JPH07251137A - Underwater cleaning device for inside of pipe - Google Patents

Abstract

PURPOSE:To resist against large fluid force and to enable to use for a pipe whose shape is varied in sites or in which obstacles exist by providing the 1st and 2nd traveling means each having a driving wheel and a pressing pad, a steering mechanism for the 2nd traveling means, a nozzle for jetting high pressure water, and a monitoring part for a cleaning part. CONSTITUTION:A body 11 is held in the center of a pipe 90 by supporting extension/ contraction parts 20, 22 with the pipe 90. Strong supporting force is obtained and driving force and holding force are obtained without being influenced by fluid drag by using driving wheels 27, 31 for the exclusive use of a circular or elliptical pipe and a pressing pad 25. By the supporting fixation and traveling by the 1st and 2nd traveling means, the bending movement and the approaching and leaving movement of a front part 12 and a central part 13 by the 1st connecting part, and the horizontal bending movement of the central part 13 and a rear part 14 by the 2nd connecting part, a step part of a pipe having different diameters, a part in which the shape is varied, a region in which obstacles are exist and the like are overcome. An arm 42 is turned in the pipe peripheral direction in the pipe 90 and high water is jetted from a water jet nozzle 44 to clean the inner surface, and the cleaning state is monitored by a monitor camera 48.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-pipe underwater cleaning device, which is used, for example, for removing marine organisms (shellfish, algae) adhering to the inner surface of a cooling seawater intake / exhaust pipe with an anticorrosive electrode plate for various power plants Is.

[0002]

2. Description of the Related Art Since marine organisms (shellfish, algae) adhere to the inner surface of a cooling seawater intake / exhaust pipe (tube) with an anticorrosive electrode plate in various power plants, an underwater cleaning device is used to clean the inside surface of the seawater. I try to remove living things.

A conventional in-pipe underwater cleaning device will be described with reference to FIG. FIG. 8 shows the overall situation of a conventional in-pipe underwater cleaning device. As shown in the figure, the moving carriage 3 of the in-pipe underwater cleaning device 2 carried into the pipe 1 can be self-propelled in the pipe 1 by the electric drive wheels 4. A ceiling wheel 5 is provided on the movable carriage 3, and the ceiling wheel 5 is pressed against the inner surface of the pipe 1 by a cylinder 6. By moving the ceiling wheel 5 against the inner surface of the pipe 1, the moving carriage 3 is held in the pipe 1. A rotating manipulator 7 is provided at the tip of the moving carriage 3, and a water jet nozzle 8 for ejecting high-pressure water is provided at the tip of the manipulator 7.

The movable carriage 3 is carried into the inner surface of the pipe 1, and the ceiling wheel 4 is pressed against the inner surface of the pipe 1 by the cylinder 6 so that the movable carriage 3 is moved.
Hold. The rotation of the drive wheels 4 causes the movable carriage 3 to run in the pipe 1 while rotating the manipulator 7, and high pressure water is jetted from the water jet nozzle 8 to remove marine organisms attached to the inner surface of the pipe 1.

[0005]

The conventional in-pipe underwater cleaning device 2 has the following problems. (1) It cannot be used under high-speed water flow. Since the electric drive wheels 4 are used as the moving system of the moving carriage 3, the driving force of the drive wheels 4 and the adhesion coefficient with the pipe wall are limited, and it is possible to withstand a large fluid force due to high-speed water flow during plant operation. Absent. Therefore, there is no choice but to shut down the plant for a long period of time, resulting in a large loss due to a decrease in operating rate. (2) It cannot be used if there is a change in the shape of tube 1 from a rectangular tube to a circular tube. Since there is inevitably a step at the place where the rectangular tube moves to the circular tube, the drive wheel 4 cannot get over the step. (3) It cannot be used when pits, rectangular pipes and circular pipes with different diameters are continuous and the size change is large. Furthermore, it cannot be used when the circular pipe has a horizontal straight line, a horizontal bend, a downward slope, or a bifurcated change. Due to the mechanism of the movable carriage 3, it cannot be used because it is not versatile with respect to dimensional changes and shape changes. (4) It cannot be used if there is an obstacle at the bottom of pipe 1.
Electrode plate (aluminum plywood) for corrosion protection at the bottom of the tube 1.
Is present (indicated by reference numeral 53 in FIG. 2 to be described later) or the sealing material is inserted in a convex shape at the joint with a concrete pipe, the drive wheel 4 is caught by the electrode or the sealing material. , The movable carriage 3 becomes immovable, or the electrodes and the sealing material are damaged.

