JPH02296096A - Inner surface machining device for piping, tunnel, and the like - Google Patents

Abstract

PURPOSE:To enable cleaning, grinding, and the like by providing the title device with a working head having a working member, a driving mechanism for rotating the working member and moving it along the periphery of the inner wall of piping and the like, and constructing it in such a way as to move the working head in the radial direction of the inner wall and control its moving quantity so as to move it in the axial direction of the piping and the like. CONSTITUTION:A truck 10 is pulled by cables 70a, 70b to move into a place to be mended, and a hydraulic cylinder 81 is actuated to thrust an outrigger 80 against the inner wall of a duct 60, thus fixing the truck 10. When the hydraulic motor of a driving mechanism 30 is actuated, a milling cutter 20a is rotated as well as moves along the whole circumferential periphery of the inner wall of the duct 60 to cut the inner wall. During this cutting action, the cutter 20a moves radially along the inner wall of the duct 60 and cuts into the inner wall. When the cutter 20a is moved in the axial direction of the duct 60 by a feed mechanism 50, a groove of the specified depth is formed along the whole periphery of the place to be mended. The inner wall can be cleaned or removed of attachment by changing a working member.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention is applicable to piping, tunnels, etc., in which the inner walls of piping such as water and sewage pipes, gas pipes, electric conduit pipes, and the inner walls of tunnels are cut, ground, and cleaned. This invention relates to an apparatus for processing the inner surface of a pipe.

<Prior art> Work on water supply and sewerage pipes, etc. includes (a) removal of foreign objects protruding into the pipes, (b) removal of foreign objects on the inner walls of the pipes, and (c) grinding of the inner walls of the pipes themselves. , partial cutting work, (
d) There is work to re-glue the pipeline itself, etc.

Examples of the work (a) above include removing tree roots extending into a sewer pipe.

In addition, the work in (b) above includes, for example, general cleaning of the inner wall of the pipe, removal of deposits, rust removal, etc. as pretreatment work performed when repairing (lining) aging sewer pipes. be.

Further, the above-mentioned work (C) includes, for example, groove machining work on the pipe wall as a pretreatment when partially attaching repair material to the sewer pipe.

Further, the above-mentioned cutting operation (d) includes, for example, a pipe cutting operation in a place where it is impossible to process with a stationary machine tool.

<Problems to be Solved by the Invention> However, conventionally proposed devices for working inside pipes use a rotating wire brush disclosed in JP-A-57-47090, for example, to expose a new layer inside. It is used to cut out or remove protrusions in pipes, and the tasks (a) to (d) above cannot be performed with a single device, so different work devices must be prepared for each task. I had to.

The present invention has been made to solve the problems of the prior art described above, and its purpose is to process the inner surfaces of pipes such as pipes and tunnels that can perform various operations such as grinding and cutting during the Qing Dynasty. The purpose is to provide equipment.

Means for Solving the Problems> The apparatus for processing the inner surface of pipes, tunnels, etc. of the present invention to solve the above problems is capable of cutting the inner walls of pipes, tunnels, etc.
a work head equipped with a work member that performs grinding, etc.; a drive mechanism that rotationally drives the work member and moves the work member all around the circumferential direction of an inner wall of a pipe, a tunnel, etc.;
The drive mechanism moves the work head in the radial direction of the inner wall of the pipe, tunnel, etc., and also includes a cutting control mechanism that controls the amount of movement, so that the work head can be moved in the axial direction of the pipe, tunnel, etc. It is characterized by its composition.

In addition, a work head equipped with a work member for cutting, grinding, etc., the inner wall of the pipe, tunnel, etc. is attached to a cart that moves inside the pipe, tunnel, etc., and a work head that rotatably drives the work member, a drive mechanism for moving the work head all around the circumferential direction of the work head; a cutting control mechanism for moving the work head in the radial direction of an inner wall of a pipe, tunnel, etc. by the drive mechanism and controlling the amount of movement thereof; The invention is characterized in that it is equipped with a feed mechanism that moves the work head, the drive mechanism, and the cutting control mechanism in the axial direction of the pipe, tunnel, etc. with respect to the truck.

