JPH02190208A - Core drill and sampling robot with the same drill - Google Patents
Core drill and sampling robot with the same drillInfo
- Publication number
- JPH02190208A JPH02190208A JP25150088A JP25150088A JPH02190208A JP H02190208 A JPH02190208 A JP H02190208A JP 25150088 A JP25150088 A JP 25150088A JP 25150088 A JP25150088 A JP 25150088A JP H02190208 A JPH02190208 A JP H02190208A
- Authority
- JP
- Japan
- Prior art keywords
- core
- drill
- core drill
- cart
- concrete
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005070 sampling Methods 0.000 title abstract 2
- 238000000034 method Methods 0.000 abstract description 7
- 238000005553 drilling Methods 0.000 description 7
- 238000005260 corrosion Methods 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 4
- 238000007796 conventional method Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/02—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by sawing
- B28D1/04—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by sawing with circular or cylindrical saw-blades or saw-discs
- B28D1/041—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by sawing with circular or cylindrical saw-blades or saw-discs with cylinder saws, e.g. trepanning; saw cylinders, e.g. having their cutting rim equipped with abrasive particles
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、コンクリート構造物からコンクリート等のテ
ストピースを採取するのに使用されるコアドリル及び該
ドリルを装着したテストピースを採取するための採取ロ
ボットに関する。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a core drill used for collecting test pieces of concrete or the like from concrete structures, and a collecting robot equipped with the drill for collecting test pieces. .
従来技術
］ンクリート構造物からコンクリート等のテストピース
を採取するのに従来は、第５図に示すようなコアドリル
１を使用してコンクリート２に環状の孔３を穿ち、つい
で該孔３にたがね４等を打込み（第６図）、コア５を折
って取出す（第７図）方法が一般に行われる。[Prior art] Conventionally, in order to take a test piece of concrete or the like from a concrete structure, a core drill 1 as shown in FIG. Generally, a method is used in which the screws 4 and the like are driven in (FIG. 6) and the core 5 is broken and taken out (FIG. 7).
一方下水道管として従来より使用されているヒユーム管
、トウ管などは、古くから埋設され、使用期間の長いも
のほど、汚水等により汚染され、腐食が相当に進んでい
る実状にある。こうした管に対する腐食具合の点検は、
地面を掘り下げて下水道管を露出したのち所要部分を切
断し、切り口を調べる方法以外に管内にテレビカメラを
挿入して地上よりモニターテレビにて観察する方法も行
われているが、前者の下水道管を切断して切り口を調べ
る方法は、地面の掘削、下水道管の切断、点検、補修、
埋め戻し等手間がか＼す、その間下水道管も使用停止せ
ねばならない、後者のテレビカメラを挿入して観察する
方法による場合には点検が比較的簡単に行える利点があ
るが、反面管内面を表面上しか観察することができず、
管内部の腐食の進行程度や強度を知ることができない。On the other hand, hium pipes, tow pipes, etc., which have been conventionally used as sewer pipes, have been buried for a long time, and the longer they are used, the more they become contaminated with sewage, etc., and the corrosion progresses considerably. Inspecting the degree of corrosion on these pipes,
In addition to the method of digging into the ground to expose the sewer pipe, cutting off the required part, and examining the cut, there is also a method of inserting a television camera into the pipe and observing it from the ground on a monitor TV. The method of cutting and examining the cut is by excavating the ground, cutting the sewer pipe, inspecting, repairing,
Backfilling takes time and the sewer pipe also has to be shut down during that time.The latter method, which involves inserting a television camera for observation, has the advantage of being relatively easy to inspect; can only be observed on the surface,
It is not possible to know the extent and strength of corrosion inside the pipe.
発明が解決しようとする課題
第５〜７図に示されるようなコアを採取する従来の方法
では、上述するように穿孔とコアの折り取りが別個の工
程で個別の工具を使用して行われていた。Problems to be Solved by the Invention In the conventional method for extracting cores as shown in FIGS. 5 to 7, drilling and breaking off the core are performed in separate steps using separate tools, as described above. was.