The present invention has been made in view of the above circumstances, and can withstand a large fluid force due to a high-speed water flow.
Moreover, it is an object of the present invention to provide an in-pipe underwater cleaning device that can be used even for a pipe having a shape change or an obstacle.

[0007]

The structure of the present invention for achieving the above-mentioned object is a front and center portion of an in-pipe underwater cleaning device which is self-propelled in the pipe to remove and clean the adhered substances adhering to the inner surface of the pipe. And a main body divided into three parts in the rear part, a first connecting means provided between the front part and the central part of the main part for connecting the front part and the central part in a freely bendable and approachable / separable manner, and the central part and the rear part of the main body. Second connecting means that is provided between the central part and the rear part so as to be bendable in the horizontal direction, and telescopic legs that are respectively provided at the front part, the central part and the rear part of the main body, and that expand and contract radially in the radial direction of the pipe. A first traveling means having a drive wheel for a circular tube and a pressing pad provided at the tip of the telescopic leg, a second traveling means having a drive wheel for a rectangular tube and a pressing pad provided at the tip of the telescopic leg, and a second traveling Steering mechanism for steering the drive wheels of the means , An arm whose base end is rotatably supported in front of the front part of the main body and whose tip is pivotable in the circumferential direction of the pipe, and water for ejecting high-pressure water to the inner surface of the pipe by being telescopically supported by the tip of the arm. It is characterized by comprising a jet nozzle and a monitoring means for monitoring the cleaning section.

[0008]

The telescopic legs at the front, center and rear of the main body are stretched against the pipe to hold the main body at the center of the pipe and receive reaction forces during running and cleaning. In addition, by using the drive wheel and the pressing pad dedicated to the circular tube and rectangular tube,
The strong stretching force of the telescopic legs is obtained to increase the friction coefficient to the wall surface of the pipe, thereby obtaining the driving force and the holding force without being affected by the fluid drag force. Expansion and contraction of the front, central and rear telescopic legs, fixing and running by the first traveling means or the second traveling means, and bending movement and approaching / separating movement between the front portion and the central portion by the first connecting means. By combining the horizontal bending movements of the central portion and the rear portion by the second connecting means, and repeating these alternately, the step portions of different types of pipes, the shape changing portions, the portions where obstacles exist, etc. are overcome. The main body is moved in the pipe and the arm is swung in the circumferential direction of the pipe, and high-pressure water is jetted from the water jet nozzle to the inner surface of the pipe to clean the inner surface of the pipe. The cleaning status is monitored by monitoring means.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a side view of an entire underwater cleaning device for pipes according to an embodiment of the present invention, and FIG.
-II line arrow, Fig. 3 shows the II-II line arrow in Fig. 1 for the rectangular pipe, and Fig. 4 shows the front of the in-pipe underwater cleaning device.

As shown in the figure, the main body 11 has a conical tubular shape in the front and rear, and has a shape to reduce fluid resistance. The main body 11 has three parts of a front part 12, a central part 13 and a rear part 14. It is composed by. The front part 12 and the central part 13 of the main body 11 are connected to each other by an expansion / contraction hydraulic cylinder 15 for expansion and contraction (expansion / contraction), and a universal joint 16 so as to be bendable.
2 and the central portion 13 are biased by a tension spring 17 in a non-bent state (straight state). That is, the telescopic hydraulic cylinder 15, the universal joint 16 and the tension spring 17 constitute the first connecting means.

Further, as shown in the drawing, between the central portion 13 and the rear portion 14 of the main body 11, there are two swing hydraulic cylinders for bending the central portion 13 and the rear portion 14 in a relatively horizontal right and left direction. 18 are arranged side by side, and by extending one of the swing hydraulic cylinders 18 and contracting the other swing hydraulic cylinder 18, the central portion 13 and the rear portion 14 are bent relatively horizontally in the horizontal direction. Further, the central portion 13 and the rear portion 14 are urged by a tension spring 19 in a non-bent state (straight state). That is, the two swing hydraulic cylinders 18 and the tension springs 19 form the second connecting means.

