance from the center of the pipe, it will not cause damage to anything other than the target pipe wall.
Able to perform accurate work.

[Brief explanation of the drawing]

The drawings show an embodiment of the apparatus for working inside a circular pipe and its working method according to the present invention, and FIG. 1 is an overall schematic side view of a drilling machine that drills a hole from inside a pipe according to the embodiment, and FIG. 2 shows its main features. Figure 3 is an enlarged cross-sectional view of the section, and Figure 3 is a cross-sectional view taken along line A-A in Figure 2.
171B-B in Figure 2, a sectional view taken along the line B'-B'; Figure 5 is a sectional view taken along the line CC in Figure 2; Figure 6 is an enlarged view of the front portion of Figure 1; Figure 7. is a view in the direction of arrow D in Fig. 6, Fig. 8 (a)
(b) is an electric circuit diagram that drives the main drilling machine, Fig. 9 is a pneumatic circuit diagram that drives the main drilling machine, and Fig. 10 (a) (b)
1 is a schematic cross-sectional view of a perforated portion of a lined sewer pipe; FIG. P...Circular pipe (lining pipe), S...Drilling machine, 1
2...Fixed base, 16...Advancing/retracting shaft, 24...
Advance/retreat drive motor, 37... Rocker frame, 48... Rotation drive motor, 58... Work tool Figure 3 Patent applicant Adachi Kensetsu Kogyo Co., Ltd. Representative Patent attorney Ike 1) Hitoshi No. 6 Figure 7 Figure 7 L-1 Figure 10 (a) (b)

Claims (1)

[Scope of Claims] 1) A fixed base inserted into a circular pipe to be worked on and fixedly installed within the pipe; and a fixed base that is held by the fixed base and capable of moving back and forth in the axial direction around the central axis of the pipe. A forward/backward shaft whose rotation is prevented and is driven by a forward/backward drive motor; and a rocker frame which is fixed to the front end of the forward/backward shaft, rotates around the forward/backward shaft, and advances and retreats integrally with the forward/backward shaft. a rotational drive motor that rotates the rocker frame around the advance/retreat shaft by taking a reaction force to the advance/retreat shaft; and a power tool mounted on the rocker frame and capable of advancing and retracting in the radial direction of the pipe. A circular pipe working device comprising: 2) In the apparatus for working in a circular pipe according to claim 1, the advancing and retracting drive motor and the rotation drive motor are operated in synchronization, and the working tool is moved to a trajectory of a figure that closes against the pipe wall of the circular pipe. How to move a working tool inside a circular pipe. 3) A fixed stand inserted into the circular pipe to be worked on and fixedly installed within the pipe; and a fixed stand held by the fixed stand, movable back and forth in the axial direction around the central axis of the pipe, and prevented from rotating. , an advancing/retracting shaft driven by an advancing/retracting drive motor; a rocker frame that is fixed to the front end of the advancing/retracting shaft, rotates around the advancing/retracting shaft, and advances and retreats integrally with the advancing/retracting shaft; and the rocker frame. A rotational drive motor that takes a reaction force to the advance/retreat shaft and rotates it around the advance/retreat shaft, and a rotary cutting tool mounted on a rocker frame and capable of advancing and retracting in the radial direction of the pipe. Features: A drilling machine that drills holes from the inside of pipes.