JPH0985206A - Device for removing foreign matter sticking to the interior of pipe - Google Patents

Abstract

PURPOSE: To provide a device for completely recovering and removing foreign matter sticking to the interior of a pipe while scraping the foreign matter. CONSTITUTION: A support member 10 is fixed to the main body 2 of a traveling frame 1 moving inside a pipe 30. In addition, a head 12 for removing foreign matter sticking to the inner wall of the pipe 30 is attached to the tip of an arm 11 which is freely expandable in an orthogonal direction with the shaft core of a rotatary shaft 4 for the support member 10 and is pressed against the inner wall surface 31 of the pipe 30 with a specified pressing force. Further, a cylindrical recovery duct 16 interlocked with the arm 11 and freely expandable is arranged in the arm 11. On the other hand, the support member 10 communicating with the recovery duct 16 is connected to a discharge duct 17 behind a guide hole formed on the rotating shaft 4. Thus, it is possible to prevent the water being fouled by the scraped foreign matter or sludge to the maximum allowable extent. Besides, it is possible to maintain a strict observation of the operation and, at the same time, prevent the foreign matter from being insufficiently scraped off. In addition, the foreign matter is totally recovered to an outside recovery device, so that it is so longer almost entirely flown into the ocean and the river. Thus, the problem of an environmental pollution in the ocean and the river can be solved and the operating efficiency can be enhanced.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a machine for scraping and removing barnacles, oysters and other shellfish attached to and propagating on the inner wall surface while self-propelled in a pipe such as a drain pipe. The present invention relates to an adhering matter removing device equipped with a device that is attached to a traveling traveling vehicle and that collects adhering substances scraped off by a removing head.

[0002]

2. Description of the Related Art In nuclear power plants, thermal power plants, steel mills, sewage treatment plants, etc., which have been spotlighted in recent years, their wastewater is sufficiently filtered before being discharged into the sea or rivers. Barnacles, oysters and other shellfish wrapped in calcareous shells adhere and multiply on the inner wall of the pipe installed for drainage, so the inner diameter of the pipe becomes smaller when used for many years, so There is a problem that the prescribed drainage specified at the time of design cannot be obtained. Therefore, conventionally, a diving worker enters the inside of the pipe to periodically remove the shellfish, and uses a tool to scrape off the shellfish attached to the inner wall surface.

However, in this method, the diving work time of the diving worker is limited, and since the work is performed while diving, the fatigue of the worker increases, and it takes a long time to complete this work. I needed it. Moreover, the skill of the diving operator is required, the danger is high, and the operation cost is high. Therefore, as an alternative, an unmanned submersible vehicle has now been developed to periodically remove this shellfish, which is sent into a submerged vipe to allow operators on the ground to move on screen. A method of removing deposits by remote control while monitoring has become common.

An example of an unmanned work vehicle for performing such work is shown in FIGS. 6 and 7. In FIG. 6, 101 is a self-propelled traveling body for moving inside the pipe 130, and this traveling body 101 is provided with thrust means 102 for propulsion for moving forward or backward. Further, as shown in FIG. 7, the traveling body 101 has a posture control means 1 for controlling the posture in the circumferential direction in water.
03 are attached to both sides of the center line of the traveling body 101, and the traveling body 101 is mounted on a plane orthogonal to the traveling direction.
Rotates about the center line or contacts the inner wall surface 131 in the pipe 130. Furthermore, this traveling body 1
Reference numeral 01 indicates a rotary plate 105 in which a large number of brush-shaped scraping rods 104 are planted at two locations in the radial direction while contacting the inner wall surface 131 of the pipe 130 to rotate and scrape off deposits such as shellfish on the inner wall surface 131. The removal device 112 is provided and removes the adhering substances with the scraping rod 104 while moving in contact with the inner wall surface 131 of the pipe 130.

[0005]

However, this running body is not suitable for the work of scraping off the deposits in the pipe.
Due to work in water, the whole traveling body receives buoyancy, and during operation, it floats up from the inner wall surface of the pipe, which causes problems such as insufficient work. The propulsive force for maintaining the posture is exerted by the posture control means that presses it so as to contact the inner wall surface of the. For this reason, the water in the pipe is constantly stirred by this attitude control means, and the water in the vip is scratched off by deposits, sludges, etc., and the work cannot be monitored. Since it cannot always be confirmed whether or not it has been removed, work efficiency is low due to defective scraping. In addition, since the adhered matter scraped off is flown from the pipe to the sea or river as it is, it causes sludge and the like, which leads to environmental pollution of the sea and river.

A first object of the present invention is to solve the above-mentioned problems and to provide a removing device for completely recovering the adhered substances scraped off while scraping the adhered substances.
A second object is to provide a removing device that reliably presses the removing head against the inner wall surface of the pipe to efficiently scrape off adhered substances.

