JPH0545390B2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a robot for cleaning inside pipes, and is used, for example, to remove old paint films during repair painting of the inner surfaces of penstock pipes in hydroelectric power plants. be.

Conventional technology When repair painting the inner surface of a penstock in a hydroelectric power plant, for pipes with diameters larger than a certain level, workers ride directly onto a trolley that can be raised and lowered using a winch for polishing and repair painting. The reality is that small-diameter pipes are left alone.

Problems to be Solved by the Invention Penstocks in hydroelectric power plants are used to channel water stored in a dam from a high place to a generator in a low place with a high head, and most of the penstocks are arranged in an inclined manner. The conventional method in which the worker directly climbs into the vehicle is not only dangerous but also unfavorable in terms of workability. In addition, small-diameter pipes have problems such as short service life and frequent replacement because no repair painting is performed inside the pipes.

In addition, as an automatic pipe cleaning device, Japanese Patent Application Laid-open No. 61-8275
Publication No. 150055, JP-A-62-150055, JP-A No. 150055, JP-A-61-
Publication No. 26470 is known, but these methods not only cannot efficiently collect grit, but also do not allow the cleaning device to operate at a stable speed even when the angle of inclination of the surface to be polished changes. However, there was a problem in that it was not possible to obtain a uniformly polished surface because it was not equipped with a means for moving it.

Means for Solving the Problems The present invention was developed in view of the above-mentioned problems of the prior art. An impeller blast machine that can be rotated around the tube axis via a mechanism and has a pressure contact mechanism against the inner surface of the tube, and a grain prevention wall that is mounted on the rear of the truck and surrounds the grit projection chamber of the impeller blast machine. A separator is connected to the recovery chute of the tube via a recovery hose, and the separator is connected to the separator via a hose and has a separator connected to the separator with a hose to separate and collect the recovered grit from the flakes on the inner surface of the tube and supply it to the grit supply valve. It has a dust collector with casters connected to the rear of a self-propelled trolley, which has a filter that filters and separates substances, an intake air generator that generates intake air in the dust collector, and a grit supply valve and a mixing valve to remove grit in the separator. Equipped with a high-pressure air generator for feeding high-pressure air to the impeller blast machine through the dust collector, an air unit with a caster connected to the rear of the dust collector, the self-propelled trolley, the impeller blast machine, the dust collector, and the air unit are connected outside the pipe. and a control device that controls the drive from the
The impeller blasting machine surrounds the exit of the grit projection chamber and the entrance of the recovery chute with a common grain prevention wall and rotates them integrally, and also controls the recovery chute by controlling the angle of reflection from the inner wall surface of the pipe of the grit projected from the grit projection chamber. It is installed at an angle approximately equal to .

Furthermore, the present invention has the above-mentioned structure, in which the cart is pulled from outside the pipe via a wire rope, the wire rope maintains a constant tension at all times, and the self-propelled cart is stably run with a self-propelled function. A traction device with winding and unwinding speed and tension adjustment functions has been added.

Function When the high-pressure air generated by the high-pressure air generator of the air unit passes through the mixing valve from the grit supply valve connected to the bottom of the separator, the ejector action sucks in the grit in the separator and sends it under pressure to the impeller blasting machine. do. The impeller blast machine accelerates the grit that is being pumped in with a high-speed rotating impeller and projects it from the grit projection chamber toward the inner surface of the tube, thereby peeling off and removing the old paint film on the inner surface of the tube.

The impeller blasting machine rotates around the tube axis using a rotating mechanism and moves in the direction of the tube axis using a self-propelled trolley, so it spirally cleans the inner surface of the tube.

The rotation speed of the impeller blasting machine and the self-propelled speed of the self-propelled truck are operated in a related manner so that the spiral abrasive trajectories have an appropriate overlap.

On the other hand, the air unit's intake air generator is a dust collector,
Intake air is applied to the collection chute through a separator, and the grit projected from the grit projection chamber of the impeller blasting machine is collected together with detached material into the separator by the collection chute, and within this separator, heavy grit is separated by falling. Peelings such as old paint films move with the air to a dust collector, where they are filtered and collected by a filter, and only the air is discarded from the intake air generator.