本発明は、穿孔とコアの折り取りとを一工程で行うこと
ができるコアドリルを提供することを目的とする。An object of the present invention is to provide a core drill that can perform drilling and core break-off in one step.
課題の解決手段
本発明によればそのため第１図に示すように、内部根元
にテーバ状の突起７を設けたコアドリル８が提供される
。According to the present invention, a core drill 8 is provided, as shown in FIG. 1, which has a tapered protrusion 7 at its inner base.
作用
コアドリル８をコンクリート構造物６に押付けて回転駆
動させると、コンクリート構造物６に環状の孔９が次第
に深く穿設されていく、そして−定深さに達し、突起７
が環状孔９により形成されるコア１０の先端に当たるよ
うになると、コア先端がその周りを回転する突起７に押
され振動し始める。この振動は突起７の根元に向かうに
つれ激しくなり、ついにはコア根元にひゾ割れを生じ（
第２図）、やがて破断する。破断後コアドリル８を停止
し、引抜くと、それに追随してコア１０も引出されるよ
うになる。とくにコアドリルをコンクリート構造物の天
井に当てがってテストピースを採取する場合には、根元
より破断されたコアはその自重によりコアドリル内に納
まり、コアドリルとともに確実に引出される。When the core drill 8 is pressed against the concrete structure 6 and driven to rotate, the annular hole 9 is gradually drilled deeper into the concrete structure 6, and when a certain depth is reached, the protrusion 7
When it comes into contact with the tip of the core 10 formed by the annular hole 9, the tip of the core is pushed by the protrusion 7 rotating around it and begins to vibrate. This vibration becomes more intense as it moves toward the base of the protrusion 7, and eventually cracks occur at the base of the core (
(Fig. 2), it will eventually break. After the core drill 8 is stopped and pulled out after the breakage, the core 10 is also pulled out. Particularly, when applying a core drill to the ceiling of a concrete structure to take a test piece, the core that is broken from the base will fit into the core drill due to its own weight and be reliably pulled out together with the core drill.
発明が解決しようとする課題
上述するようなコアドリルの操作は人手によっても行う
ことができるが、テストピースの採取がコアドリルの操
作のみで行うことができるためロボットに取付けて遠隔
操作をすることもできる。Problems to be Solved by the Invention Although the core drill described above can be operated manually, since the test piece can be collected only by operating the core drill, it can also be attached to a robot and controlled remotely. .
この場合、周りに障害物があって人が入り込める程のス
ペースに余裕のない場所や危険な場所或いは下水道管内
に入り込んでテストピースを採取することができ、これ
により腐食状態についても確実な点検が可能となる。In this case, it is possible to collect a test piece by entering a dangerous place, a dangerous place, or a sewer pipe where there are obstacles and there is not enough space for a person to enter, and this allows for reliable inspection of corrosion conditions. It becomes possible.
従って本発明の別の目的は、上述のコアドリルを取付け
たテストピース採取用のロボットを提供することにある
。Therefore, another object of the present invention is to provide a test piece collecting robot equipped with the above-mentioned core drill.
課題の解決手段
本発明によればそのため遠隔操作によって移動する台車
と、台車に取付けられるテレビカメラと、台車に昇降或
いは進退可能に支持され、かつドリル駆動用モータを備
えた台と、該台に着脱可能に取着されてドリル駆動用の
モータによって回転駆動され、内部根元にテーパ状の突
起を設けたコアドリルと、上記台を昇降或いは進退させ
るモータとよりなる採取ロボットが提供される。Means for Solving the Problems According to the present invention, there is provided a trolley that is moved by remote control, a television camera attached to the trolley, a stand that is supported by the cart so that it can move up and down or forward and backward, and is equipped with a drill drive motor, and the stand is equipped with a drill drive motor. A collection robot is provided which includes a core drill that is detachably attached and rotationally driven by a drill drive motor and has a tapered protrusion at its internal base, and a motor that moves the table up and down or back and forth.
ここで台車はそれ自体にモータを取付けて自走できるよ
うにしてもよいし、ロープやワイヤ等によって牽引する
か吊り下げられるようにしてもよい。Here, the trolley may be equipped with a motor so that it can run by itself, or it may be towed or suspended by a rope, wire, or the like.