At the front portion 12 and the central portion 13 of the main body 11, there are provided telescopic type telescopic legs 20 which extend and contract in three directions in a reverse Y shape radially around the axis of the main body 11. It is adapted to expand and contract in two stages by a hydraulic cylinder (not shown). Also, on the rear portion 14 of the main body 11,
Telescopic expansion / contraction legs 22 are provided which extend / contract radially in two opposite V-shaped directions about the axis of the main body 11, and the expansion / contraction legs 22 are expanded / contracted in two steps by a hydraulic cylinder (not shown).

As shown in FIGS. 1, 2 and 3, driven wheels 24 are provided at the tip of the telescopic leg 20 on the upper side for the combined movement of the rectangular tube 80 and the circular tube 90, and A pad 25 for fixing the rectangular tube 80 and the circular tube 90 is provided at the tip of the telescopic leg 20 on the side, and the pad 25 is driven by a hydraulic cylinder 26 in the pressing direction (outside).

The tip of the lower telescopic leg 20 and the telescopic leg 22
As shown in FIGS. 1 and 2, a drive wheel 27 that is driven when moving with respect to the circular tube 90 is provided at the tip of the drive wheel 27. The drive wheel 27 has an electric motor 28 with a clutch / brake.
Driven by. Further, a pad 29 for fixing to the circular tube 90 is provided at the tip end of the telescopic leg 20 and the tip end of the telescopic leg 22 on the lower side, and the pad 29 is driven by the hydraulic cylinder 30 in the pressing direction (outside). . That is, the drive wheels 27 and the pads 29 for the circular tube 90 constitute the first traveling means.

Further, as shown in FIG. 3, drive wheels 31 which are driven when moving with respect to the rectangular tube 80 are provided at the tips of the telescopic legs 20 and 22 on the lower side. Is an electric motor 32 with a clutch / brake
While being driven, the drive wheels 31 are turned to the left or right during movement by an electric motor 33 serving as a steering mechanism for steering. Further, a pad 34 for fixing to the rectangular tube is provided at the tip end of the telescopic leg 20 and the tip end of the telescopic leg 22 on the lower side, and the pad 34 is driven by a hydraulic cylinder 35 in the pressing direction (outside). That is, the drive wheels 31 and the pads 34 for the rectangular tube 80 form the second traveling means. Drive wheels 31 for the rectangular tube 80,
Electric motors 32, 33, pads 34 and hydraulic cylinder 3
As shown in FIG. 2, the circular pipe 90 is retracted by the vertical hydraulic cylinder 36 so as not to interfere with the inner surface of the pipe.

As shown in FIGS. 1 and 4, the front portion 12 is provided with a front camera 37 for front monitoring and a lighting light 38. The front camera 37 and the lighting light 38 are driven by an electric motor 39 for vertical movement. The front camera 37 and the illuminating light 38 are horizontally swung by the left and right electric motors 40 while being vertically swung. An electric motor 41 for rotating the arm is attached to the center of the tip of the front portion 21, and an arm 42 is attached to the tip of the electric motor 41.
The arm 42 is supported so as to be vertically movable around its root, and the arm 42 is vertically driven by a hydraulic cylinder 43 for arm bending via a link mechanism. A telescopic hydraulic cylinder 45 for expanding and contracting the nozzle is supported at the tip of the arm 42, and the hydraulic cylinder 45 is vertically swung by an electric motor 47 for rotating the nozzle. Hydraulic cylinder 4
5 is provided with a water jet nozzle 44, and the water jet nozzle 44 is moved in the entire circumferential direction of the inner surface of the pipe by the pivotal drive and vertical drive of the arm 42 and the vertical swinging motion of the hydraulic cylinder 45. Central part 1 of the main body 11
A water pump 46 for water jet is mounted on the lower surface of 3, and high-pressure water is supplied from the water pump 46 to the water jet nozzle 44. At the rear end of the hydraulic cylinder 45, a monitoring camera 48 and a lighting light 49 as a monitoring means for monitoring the cleaning status are provided, and the monitoring camera 48 and the lighting light 49 are vertically swung by an up / down electric motor 50. It