Further, the drive mechanism, the cutting control mechanism, and the feed mechanism are each configured with a hydraulic means as a drive source.

<Operation> The working member moves around the inner wall of the pipe while rotating around the axis of the working member. At this time, by appropriately changing the type of working member, the amount of movement in the radial direction, and the amount of movement in the axial direction of the tube, removal of foreign matter within the tube and cleaning, grinding, cutting, etc. of the tube wall are performed.

<Embodiment> Hereinafter, a sewer pipe inner wall processing apparatus as an embodiment of the inner surface processing apparatus for pipes, tunnels, etc. of the present invention will be described with reference to the drawings.

Figures 1 and 2 (A) to (C) show the entire sewer pipe inner wall treatment device, and Figure 1 is a side view showing the entire inner wall treatment device placed inside the pipe, and Figure 2 (A) is a side view of the same inner wall treatment device, and (B) is the nb- of the same figure (A).
nb line arrow view, the same figure (C) is l1c-Ir of the same figure (A)
It is an e-line arrow view.

First, the outline of the entire apparatus will be explained with reference to FIG. 1 and FIGS. 2(A) to 2(C). In FIG.
, a drive mechanism 30 , a cutting control mechanism 40 , and a feed mechanism 5
0 is installed.

Here, the trolley IO is placed in a pipe 60 such as a sewer pipe to be repaired, and is pulled by cables 7Qa and 70b and slides to the repair location. It is fixed at the repair position by outriggers 80 arranged at appropriate intervals in the circumferential direction on the outer periphery of the support base part 11 in the front end example.

Note that one cable 70a is connected to the feed mechanism 50 fixed to the rear end 12 side of the truck IO via a stopper 71, and the other cable 70b is connected to the front end side of the truck IO via a traction device 72. It is connected to the rad 20 to the work located at.

Further, the feed mechanism 50 is constituted by a hydraulic jack as shown in FIG.
By moving forward a as shown in the two-dot chain line in the same figure, the working rod 20, drive mechanism 30, and cutting control mechanism 40 are moved forward.
moves in the direction of arrow A in FIG. 1 with respect to the trolley 10.

Next, the working rod 20, the drive mechanism 30, and the cutting control mechanism 40 will be described in detail with reference to FIGS. 4 to 7.

The drive mechanism 30 includes a main body case 31 mounted on the trolley 10, and a hydraulic motor 3 serving as a drive source arranged and fixed at one end of the main body case 31 in the axial direction (left side in FIG. 4).
2, a shaft 33 rotatably installed within the case body 31 and rotationally driven by a hydraulic motor 32, and a differential gear mechanism 34 disposed within the enlarged diameter portion 31a at one axial end of the case body 31. It consists of

Here, a drive shaft 32a of the hydraulic motor 32 is connected to one axial end of the shaft 33 (left side in FIG. 4) via a sleeve joint 35. Further, a gear portion 33a serving as a sun gear of the differential gear mechanism 34 is provided at a position near one end in the axial direction of the shaft 33 (on the left side in FIG. 4). Also,
The working head 20 is arranged at the other axial end of the shaft 33 (on the right side in the figure).

Further, the differential gear mechanism 34 is composed of two planetary gear mechanism parts. That is, an internal gear 34a fixed within the enlarged diameter portion 31a, a planetary gear 34b disposed between the internal gear 34a and the gear portion (sun gear) 33a,
A first planetary gear mechanism portion is constituted by this planetary gear 34b and an outer sleeve 34c corresponding to an arm connecting the gear portion 33a. Further, an internal gear 34d rotatably disposed within the enlarged diameter portion 31a, a planetary gear 34e disposed between the internal gear 34d and the gear portion (sun gear) 33a, and a planetary gear 34e and the gear portion A second planetary gear mechanism portion is constituted by an inner sleeve 34 corresponding to an arm connecting the inner sleeve 33a and the second planetary gear mechanism. And the internal gear 34a
, 34d are set to be the same number of teeth, and the planetary gears 34b and 34e are also set to have the same number of teeth.

The outer sleeve 34c is rotatably arranged coaxially with the shaft 33 within the case body 31 via a bearing 36.36, and is rotatably disposed coaxially with the shaft 33 via a bearing 36.36. The planetary gear 34b is rotatably supported. Further, the inner sleeve 341 is located inside the outer sleeve 34c, and is rotatably supported within the case body 31 via bearings 37, 37 coaxially with the shaft 33.