The grit projected from the impeller blasting machine is prevented from scattering by the grain prevention wall, and is collected into the separator without remaining by the suction action of the collection chute and is reused.

In addition, by employing a traction device with speed and tension adjustment functions, the self-propelled trolley prevents acceleration drop when it is self-propelled, and allows it to travel stably at a constant speed.

Embodiment FIG. 1 is a schematic side view showing an example of application of the present invention, in which A is a self-propelled truck, B is a tension mechanism, C is an impeller blast machine, D is a turning mechanism, E is a pressure welding mechanism, F is a grit recovery separator, G is a dust collector, H is an air unit, I is a control device, J is a traction device with speed and tension adjustment functions, K is a penstock, L
shows wire rope.

As shown in FIGS. 2 to 7, the self-propelled trolley A includes an underframe 1, a plurality of wheels 2 that are rotatably supported on both left and right sides of the underframe 1, and all wheels 2. It consists of a chain wheel 3 and a drive motor 5 that is driven simultaneously by a chain wheel 4.

The tension mechanism B, as shown in FIGS. 2 and 5,
a plurality of wheels 7 rotatably supported on a connecting plate 6;
It consists of a parallel link 9 that supports the wheels 7 so as to be able to rise and fall with respect to the upper frame 8 of the self-propelled trolley A, and an air cylinder 10 for raising and lowering. By extending and operating the wheels 7, the wheels 7 are brought into pressure contact with the ceiling surface of the penstock K via the parallel links 9, and the self-propelled trolley A is made to travel on its own without slipping.

As shown in FIGS. 8 to 12, the impeller blasting machine C rotates within the motor 11, the impeller cover 12 directly connected to the motor 11, the cover liner 13 inside the impeller cover 12, and the cover liner 13. an impeller 15 fixed to the output shaft 14 of the motor 11; a distributor 16 rotating together with the impeller 15; a controller 17 disposed between the impeller 15 and the distributor 16 and fixed to the impeller cover 12; An introduction pipe 18 attached to the impeller cover 12 and introducing grit into the center of the impeller 15, a grit projection chamber 19 connected to the opening of the impeller cover 12, and a recovery chute 20 integrated with the grit projection chamber 19. , a grain-proofing wall 2 made of rubber that surrounds the grit projection chamber 19 and the collection chute 20.
1, the grit introduced from the introduction pipe 18 is appropriately distributed and supplied to each impeller 15 by a distributor 16 rotated by a motor 11 and a stationary controller 17, accelerated by the impeller 15, and delivered to a grit projection chamber. 19 and reflected from the inner surface of the penstock K, scattering is prevented by a grain prevention wall 21 and collected by a collection chute 20. In addition, guide wheels 22 are provided on the side surfaces of the grit projection chamber 19 and the side surfaces of the collection chute 20 to regulate the pressure contact position to the inner surface of the penstock K and to move the penstock K smoothly in the circumferential direction. Further, the collection sheet 20 is arranged on the rear side of the grit projection chamber 19 in the rotation direction of the impeller blasting machine C.

As shown in FIG. 10, the swing mechanism D includes a swing motor 23 and a swing arm 24 fixed to the rotating shaft of the swing motor 23.
is attached to the support stand 25 on the underframe 1 of the self-propelled trolley A so as to be adjustable so that the height of the center of rotation coincides with the center axis of the penstock K to which it is applied,
Moreover, the length of the rotating arm 24 can be adjusted.

As shown in FIG. 10, the pressure contact mechanism E has one end pivotally attached to the tip of the rotating arm 24, and the other end connected to a part of the impeller blasting machine C, that is, a bifurcated part between the grit projection chamber 19 and the collection chute 20. It consists of a hoisting lever 26 pivotally connected to the top and a hoisting air cylinder 27,
The air cylinder 27 for hoisting is provided between the hoisting lever 26 and the swing arm 24, and by extending the air cylinder 27, the hoisting lever 2
6 is erected and the impeller blasting machine C is brought into pressure contact with the inner surface of the hydraulic reinforcing bar K.