The in-pipe submersible cleaning device 60 having the above-described structure is provided with the telescopic legs 2 of the front portion 12, the central portion 13 and the rear portion 14 of the main body 11.
0, 22 expansion and contraction, drive wheels 27, 31 drive and pads 29, 34 tension fixing, expansion and contraction hydraulic cylinder 15
The front part 12 and the center part 13 are bent and moved toward and away from each other, and the two head swing hydraulic cylinders 18 are driven to move the center part 13 and the rear part 14 in the horizontal direction.
These are alternately repeated to travel in the rectangular tube 80 and the circular tube 90. As shown in FIG. 1, the arm 42 is vertically positioned according to the dimensions of the pipe (rectangular pipe 80, circular pipe 90), and while rotating the arm 42, a water jet is ejected from a water jet nozzle 44 to form an inner surface of the pipe. Marine organisms and the like adhering to are removed over the entire circumference. In the case of the rectangular tube 80, since the distance from the water jet nozzle 44 becomes large in the direction of the corners, the water jet nozzle 44 is extended by the hydraulic cylinder 45. Since the operation control of the in-pipe underwater cleaning device 60 is all remotely controlled from outside the pipe, the control cable 51 and the hydraulic hose 52 are connected to the rear portion 14 of the main body 11.

Next, the procedure for moving the in-pipe underwater cleaning device 60 having the above-mentioned structure will be described with reference to FIGS. FIG. 5 shows the movement of the horizontal bend of the circular tube 90, and FIG. 6 shows the circular tube 9
7 shows the movement of the downward slope portion of 0, and FIG. 7 shows the movement of the stepped portion from the rectangular tube 80 to the circular tube 90.

The movement of the horizontal bend of the circular tube 90 will be described with reference to FIG. As shown in FIG. 5A, in the straight pipe portion, the front portion 12, the central portion 13 and the rear portion 1 of the main body 11 are provided.
The in-pipe underwater cleaning device 60 is self-propelled forward with the telescopic legs 20 and 22 of No. 4 stretched. As shown in FIG.
At the entrance of the bent portion of the pipe, the underwater pipe cleaning device 60 is self-propelled and advanced with only the telescopic legs 20 of the front portion 12 of the main body 11 being contracted. As shown in FIGS. 5C and 5D, the telescopic legs 20 and 22 of the central portion 13 and the rear portion 14 of the main body 11 are fixed to the inner wall of the pipe, and the telescopic hydraulic cylinder 15 is driven to drive the front portion 12 and the central portion 13. The connecting portion with and is bent and extended in the horizontal direction, and the telescopic legs 20 of the front portion 12 are extended. As shown in FIG. 5 (e), the telescopic legs 20 of the central portion 13 of the main body 11 are contracted, and the swing hydraulic cylinder 18 is driven to bend the connecting portion between the central portion 13 and the rear portion 14 and the front portion 12 of the front portion 12. The telescopic leg 20 is fixed to the inner wall of the pipe, and the telescopic hydraulic cylinder 15
The driving force causes the connecting portion between the front portion 12 and the central portion 13 to contract. As shown in FIG. 5 (f), the front portion 12 of the main body 11
The submersible cleaning device 60 in the pipe is self-propelled and advanced until the water passes through the bent portion of the pipe. As shown in FIG. 5 (g), after the front portion 12 of the main body 11 has passed through the bent portion of the pipe, the telescopic legs 20 of the central portion 13 of the main body 11 are extended and the telescopic legs 22 of the rear portion 14 are contracted. As shown in FIG. 5 (h), the main body 11
The in-pipe underwater cleaning device 60 is self-propelled forward until the rear portion 14 passes through the bent portion of the pipe. As shown in FIG. 5 (i),
By driving the swing hydraulic cylinder 18, the bending of the connecting portion between the central portion 13 and the rear portion 14 is restored, and the telescopic legs 2 of the rear portion 14 are returned.
The in-pipe underwater cleaning device 60 is self-propelled forward with the front part 12, the center part 13 and the rear part 14 of the main body 11 stretched and the stretchable legs 20, 22 of the main body 11 stretched. By the above procedure, the in-pipe underwater cleaning device 60 is moved at the horizontal bending portion of the circular tube 90 to clean the inner surface of the circular tube 90 having a change in shape. Similarly, the in-pipe underwater cleaning device 60 can be moved at a shape change portion such as a change in bifurcation of the circular pipe 90. Similarly, the in-pipe underwater cleaning device 60 can be moved by the shape changing portion of the rectangular pipe 80.