The planetary gear 34e is rotatably supported at one end of the inner sleeve 341 (left side in FIG. 4) via a gear shaft 34r'.

Further, a gear 45 attached to the drive shaft 44 of the cutting control mechanism 40 meshes with the internal gear 34d, and the cutting distance is ``4''.
The internal gear 34d is rotated by the n mechanism 40 at a predetermined number of rotations (predetermined rotation angle).

The work head 20 is composed of a head cover 21 and a gear mechanism 22 installed inside the head cover 21.

Here, the helad cover 21 is shown in FIGS. 4 and 6 (
As shown in A), the disc-shaped cover part 21b is composed of a cover body 21a and a disc-shaped cover part 21b fitted so as to be rotatable with respect to the cover body 21a. As shown in FIG. 4, the other axial end of the outer sleeve 34c is fixed, and the outer sleeve 34c rotates about the axis of the shaft 33.

The center 21b' (see FIG. 6(A)) of the disc-shaped cover portion 21b is separated from the shaft 33 by a predetermined distance.

Therefore, when the disc-shaped cover part 21b rotates around the shaft 33, the cover main body 21a rotates relatively using the fitting surface 21a' with the disc-shaped cover part 21b as a guide. and the center 21b' and the rotation angle of the disk-shaped cover portion 21b.

That is, the disc-shaped cover part 21b is the cover main body 21a.
It acts as an eccentric cam member that moves the milling cutter 20a in the radial direction of the inner wall of the conduit 60.

Further, as shown in FIGS. 4 and 6(A), the gear mechanism 22 includes a gear 23 fixed to the other axial end of the shaft 33, and a gear 23 rotatably attached to the cover body 21a. It consists of a gear 25 fixed to a gear shaft 24, and a gear 26 that meshes with these gears 23 and 25.

The milling cutter 20a is fixed to the gear shaft 24 as shown in FIG. Further, the gear 26 is rotatably supported by a shaft 26a. The shaft 26a has one end rotatably connected to the other end of an arm 27 fixed to the outer sleeve 34f, and the other end of an arm 28 rotatably attached to the shaft 24. are rotatably connected.

Note that, as shown in FIG. 6(A), the amount of rotation of one arm 27 is regulated by a stopper 29 fixed to a portion of the disc-shaped cover 21b.

The cutting control mechanism 40 is configured to control the enlarged diameter portion 31 of the case body 31.
As shown in FIG. 7, the hydraulic cylinder 41 is fixed to the motor base 31b of
It is comprised of a conversion mechanism 42 that converts linear motion of the piston 41a into rotational motion, and an adjustment screw 43 that adjusts the stroke of the piston 41a.

Here, the conversion mechanism 42 is composed of a female screw portion 42a formed on the piston 41a and a male screw portion 42b screwed into the female screw portion 42a, and when the piston 41a is linearly moved by hydraulic pressure, , the male threaded portion 42b rotates due to the screw action, and the drive shaft 44 (gear 45
) to rotate. Note that the male threaded portion 42b is rotatably supported by a bearing 46 so as not to move in the axial direction.

Further, the adjustment screw 43 is screwed into a screw guide 41b provided at the end of the hydraulic cylinder 41 so as to be movable in the axial direction, and adjusts the stroke of the piston 41a to adjust the stroke of the gear 45. Variable rotation speed.

Next, the operations of the working head 20, drive mechanism 30, and cutting control mechanism 40 configured as described above will be explained with reference to FIG. 5 and FIGS. 6(A) and (B).

First, with reference to FIGS. 5 and 6 (A), the drive mechanism 3
A case will be described in which the working head 20 is operated with the reference numeral 0 to rotationally drive the milling cutter 20a, and the milling cutter 20a is moved all the way along the circumferential direction of the inner wall of the conduit 60.

When the hydraulic motor 32 is operated, this causes the shaft 3 to
3 rotates, and the rotation of this shaft 33 causes the gear 23.2 to rotate.
6 to the gear 25 and milling cutter 20a.
rotates.