作用
台車を遠隔操作して移動させることにより被点検体の表
面状況がテレビカメラによってモニターされる。そして
所望の箇所で台車を停止したのち、モータを駆動して台
を昇降或いは進退させ、コアドリルを被点検体に押付け
る。これと同時に或いはこれに先立ってドリル駆動用モ
ータを駆動し、コアドリルを回転させる。これにより被
点検体の表面に環状孔が形成される。コアドリルが一定
量進むと、突起がコア先端に当たってコアが折り取られ
、ついでコアドリルが後退する。これに伴いコアも引出
される。そしてこれに前後してドリル駆動モータが停止
され、その後台車が移動操作される。By remotely controlling and moving the working cart, the surface condition of the object to be inspected is monitored by a television camera. After stopping the cart at a desired location, the motor is driven to move the platform up and down or back and forth, and press the core drill against the object to be inspected. At the same time or prior to this, the drill drive motor is driven to rotate the core drill. As a result, an annular hole is formed on the surface of the object to be inspected. When the core drill advances a certain distance, the protrusion hits the tip of the core and breaks off the core, and then the core drill retreats. Along with this, the core is also pulled out. Around this time, the drill drive motor is stopped, and then the cart is moved.
なお、コアドリルによる穿孔時には、台車が動かないよ
うに固定しておくのが望ましい、そのためには例えば、
１乃至複数の突支用の支脚を進退可能に設けて壁面に押
付けられるようにしたり、台車をレールに走行可能に支
持させるとともにレールをクランプするクランプ機構を
設けるなど固定手段を設けておくとよい。When drilling with a core drill, it is desirable to fix the cart so that it does not move.
It is advisable to provide fixing means, such as by providing one or more support legs for the protruding support so that they can move back and forth so that they can be pressed against a wall surface, or by providing a clamp mechanism that clamps the rails while supporting the trolley so that it can run on the rails. .
実施例
第３．４図はヒユーム管やトウ管などコンクリート管の
内部を走行する採取ロボットについて示すもので、走行
用モータ１１を備え、左右に並設される車輪１２が傘状
で、コンクリート管１３内壁面を転動する自走台車１４
と、台車上に俯仰可能に支持されるテレビカメラ１５と
、台車１４に並設のエアシリンダ１６によって進退し、
コンクリート管内壁に押付けられる突支用の突子１７と
、台車１４に並設される一対のガイドロッド１８に昇降
可能に支持され、ドリル駆動用のモータ１９を備えた台
２０と、台車１４に取付けられ、台２０を昇降させるモ
ータ２１と、台２０に取付けられ、上記モータ１９によ
って回転駆動されるコアドリル２２とから構成されてお
り、各モータＩＬ １９及び２１、エアシリンダ１６、
テレビカメラ１５の俯仰はそれぞれリモートコントロー
ルされるようになっている。Embodiment Fig. 3.4 shows a collection robot that runs inside a concrete pipe such as a hump pipe or a tow pipe. 13 Self-propelled trolley 14 rolling on the inner wall surface
A television camera 15 is supported on a trolley so that it can be lifted up and down, and an air cylinder 16 installed in parallel with the trolley 14 moves it forward and backward.
A stand 20 is supported by a protrusion 17 pressed against the inner wall of the concrete pipe and a pair of guide rods 18 installed in parallel to the cart 14 so as to be able to rise and fall, and is equipped with a motor 19 for driving a drill. It consists of a motor 21 attached to the table 20 to raise and lower the table 20, and a core drill 22 attached to the table 20 and rotationally driven by the motor 19, each motor IL 19 and 21, an air cylinder 16,
The elevation and elevation of the television camera 15 are each controlled remotely.
発明の効果
本発明は以上のように構成され次のような効果を奏する
。Effects of the Invention The present invention is configured as described above and has the following effects.