As shown in FIGS. 5 and 7, the grit recovery separator F includes a hopper-shaped sealed separation chamber 28, a grit supply valve 29 provided at the bottom of the separation chamber 28, and a driving motor 30. , a mixing valve 31, and the separation chamber 28 has an inlet port 32 at the upper part of one front side and an exhaust port 33 at the upper part of the other rear side.
The intake port 32 and the exhaust port 33 are formed to be shifted to opposite sides, and the self-propelled trolley A
It is mounted on the rear part of the vehicle via a frame 34. The grit supply valve 29 has a rotor 29b rotatably supported within a valve body 29a, and by rotating this rotor 29b by a drive motor 30 via a transmission mechanism consisting of a chain wheel and a chain, The grit in the separation chamber 28 of the separator F is
It continuously delivers a fixed amount in an airtight state. The mixing valve 31 is a jet nozzle 31
a and an ejector nozzle 31b, and feeds the grit sent out by the grit supply valve 29 to the inlet pipe 18 of the impeller blasting machine C via a flexible supply hose 35 together with high pressure air.

The suction port 32 of the separator F is connected to the recovery chute 20 of the impeller blasting machine C via a flexible recovery hose 36, as shown in FIG.
The exhaust port 33 is connected to the dust collector G via a hose 37.

As shown in FIGS. 13 and 14, the dust collector G has a plurality of bag filters 39 suspended in a sealed dust collection chamber 38 by a lower partition plate 40 and a hanger shaft 41, and has a dust suction port 42 at the lower front. An exhaust port 43 is provided at the upper rear surface, and a swinging motion is applied to the hanger 41 from a shaking motor 44 via a crank 45, a rod 46, and a swinging lever 47 to eliminate clogging of the bag filter 39 at a predetermined time. A plurality of casters 48 are attached in the front-rear direction on both sides of the lower part of the dust collection chamber 38, and a caster 49 is also attached at the center of the upper part. The dust collector G is connected to the rear of the self-propelled trolley A by a connector 50 having a universal structure.

As shown in FIG. 2, the air unit H includes an intake air generator 52 such as a centrifugal blower and a high pressure air generator 5 such as a compressor in a common box 51.
A plurality of casters 54 are installed in the front and back direction on both sides of the lower part of the common box 51, and a caster 55 is also installed in the center of the upper part. The air unit H is connected to the rear part of the dust collector G by a connector 56 having a universal structure.

Further, the intake air generator 52 is connected to the exhaust port 43 of the dust collector G via a hose 57, and
The high-pressure air generator 53 is connected to the jet nozzle 31a of the mixing valve 31 via an air pipe 58, and is also configured to supply air to the air cylinders 10 and 27 via a control valve.

At the rear of the air unit H, a control panel 59 is installed, in which controllers for each motor, control valves for the air cylinders, etc. are installed.

The control device I installed outside the pipe is connected to the control panel 5 above.
9 by an electronic cable, and the interior is monitored on a monitor TV via an ITV camera (not shown) installed in a part of the self-propelled trolley A, and equipment necessary for remote control is equipped.

The traction device J with speed and tension adjustment function is installed outside the pipe to prevent the self-propelled trolley A from accelerating and falling when it is self-propelled, and to ensure that the self-propelled trolley A is always self-propelled stably at a constant speed. A winch applies force in the pulling direction of the self-propelled trolley A, and the self-propelled speed of the self-propelled trolley A and the payout speed of the wire rope L are compared, and when these deviations exceed a certain level, winding and braking are applied. It is configured to automatically control the force.

The embodiment of the present invention has the above configuration, and the overall operation will be explained next.