[0007]

SUMMARY OF THE INVENTION A first object of the present invention is to:
The support member 10 is fixed to the main body 2 of the traveling body 1 moving forward in the cylindrical pipe 30 via the rotary shaft 4, and the support member 10 is expanded and contracted in a direction orthogonal to the axis of the rotary shaft 4. A removal head 12 is attached to the tip of a free arm 11, and the arm 1 between the removal head 12 and the support member 10 is attached.
A tubular recovery duct 16 that can expand and contract in the same way
On the other hand, the discharge duct 17 is connected to the rear of the guide hole formed in the rotation shaft 4 and the support member 10 communicating with the recovery duct 16.

The second object of the present invention is achieved by constantly pressing the removal head 12 attached to the inner wall surface 31 of the pipe 30 via the arm 11 with a predetermined pressing force.

[0009]

Function: The traveling body 1 is attached to the pipe 3 on the inner wall surface 31 of the pipe 30.
It is arranged so as to be located on the center line of 0, and the arm 11 attached to the tip of the rotating shaft 4 of the traveling body 1 via the support member 10 is rotated to move the removing head 12 to the inner wall surface 31 of the pipe 30. Move along the circumference of. As a result, the removing head 12 forms the scraping roller 1 which constitutes the removing head 12.
3 moves the inner wall surface 31 of the pipe 30 in the circumferential direction while scraping off the attached matter. At this time, the adhered matter scraped off from the recovery port 15 formed at the bottom of the removal head 12 is discharged through the recovery duct 16 and the guide hole to the discharge duct 17.
Is sucked and discharged from.

As described above, during the scraping operation while the removing head 12 is moving, the adhering substances are sucked into the recovery duct 16 and discharged, so that water is turbid in the pipe 30 during the scraping operation. Is less likely to occur, work is easier to monitor, and work efficiency is improved. Further, since the collected materials can be collectively discarded and handled, workability is improved.

The recovery duct 16 operates integrally with the expansion and contraction of the arm 11, and the arm 11 constantly presses the removal head 12 against the inner wall surface 31 of the pipe 30 with a predetermined force. For this reason, the removal head 12 is
Since it can move reliably along the inner wall surface 31 of 0, even if the pipe 30 is not a perfect circle and is bent and deformed into an elliptical shape, the pipe 30 can always contact accurately.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. In FIG. 1, reference numeral 1 denotes a traveling body that moves in a pipe 30, and a supporting member 10 is fixed to a main body 2 of the traveling body 1 via a rotary shaft 4 at a tip in a traveling direction. The rotary shaft 4 is configured to be rotated by a rotary drive source (not shown) built in the main body 2 of the traveling body 1. An extendable arm 11 having a removal head 12 attached to the support member 10 at a radial end orthogonal to the support member 10 is fixed, and the removal head 12 is fixed to the inner wall surface 31 of the pipe 30 by the arm 11. The removal head 12 is constantly pressed by the pressing force, and the removal head 12 is rotated by the rotation of the rotary shaft 4.
It is configured to move along the inner wall surface 31 in the circumferential direction. An elastic body 18 such as a spring or rubber is interposed between the arm 11 and the removing head 12 so as to absorb the vibration of the removing head 12.

As shown in FIGS. 4 and 5, the removing head 12 has a cylindrical scraping roller at the front portion in the direction in which the inner wall surface 31 of the vip 30 moves in the circumferential direction. The removing head 12 is rotatably supported via a rotary drive source (not shown) built in the removing head 12, and a guide wheel 14 is rotatably supported at the rear portion of the removing head 12. A recovery port 15 is provided at the bottom of the removal head 12 between the scraping roller 13 and the guide wheel 14.
The recovery port 15 is connected to the inside of the arm 11 at one end of a recovery duct 16 which expands and contracts in conjunction with the expansion and contraction of the arm 11. The other end of the recovery duct 16 is connected to one end of a guide hole (not shown) formed in communication with the support member 10 on the center line of the rotary shaft 4, and the guide hole is the main body of the traveling body 1. It extends in 2 to the rear. As shown in FIG. 2, the other end of the guide hole is connected to the other end of the discharge duct 17 which has one end extending to the outside through a suction device (not shown) and is scraped by the removal head 12. The attached matter is sucked from the recovery port 15 and discharged to the outside.