Further, as the planetary gear 34b rotates due to the rotation of the shaft 33, the outer sleeve 34c rotates by being regulated by the internal gear 34a and revolving around the gear portion 33a, which is a sun gear. On the other hand, since the internal gear 34d is locked by the gear 45 of the cutting control mechanism 40,
The planetary gear 34e also rotates, and the internal gear 34d
By revolving around the gear portion 33a, which is a sun gear, the inner sleeve 34 is regulated by the outer sleeve 3.
It rotates at the same speed as 4c.

At this time, since the rotational speed transmitted from the inner sleeve 34f to the cover main body 21a via the arms 27.28 and the rotational speed transmitted from the outer sleeve 34c to the disc-shaped cover part 21b are the same, the head cover 21, That is, the cutter 20a rotates over the entire circumference along the circumferential direction of the inner wall of the conduit 60 while maintaining the same distance from the shaft 33.

Next, a case will be described in which the milling cutter 20a is moved in the radial direction of the inner wall of the conduit 60.

In this case, in addition to the hydraulic motor 32, when the cutting control mechanism 40 is operated to rotate the gear 45 a predetermined number of times, the internal gear 34d
rotates, the revolution speed of the planetary gear 34e changes. , therefore, the outer sleeve 34c and the inner sleeve 3t
A relative speed difference occurs between r and r.

Therefore, the disc-shaped cover part 21b rotates around the shaft 33 in accordance with the rotational speed of the outer sleeve 34c, and at the same time, the arm 27 rotates in accordance with the rotational speed of the inner sleeve 34f.
rotates. At this time, since a relative speed difference occurs between the rotational speed of the disc-shaped cover part 21b and the rotational speed of the arm 27, a rotational force corresponding to this difference in rotational speed is applied to the shaft 26a, The signal is transmitted to the main body cover 21a via the arm 28. Therefore, the rotation about the shaft 33 and the rotation about the center 21b' of the disc-shaped cover part 21b act on the main body cover 21a in combination, and as a result, the head cover 21. That is, as shown in FIG. 6(B), the milling cutter 20a can be moved from the position shown by the solid line indicating the initial state to the position shown by the two-dot chain line.

As a result, the milling cutter 20a moves in the radial direction of the inner wall of the conduit 60 and cuts into the inner wall.

Here, when the stroke of the piston 41a is adjusted by the adjustment screw 43 of the cutting control mechanism 40 to change the rotation speed of the gear 45, the rotation speed of the internal gear 34d changes, and the rotation between the outer sleeve 34c and the inner sleeve 34f changes. Since the difference in number changes, the rotation angle of the disc-shaped cover portion 21b with respect to the cover main body 21a changes, thereby changing the amount of movement of the cover main body 21a in the radial direction.

Note that the two-dot chain line in FIG. 6(B) indicates a state in which the cover body 21a has moved the most in the radial direction of the inner wall of the conduit 60 (maximum movement state B).

As shown in FIGS. 8(A) and 8(B), the outrigger 80 includes a hydraulic cylinder 81 and is fixed to a piston port 2182 of the hydraulic cylinder 81.

When the hydraulic cylinder 81 is operated, the piston rod 82 causes the outrigger 80 to protrude as shown by the two-dot chain line in FIG.
The inner wall is pressed to fix the trolley IO within the conduit 60.

Further, as shown in FIG. 9, the traction device 72 includes a fixing part 72a fixed to the working head 20, and a fixing part 72a fixed to the working head 20. The mounting shaft 72b fixed to 2a and the mounting shaft 72
It is composed of a support sleeve 72c that rotatably supports the cable 7, and a traction fitting 72d connected and fixed to the support sleeve 72c, and the cable 7 is connected to the traction fitting 72d.
0b are connected.

Here, the support sleeve 72c is aligned with the axis of the shaft 33, and when the work head 20 rotates, the fixed part 72c
a. Even if the mounting shaft 72b rotates, it does not rotate accordingly, so there is no fear that the cable 70b will tear.

Next, a case will be described in which a groove is formed in the inner wall of the conduit 60 using the inner wall processing apparatus of the above embodiment.