The moving condition of the descending slope portion of the circular pipe 90 will be described with reference to FIG. As shown in FIG. 6A, in the horizontal pipe portion, the front portion 12, the central portion 13 and the rear portion 14 of the main body 11 are provided.
The in-pipe underwater cleaning device 60 is self-propelled forward while the elastic legs 20 and 22 are stretched. As shown in FIG. 6 (b), at the entrance of the downward slope of the pipe, the telescopic legs 2 of the front part 12 of the main body 11
Telescopic legs 2 of the central part 13 and the rear part 14 are made to contract only 0
0 and 22 are fixed to the inner wall of the tube. As shown in FIG. 6C, the connecting portion between the front portion 12 and the central portion 13 is bent and extended downward by driving the telescopic hydraulic cylinder 15, and the telescopic legs 20 of the front portion 12 are extended. As shown in FIG. 6D, the main body 1
The telescopic legs 20 of the central portion 13 of No. 1 are contracted, and the telescopic hydraulic cylinder 15 is driven to contract the connecting portion between the front portion 12 and the central portion 13. As shown in Fig. 6 (e), the in-pipe underwater cleaning device 60 is self-propelled and advanced until the central portion 13 of the main body 11 reaches the downward slope of the pipe, and after the central portion 13 reaches the downward slope of the pipe of the pipe. Extend the telescopic legs 20 of the central portion 13. As shown in FIG. 6F, the telescopic legs 2 of the rear portion 14 of the main body 11
2 is contracted, and the in-pipe underwater cleaning device 60 is self-propelled and advanced until the rear portion 14 of the main body 11 reaches the downward slope of the pipe. As shown in FIG. 6 (g), after the rear portion 14 of the main body 11 reaches the downward slope of the pipe, the telescopic legs 22 of the rear portion 14 are extended. By the above procedure, the in-pipe underwater cleaning device 60 is moved at the descending slope portion of the circular pipe 90 to clean the inner surface of the circular pipe 90 having a change in shape. Similarly, the in-pipe underwater cleaning device 60 can be moved at the ascending slope of the circular pipe 90. Similarly, the in-pipe underwater cleaning device 60 can be moved at the slope of the rectangular pipe 80.

Based on FIG. 7, a rectangular tube 80 to a circular tube 90
The movement situation of the stepped portion to is explained. As shown in FIG. 7 (a), in the region of the rectangular pipe 80, the in-pipe underwater cleaning device 60 is self-propelled while the telescopic legs 20 and 22 of the front part 12, the central part 13 and the rear part 14 of the main body 11 are stretched. Let Figure 7
As shown in (b), at the entrance of the circular tube 90, the main body 11
Only the telescopic legs 20 of the front part 12 are contracted, and the in-pipe underwater cleaning device 60 is self-propelled forward until the front part 12 reaches the inside of the circular pipe 90. As shown in FIG. 7C, after the front part 12 of the main body 11 reaches the inside of the circular tube 90, the telescopic legs 2 of the front part 12 are
0 is extended and the telescopic leg 20 of the central portion 13 of the main body 11 is extended.
Contract. As shown in FIG. 7D, the in-pipe underwater cleaning device 60 is self-propelled and advanced until the central portion 13 of the main body 11 reaches the inside of the circular pipe 90. As shown in FIG. 7E, after the central portion 13 of the main body 11 reaches the inside of the circular tube 90, the telescopic legs 20 of the central portion 13 are extended and the telescopic legs 2 of the rear portion 14 are extended.
Shrink 2 As shown in FIG. 7F, the in-pipe underwater cleaning device 60 is self-propelled and advanced until the rear portion 14 of the main body 11 reaches the inside of the circular pipe 90. As shown in FIG. 7G, after the rear portion 14 of the main body 11 reaches the inside of the circular tube 90, the rear portion 1
The telescopic legs 22 of No. 4 are extended and the in-pipe underwater cleaning device 60 is self-propelled forward in the circular pipe 90. By the above procedure, the rectangular tube 8
The in-pipe underwater cleaning device 60 is moved at the step portion from 0 to the circular pipe 90 to clean the inner surfaces of the rectangular pipe 80 and the circular pipe 90. Similarly, the in-pipe underwater cleaning device 60 can be moved at the step portion between the rectangular tubes 80 having different diameters or the circular tubes 90. Similarly, the in-pipe underwater cleaning device 6 is provided by overcoming the corrosion preventing electrode plate 53 (see FIG. 2) existing in the lower portion of the pipe and the convex portion formed by the sealing material at the joint of the pipe (not shown).
You can move 0.