The self-propelled trolley A, dust collector G, and air unit H are connected as shown in Figure 1, and the wire rope L of the traction device J with speed and tension adjustment functions is fed out from the upper end of the penstock K to the point where repair painting is required. lower it. Then, after erecting the tension mechanism B,
The impeller blasting machine C is brought into pressure contact with the inner surface of the tube by the pressing mechanism E, the motor 11 of the impeller blasting machine C is driven, and at the same time, the turning mechanism D starts turning and the self-propelled trolley A starts running. Of course, the motor 30 of the grit supply valve 29 is also driven, and the intake air generator 52 and high pressure air generator 53 are also operated.

As a result, grit is projected from the impeller blast machine C toward the inner surface of the tube, and the inner surface of the tube is It is polished in a spiral pattern and the old paint film is peeled off and removed.

The grit projected from the impeller blasting machine C collides with the inner surface of the tube and peels off the paint film, and then enters the separation chamber 28 of the separator F from the collection chute 20 via the collection bowl 36 together with the peeled materials, and enters the separation chamber 28 of the separator F. Only heavy grit separates and falls in 28 due to its own weight, and light flakes are transferred together with air to dust collector G, where they are collected by bag filter 39.

The grit in the separator F is continuously sent out by the grit supply valve 29 at the bottom, and is sent out together with high-pressure air by the mixing valve 31 from the impeller blast machine C.
is supplied to

While the self-propelled trolley A is running, the slope of the penstock K increases or decreases, which causes the power required for the self-propelled trolley A to change, and the speed increases accordingly. A traction device J with a tension adjustment function increases or decreases the winding torque of the wire rope L or increases or decreases the braking force in the feeding direction to maintain a constant self-propelled speed.

The rotation center of the rotation mechanism D is adjusted in height in advance to match the central axis of the pipe to which it is applied, and
The length of the pivot arm is adjusted by the tube diameter.

Once the necessary areas have been cleaned, the entire penstock is lifted up from the upper end of the penstock K.

Although the above embodiment shows a case where the present invention is applied to a hydraulic heat pipe F, the present invention may be used for other pipe internal cleaning operations.

Effects of the Invention According to the present invention, pipe cleaning work can be carried out safely and efficiently.

In addition, the traction device with speed and tension adjustment functions allows the self-propelled cart to maintain a constant self-propelled speed in response to changes in the slope of the pipe, making it possible to uniformly clean the inside of the pipe. .

In particular, the collection chute is installed in the direction in which the grit projected from the grit projection chamber of the impeller blast machine collides with the inner wall of the pipe and is reflected, making it easier to carry the grit into the conveying airflow, resulting in an efficient Grit can be recovered.

Further, the grit collected into the separator from the recovery chute via the recovery hose is separated by peeling on the inner surface of the tube and by the difference in specific gravity, and is sent under pressure with high-pressure air from the grit supply valve to the impeller blasting machine via the mixing valve. It is accelerated by an impeller and projected from the grit projection chamber toward the inner wall of the pipe.

The grit supply valve has the functions of controlling the amount of grit supplied and keeping the inside of the separator airtight. Therefore, there is an advantage that the means for supplying grit can be simple and simple.

In addition, since we installed a pressure welding mechanism on the impeller blasting machine, we were able to not only press the blasting machine onto the surface of the object to be polished, but also solve the problem of the roundness of the iron pipe that is the object to be polished and insert the entire device into the iron pipe. It is possible to have a function to self-adjust the relative distance between the blasting machine and the inner wall surface of the iron pipe, which occurs due to a deviation between the rotation center of the blasting machine and the axial center of the iron pipe.
This ensures the enclosing action of the part to be polished by the particle prevention wall and improves the grit recovery action.

Furthermore, according to the second invention of the present application, in addition to the effects of the first invention, by using a traction device with a function of winding a wire rope for pulling a self-propelled trolley, adjusting the membrane return speed, and adjusting the tension. The self-propelled cart can be moved at a stable speed by immediately responding to various changes in the inclination angle of the object to be polished, and the cleaning work can be carried out reliably and satisfactorily.