In advance, check the repair points in the conduit 60 using an inspection device such as a television camera, and then connect the trolley IO to the cable 70a.
, 70b to move it to the repair location.Next, the hydraulic cylinder 81 of the outrigger 80 is operated to press the outrigger 80 against the inner wall of the conduit 60 and fix the trolley 10. At this time, the central axis of the shaft 33 is
align with the central axis of Further, after retracting the piston rod 50a of the feeding mechanism 50 and making preparations as described above, the hydraulic motor 32 of the drive mechanism 30 is operated, and the shaft 3
When the cutter 3 is rotated, the milling cutter 20a is driven to rotate as described above, and moves along the entire circumferential direction along the inner wall of the conduit 60 to cut the inner wall.

During this cutting operation, the hydraulic cylinder 4 of the cutting control mechanism 40
1 and rotates the internal gear 34d of the differential gear mechanism 34 via the gear 45, a difference in rotational speed occurs between the outer sleeve 34c and the inner sleeve 3Lr, and this causes the milling to occur as described above. The cutter 20a moves in the radial direction of the inner wall of the conduit 60, and the milling cutter 20a cuts into the inner wall.

Once the inner wall of the conduit 60 has been cut to a predetermined depth by the milling cutter 20a, the feed mechanism 50 is operated to move the milling cutter 20a in the axial direction of the conduit 60.

As a result, a groove with a predetermined depth is formed over the entire circumference of the repaired portion of the conduit 60. Therefore, by arranging a repair pipe to prevent water leakage in this groove, the inner circumferential surface of the repair tube and the inner circumferential surface of the pipe B60 can be made to coincide with each other.

In addition, when cutting tree roots protruding into the pipe line 60 using the above-mentioned inner wall treatment device, a tree root cutting cutter may be fixed to the gear shaft 24 as a working member.

In addition, when cleaning the inner wall of the pipe, removing deposits on the inner wall, or removing rust generated on the inner wall, work materials such as cleaning brushes and grinding wheels may be used. It may be fixed to the gear shaft 24.

Further, when cutting the pipe line 60 itself, a disc-shaped cutter may be fixed to the gear shaft 24 as a working member.

The inner wall treatment apparatus of this embodiment allows various types of work to be performed by replacing the work members, and has the following effects.

That is, since the hydraulic motor 32 and the hydraulic cylinder 41 are used as the driving sources for the drive mechanism 30 and the cutting control mechanism 40, and the feed mechanism 50 is configured with a hydraulic jack, there is no risk of electrical leakage as in the case of using an electric motor. This allows work to be carried out safely in atmospheres where there is a risk of explosion due to sparks, etc.

In addition, since hydraulic pressure is used, a large torque can be obtained without increasing the bulk, and the entire device can be made smaller, making it suitable for work inside the conduit 60 where workers cannot enter.

Further, a disc-shaped cover part 21b as an eccentric cam member is provided on the work head 20, and by rotating this disc-shaped cover part 21b with respect to the cover main body 21a, the milling cutter 20a can be cut into the inner wall of the conduit 60. Since it is moved in the radial direction, the 1m barrel does not become complicated.

Further, by rotating the internal gear 34d provided in the differential gear mechanism 34 of the drive mechanism 30 by the cutting control mechanism 40, a difference in rotational speed is created between the outer sleeve 34c and the inner sleeve 34f, and a disc-shaped Cover part 21b and cover main body 21a
Because it is rotated at a predetermined angle with respect to the disc-shaped cover part 2
The device for rotating the milling cutter 20a does not need to be large-scale, in other words, it rotates the milling cutter 20a and
Since the milling cutter 20a is moved in the radial direction by using the side that moves the milling cutter 20a in the circumferential direction, there is no need to separately provide the side and side that move the milling cutter 20a in the radial direction. becomes smaller.

It should be noted that the present invention is not limited to the above embodiments, but may be implemented as follows.

First, the drive mechanism 30, the cutting control mechanism 40, and the feed mechanism 50
As for the driving source, water pressure or the like may be used, or an electric motor may be used depending on the place of use.

In addition, a working head 20, a drive mechanism 30, a cutting control mechanism 4
In addition to the trolley 10, for example, a feed head of a machine tool, a feed mechanism for tunnel excavation, etc. may be used as a mechanism for moving the object.