The in-pipe underwater cleaning device 60 described above includes the main body 1
By stretching the telescopic legs 20 and 22 of 1 to the tube, the main body 11 is always held at the center of the tube,
Since the swiveling reaction force of the arm 42 and the reaction force of the water jet at the time of cleaning are received, stable cleaning work can be performed under a high-speed water flow. In addition, since the main body 11 is held by stretching the telescopic legs 20 and 22 that expand and contract in two steps with respect to changes in the pipe diameter, it is possible to sufficiently support the main body 11 even when the change in diameter is large. Can be held in the center of. Further, even if the tube shape and size change from the rectangular tube 80 to the circular tube 90, the expansion / contraction leg 2 is formed by the dedicated drive wheels 27, 31 and the pads 29, 34 according to each shape.
Since a strong tension force of 0 or 22 is obtained, the friction coefficient to the wall surface of the pipe becomes large, the driving force and the holding force can be obtained without being affected by the fluid drag force, and a stable large moving force can be obtained. it can.

Therefore, the in-pipe underwater cleaning device 60 can be used under a high-speed water flow even if there is a large dimensional change or shape change in the pipe, and there are obstacles such as the electrode plate 53 at the bottom of the pipe. Can be used under high speed water flow and can be applied to cleaning a wide range of pipes.

[0024]

INDUSTRIAL APPLICABILITY The underwater pipe cleaning apparatus of the present invention can be used under a high-speed water flow even if there is a large dimensional change or shape change in the pipe, and there is an obstacle such as an electrode plate at the bottom of the pipe. However, since it can be used under a high-speed water flow and can be applied to cleaning a wide range of pipes, it is possible to move and clean under a high-speed water flow, which was difficult in the past, without stopping the power plant. , The operation rate of the power plant is improved and the economic efficiency is improved. In addition, since it can be easily applied regardless of the shape and dimensional change of the pipe and obstacles, it can be applied universally to various places, and the use efficiency of the device is significantly improved.
In addition, by applying it to a power plant, it is possible to perform cleaning work with a short interval, suppress the adhesion and growth of marine organisms, and eliminate the need for collection work and disposal when a large amount of marine organisms accumulate. Become.

[Brief description of drawings]

FIG. 1 is an overall side view of an in-pipe underwater cleaning device according to an embodiment of the present invention.

FIG. 2 is a view of a circular tube taken along the line II-II in FIG.

FIG. 3 is a view of the rectangular tube taken along the line II-II in FIG.

FIG. 4 is a front view of an in-pipe underwater cleaning device.

FIG. 5 is an explanatory view of a moving state of a horizontal bending portion of a circular tube.

FIG. 6 is an explanatory diagram of a moving state of a descending slope portion of a circular pipe.

FIG. 7 is an explanatory view of a movement state of a step portion from a rectangular tube to a circular tube.

FIG. 8 is an overall view of a conventional in-pipe underwater cleaning device.

[Explanation of symbols]

 11 main body 12 front part 13 central part 14 rear part 15 telescopic hydraulic cylinder 18 oscillating hydraulic cylinder 20,22 telescopic leg 24 driven wheel 25,29,34 pad 26,30,35,43,45 hydraulic cylinder 27,31 drive wheel 42 Arm 44 Water jet nozzle 46 Water pressure pump 60 Underwater cleaning device in tube 80 Rectangular tube 90 Circular tube

Claims (1)

[Claims] 1. An in-pipe underwater cleaning device for self-propelled in a pipe to remove and clean deposits adhering to the inner surface of the pipe, wherein a main body is divided into a front portion, a central portion and a rear portion, and a front portion and a central portion of the main body. And a first connecting means for connecting the front part and the central part so as to be bendable and movable toward and away from each other, and provided between the central part and the rear part of the main body so that the central part and the rear part can be bent horizontally. The second connecting means for connecting, the telescopic legs which are respectively provided at the front part, the central part and the rear part of the main body and expand and contract in a radial direction of the pipe, and the drive wheel and the pressing pad for the circular pipe provided at the tip of the telescopic leg. A first traveling means having the same, a second traveling means provided at the tip of the telescopic leg and having a drive wheel for a rectangular tube and a pressing pad, a steering mechanism for steering the drive wheel of the second traveling means, and a front portion of the main body. The base end is rotatably supported in the front and It is characterized by comprising an arm whose end is rotatable in the circumferential direction of the pipe, a water jet nozzle which is stretchably supported by the tip of the arm and ejects high-pressure water to the inner surface of the pipe, and a monitoring means for monitoring the cleaning section. Underwater cleaning device for pipes.