[Brief explanation of the drawing]

Fig. 1 is a schematic side view showing an application example of the present invention, Fig. 2 is an enlarged side view of the main part of the invention, Fig. 3 is a plan view thereof, Fig. 4 is a front view thereof, and Fig. 5 is an autograph. Figure 6 is a side view of the running bogie, Figure 6 is its top view, Figure 7 is its front view, Figure 8 is a partially cutaway side view of the impeller blast machine, Figure 9 is its front view, and the right half is A cross section is shown. Fig. 10 is a side view showing the relationship between the turning mechanism, pressure welding mechanism, and impeller blast machine, Fig. 11 is a sectional view taken along the line XI-XI of Fig. 10, and Fig. 12 is a sectional view of Fig. 11.
A view taken along the line XII-XII, FIG. 13 is a partially cutaway side view of the dust collector, and FIG. 14 is a rear view. A...Self-propelled trolley, B...Tension mechanism, C...Impeller blast machine, D...Swivel mechanism, E...Pressure mechanism, F...Separator, G...Dust collector, H...
Air unit, I... Control device, J... Traction device with speed and tension adjustment function, K... Penstock, L...
...Wire rope, 19...Grit projection room, 20
...Recovery chute, 21...Particle prevention wall, 31...Mixing valve, 52...Intake air generator, 53...High pressure air generator.

Claims (1)

[Scope of Claims] 1. A self-propelled truck having a mechanism for extending the inner surface of the tube; An impeller blasting machine with a pressure welding mechanism is connected via a recovery hose to a recovery chute mounted on the rear of the truck and inside a grain prevention wall that surrounds the grit projection chamber of the impeller blasting machine, and the recovered grit is transferred to the inner surface of the tube. It has a separator that separates and collects the separated material and supplies it to the grit supply valve, and a filter that is connected to the separator with a hose and filters and separates the separated material on the inner surface of the pipe,
A dust collector with a caster connected to the rear of a self-propelled trolley, an intake air generation device that generates intake air in the dust collector, and a grit in the separator that uses high pressure air to send the grit in the separator to the impeller blast machine via the grit supply valve and mixing valve. It is equipped with an air unit with a caster connected to the rear of the dust collector, and a control device that drives and controls the above-mentioned self-propelled trolley, impeller blast machine, dust collector, and air unit from outside the pipe, The impeller blasting machine surrounds the exit of the grit projection chamber and the entrance of the recovery chute with a common grain prevention wall and rotates them integrally, and also controls the recovery chute by controlling the angle of reflection from the inner wall surface of the pipe of the grit projected from the grit projection chamber. A robot for cleaning inside a pipe, characterized in that it is installed at an angle substantially equal to . 2. A self-propelled truck with a tension mechanism against the inner surface of the tube, and an impeller that is mounted on the front of the truck, can be rotated around the tube axis via a turning mechanism, and has a pressure-welding mechanism against the inner surface of the tube. The blast machine is connected via a recovery hose to a recovery chute mounted on the rear of the trolley and enclosed within the particle-proof wall that surrounds the grit projection chamber of the impeller blast machine, and the recovered grit is separated and recovered from the flakes on the inner surface of the tube. a separator that supplies grit to the grit supply valve; and a filter that is connected to the separator with a hose and that filters and separates debris on the inner surface of the pipe;
A dust collector with a caster connected to the rear of a self-propelled trolley, an intake air generation device that generates intake air in the dust collector, and a grit in the separator that uses high pressure air to send the grit in the separator to the impeller blast machine via the grit supply valve and mixing valve. an air unit with a caster connected to the rear of the dust collector; a control device that drives and controls the above-mentioned self-propelled trolley, impeller blast machine, dust collector, and air unit from outside; Towed from outside via wire rope,
The impeller blasting machine is equipped with a traction device with winding and unwinding speed and tension adjustment functions for maintaining a constant tension in the wire rope at all times and allowing the self-propelled trolley to run stably with its self-propelled function. The grit projection chamber outlet and the recovery chute inlet are surrounded by a common grain prevention wall and rotated integrally, and the recovery chute is rotated at an angle approximately equal to the reflection angle of the grit projected from the grit projection chamber from the inner wall surface of the pipe. A robot for cleaning inside pipes, which is characterized by being installed in.