When the work hood 20, drive mechanism 30, and cutting control mechanism 40 are mounted on a feed head of a machine tool, work such as cutting the inner surface of a metal pipe can be performed.

Moreover, wheels may be attached to the trolley 1O so that it can be self-propelled.

Further, the cart 10 may be configured to be equipped with a television camera for inspection.

<Effects of the Invention> As explained above, according to the present invention, there is provided a work head equipped with a work member for cutting, grinding, etc. the inner walls of pipes, tunnels, etc., and a work head that operates the work head to rotationally drive the work member. and a drive mechanism that moves the working head along the entire circumference along the circumferential direction of the inner wall of the pipe, tunnel, etc.; It is equipped with a cutting control mechanism and is configured to move in the axial direction of pipes, tunnels, etc., so by replacing the work parts, various tasks such as cleaning, grinding, cutting, etc. can be performed. be.

In addition, when the driving sources of the drive mechanism, the cutting control mechanism, and the feed mechanism are configured by hydraulic means, there is no risk of electrical leakage, and work can be performed safely in an atmosphere where there is a risk of explosion due to sparks, etc. In addition, large torque can be obtained without adding bulk, and the entire device can be made smaller.

[Brief explanation of the drawing]

1 to 9 show a sewer pipe inner wall treatment device as an embodiment of the inner surface treatment device for pipes, tunnels, etc. of the present invention, and FIG. 1 shows an inner wall treatment device arranged in a pipe. FIG. 2(A) is a side view of the entire treatment device; FIG. 2(B) is a side view of the same inner wall treatment device; FIG.
Figure (C) is a view taken along line l1c-11c in Figure (A), Figure 3 is a sectional view of the feed mechanism, and Figure 4 is an enlarged vertical sectional view of the drive mechanism and work head. , FIG. 5 is an explanatory diagram for explaining power transmission between the drive mechanism and the work head, and FIG. 6 (A
) is a side view of the working head with the spatula cover removed; FIG. 7(B) is an explanatory side view explaining the operation of the working head; FIG. (A)
9 is a plan view of the outrigger, FIG. 9B is a sectional view of the outrigger, and FIG. 9 is an enlarged longitudinal sectional view of the traction device. 10 is a cart, 20 is a working head, 20a is a working member (milling cutter), 21 is a spatula cover, 21a is a cover body, 21b is a part of a disc-shaped cover, 30 is a drive mechanism, 32
is a hydraulic motor, 33 is a shaft, 34 is a differential gear mechanism,
40 is the cutting control '4' f5 mechanism, 4I is the hydraulic cylinder, 5
0 is a feeding mechanism. 1 person from Iseki Kaihatsu Kouki Co., Ltd.

Claims (3)

[Claims] (1) A work head equipped with a work member that performs cutting, grinding, etc. on the inner wall of a pipe, tunnel, etc., and a work head that rotates and drives the work member and moves along the entire circumference of the inner wall of the pipe, tunnel, etc. and a cutting control mechanism that uses the drive mechanism to move the working head in the radial direction of the inner wall of the pipe, tunnel, etc. and controls the amount of movement thereof, An apparatus for processing the inner surface of pipes such as pipes and tunnels, characterized in that it is configured to be movable. (2) A work head equipped with a work member for cutting, grinding, etc. the inner wall of the pipe, tunnel, etc. on a cart that moves inside the pipe, tunnel, etc.; a drive mechanism that moves the working head along the entire circumference along the circumferential direction of an inner wall; a cutting control mechanism that uses the drive mechanism to move the working head in the radial direction of the inner wall of a pipe, tunnel, etc., and controls the amount of movement thereof; An apparatus for processing the inner surface of pipes such as piping, tunnels, etc., characterized in that it is equipped with a feeding mechanism that moves the working head, the driving mechanism, and the cutting control mechanism in the axial direction of the piping, tunnel, etc. with respect to the cart. . (3) The inner surface of a pipe such as a pipe or a tunnel according to claims (1) or (2), wherein the drive source of the drive mechanism, the cutting control mechanism, and the feed mechanism is constituted by hydraulic means. Processing equipment.