請求項１のコアドリルにおいては、内部根元にテーパ状
の突部を設けたことにより一定深さまで穿設するとコア
が自動的に折り取られ、従来のようにコアドリルによる
穿孔後たがね等を打込んで折り取るのと比べ、コアの折
り取りまでを一工程で、しかもコアドリルだけで行うこ
とができる。In the core drill of claim 1, since the tapered protrusion is provided at the inner base, the core is automatically broken off after drilling to a certain depth, and it is not necessary to use a chisel or the like after drilling with the core drill as in the conventional case. Compared to folding the core and breaking it off, the process up to breaking off the core can be done in one step, and all you need is a core drill.
請求項２の採取ロボットによれば、コンクリート構造物
からコンクリート等のテストピースをリモートコントロ
ールによって採取することができ、障害物があったり、
下水道管のように管径が小さく人が入り込むことのでき
る程のスペースがない場所や危険な場所において使用す
るのに適する。According to the collecting robot of claim 2, it is possible to collect a test piece of concrete or the like from a concrete structure by remote control.
Suitable for use in places where the pipe diameter is small and there is not enough space for people to enter, such as sewer pipes, or in dangerous places.
請求項３乃至５の固定手段を設けて台車を固定すること
によりコアドリルによる穿孔を確実に行うことができる
。By providing the fixing means according to claims 3 to 5 and fixing the cart, drilling with a core drill can be performed reliably.
第１図は本発明にかかるコアドリルの断面図、第２図は
コアの根元が破断されるときの状態を示す断面図、第３
図は採取ロボットの正面図、第４図は同側面図、第５〜
７図は従来のテストピースの採取方法について示すもの
で、第５図はコアドリルによる穿孔後、第６図はたがね
を打込んだとき、第７図はテストピースを取出したとき
の状態を示す図である。
１・・突起 ２・・コアドリル ３・・コンクリート構
造物 ４・・孔 ５・・コア １１・・走行用モータ１
３・・コンクリート管 １４・・台車 １５・・テレビ
カメラ １６・・エアシリンダ １７・・突子 １９・
・ドリル駆動用モータ ２０・・台 ２１・・モータ出
願人 建設サービス株式会社 外１名代理人 弁理士
佐 藤 晃 −FIG. 1 is a cross-sectional view of the core drill according to the present invention, FIG. 2 is a cross-sectional view showing the state when the base of the core is broken, and FIG.
The figure is a front view of the collection robot, Figure 4 is a side view of the same, Figures 5-
Figure 7 shows the conventional method of taking a test piece. Figure 5 shows the state after drilling with a core drill, Figure 6 shows the state when the chisel is driven in, and Figure 7 shows the state when the test piece is taken out. FIG. 1. Protrusion 2. Core drill 3. Concrete structure 4. Hole 5. Core 11. Travel motor 1
3. Concrete pipe 14. Trolley 15. Television camera 16. Air cylinder 17. Protrusion 19.
・Drill drive motor 20 units 21 units Applicant Kensetsu Service Co., Ltd. and one other representative Patent attorney Akira Sato −
Claims (5)
とするコンクリート構造物からコンクリート等のテスト
ピースを採取するのに使用されるコアドリル(1) A core drill used to take a test piece of concrete, etc. from a concrete structure characterized by having a tapered protrusion 1 at its internal base.
られるテレビカメラと、台車に昇降或いは進退可能に支
持され、かつドリル駆動用モータを備えた台と、該台に
着脱可能に取着されてドリル駆動用モータによって回転
駆動され、内部根元にテーパ状の突起を設けたコアドリ
ルと、上記台を昇降或いは進退させるモータとよりなり
、コンクリート構造物からコンクリート等のテストピー
スを採取するための採取ロボット(2) A cart that is moved by remote control, a television camera attached to the cart, a stand that is supported by the cart so that it can move up and down or forward and backward, and that is equipped with a drill drive motor, and that is removably attached to the stand. A collection robot for collecting test pieces of concrete, etc. from concrete structures, consisting of a core drill that is rotationally driven by a drill drive motor and has a tapered protrusion at its internal base, and a motor that moves the platform up and down or back and forth.
請求項２記載の採取ロボット(3) The collection robot according to claim 2, wherein the cart is provided with a fixing means for fixing the cart.
取ロボット(4) The collecting robot according to claim 3, wherein the fixing means is a supporting leg for a protruding support.
クランプするクランプ機構である請求項３記載の採取ロ
ボット(5) The collection robot according to claim 3, wherein the fixing means is a clamp mechanism that clamps a rail on which the trolley is supported so that it can run.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25150088A JPH02190208A (en) | 1988-10-04 | 1988-10-04 | Core drill and sampling robot with the same drill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25150088A JPH02190208A (en) | 1988-10-04 | 1988-10-04 | Core drill and sampling robot with the same drill |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02190208A true JPH02190208A (en) | 1990-07-26 |
Family
ID=17223730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25150088A Pending JPH02190208A (en) | 1988-10-04 | 1988-10-04 | Core drill and sampling robot with the same drill |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02190208A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5626445A (en) * | 1995-01-23 | 1997-05-06 | The United States Of America As Represented By The United States Department Of Energy | Tube cutter tool and method of use for coupon removal |
| EP1267016A2 (en) * | 2001-06-13 | 2002-12-18 | Entreprise Degaine | Method for setting a tendon |
| CN102489740A (en) * | 2011-12-01 | 2012-06-13 | 浙江腾云制冷科技有限公司 | Special drilling machine for drilling holes in coil pipe of refrigeration equipment |
| WO2014155649A1 (en) * | 2013-03-29 | 2014-10-02 | 株式会社 日立製作所 | Boring device and boring method |
| FR3027833A1 (en) * | 2014-11-05 | 2016-05-06 | Areva Nc | DRY CORRING DEVICE ON REMOTE MOBILE PLATFORM. |
| FR3084134A1 (en) * | 2018-07-23 | 2020-01-24 | I.D.R. Innovation - Desamiantage - Robotique | METHOD AND APPARATUS FOR TAKING A SAMPLE OF PIPE WALL AND RE-CLOSING SPACE THUS FREE |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5328869U (en) * | 1976-08-20 | 1978-03-11 | ||
| JPS6389206A (en) * | 1986-09-30 | 1988-04-20 | Tokyo Met Gov Gesuidou Service Kk | Self-travelling punching device for pipe lining material |
-
1988
- 1988-10-04 JP JP25150088A patent/JPH02190208A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5328869U (en) * | 1976-08-20 | 1978-03-11 | ||
| JPS6389206A (en) * | 1986-09-30 | 1988-04-20 | Tokyo Met Gov Gesuidou Service Kk | Self-travelling punching device for pipe lining material |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5626445A (en) * | 1995-01-23 | 1997-05-06 | The United States Of America As Represented By The United States Department Of Energy | Tube cutter tool and method of use for coupon removal |
| EP1267016A2 (en) * | 2001-06-13 | 2002-12-18 | Entreprise Degaine | Method for setting a tendon |
| FR2826034A1 (en) * | 2001-06-13 | 2002-12-20 | Entpr Degaine | METHOD OF POSITIONING A TIE ROD |
| EP1267016A3 (en) * | 2001-06-13 | 2003-02-05 | Entreprise Degaine | Method for setting a tendon |
| CN102489740A (en) * | 2011-12-01 | 2012-06-13 | 浙江腾云制冷科技有限公司 | Special drilling machine for drilling holes in coil pipe of refrigeration equipment |
| WO2014155649A1 (en) * | 2013-03-29 | 2014-10-02 | 株式会社 日立製作所 | Boring device and boring method |
| JPWO2014155649A1 (en) * | 2013-03-29 | 2017-02-16 | 株式会社日立製作所 | Drilling device and drilling method |
| FR3027833A1 (en) * | 2014-11-05 | 2016-05-06 | Areva Nc | DRY CORRING DEVICE ON REMOTE MOBILE PLATFORM. |
| FR3084134A1 (en) * | 2018-07-23 | 2020-01-24 | I.D.R. Innovation - Desamiantage - Robotique | METHOD AND APPARATUS FOR TAKING A SAMPLE OF PIPE WALL AND RE-CLOSING SPACE THUS FREE |
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