Further, as shown in FIG. 2, sliders 3 which are slidable around their outer circumferences in the axial direction are provided in front of and behind the main body 2 of the traveling body 1. The sliders 3 approach each other in synchronization with each other. Or, it is a structure that separates. Links 21 constituting the legs 20 are pin-connected to the sliders 3, respectively, and the links 21 are a pin-link mechanism in which they are pin-connected in the middle. The leg portion 20 of the pin / link mechanism is entirely expandable / contractible by the approaching / separating operation of the slider 3. Moving blocks 22 are pin-coupled to the ends of the legs 20, respectively, and a rotary drive source (not shown) separately provided at the front parts on both sides of the moving block 22.
Drive wheels 23 rotated by are provided as shown in FIG. The rotary drive source may also serve as a rotary drive source (not shown) built in the main body 2 of the traveling body 1. In this case, the drive of each moving block 22 is performed via a rotation transmission mechanism (not shown). It is configured to be transmitted to the wheel 23. Alternatively, the rotary drive source may be incorporated in each moving block 22.

Behind the drive wheel 23 are driven wheels 24, 2.
A plurality of rows 5 and 26 are arranged in a line, and the driven wheels 24, 25 and 26 are arranged on both sides of the moving block 22, respectively. As shown in FIG. 2, the drive wheel 23 and the driven wheels 24, 25 and 26 of the moving block 22 are the leg portions 2 as shown in FIG.
The extension operation of 0 pushes against and makes contact with the inner wall surface 31 of the pipe 30 in the horizontal direction.
The main body 2 of the traveling body 1 is always supported on the center line of the vip 30 by arranging the main body 2 on both sides of the main body 2 which face each other in the horizontal direction.

Further, the pressing force of the leg portion 10 is such that the center thereof is located between the frontmost driven wheel 24 and the rearmost driven wheel 26 among the driven wheels 24, 25 and 26. It is arranged. This is a position slightly outside each of the frontmost driven wheel 24 and the rearmost driven wheel 24, which are rotatably attached to the moving block 22 at the tips of the pin and link mechanisms constituting the retractable leg portion 20. This is made possible by pin-joining the movable block 22 and the vertical movement of the moving block 22 is prevented.

Therefore, as shown in FIGS. 1 and 2, the self-propelled traveling body 1 enters the pipe 30, and the leg portion 20 is extended in advance in accordance with the inner diameter of the pipe 30 to move the moving block 22. Drive wheel 23 and driven wheels 24, 25, 26
Is pressed against the inner wall surface 31 of the pipe 30 to be grounded. As a result, in the main body 2 of the traveling body 1, the moving block 22 slides along the inner wall surface 31 of the pipe 30, so that the leg 20 is located on the center line of the pipe 30 in the most extended state. On the other hand, as shown in FIG. 3, the arm 11 attached to the rotary shaft 4 also extends, and the removal head 12 is pressed against the inner wall surface 31 of the vipe 30. After that, the drive wheel 23 of the moving block 22 is rotated by the rotary drive source and the moving block 22 moves forward.
Will move forward together with this. Drive wheel 2 when moving forward
Since the toe angle is given to 3, the traveling body 1 moves while keeping its posture without being displaced from the center of the pipe 30.

When the movement is started in such a state, at the same time, the arm 11 attached to the rotary shaft 4 turns, and the removal head 12 moves in the circumferential direction of the pipe 30, so that the removal head 12 adheres to the inner wall surface 31 of the pipe 30. The attached matter is scraped off by the scraping roller 13 shown in FIGS. 4 and 5. Since the adhered matter scraped off is sucked from the recovery port 15 of the removal head 12, it passes through the recovery duct 16 and the guide 6, and is discharged from the discharge duct 17 to the outside. During this operation, the traveling body 1 continues to move forward in synchronization with the swiveling movement of the removing head 12, so that the removing head 12 moves toward the inner wall surface 3 of the pipe 30.
1, the locus of movement is spiral, and the inside of the pipe 30 can be reliably scraped off by one movement of the traveling body 1 in front of the traveling body 1.

If the pipe 30 has a perfect circular shape, the arm 11 to which the removing head 12 is fixed and the recovery duct 16 are provided.
Need not be expanded and contracted in accordance with the predetermined extension, but when the pipe 30 is deformed and the traveling body 1 is displaced from the center of the pipe 30, the arm 11 And recovery duct 1
Reference numeral 6 expands and contracts so that a constant pressing force is given by the movement of the removing head 12. By this operation, the removal head 12 can always move along the inner wall surface 31 of the pipe 30, and the scraping failure of the adhered matter is eliminated.

[0020]

As is apparent from the above-described embodiments of the present invention, the support member 10 is fixed to the main body 2 of the traveling body 1 moving forward in the cylindrical pipe 30 through the rotary shaft 4, The support member 10 is expandable / contractible in a direction orthogonal to the axis of the rotary shaft 4 and has a predetermined pressing force.
The removal head 12 is attached to the tip via the arm 11 pressed against the inner wall surface 31 of the
Between the arm 11 and the arm 11, an expandable and contractible tubular recovery duct 16 is arranged. On the other hand, the support member 10 communicating with the recovery duct 16 and a guide hole formed in the rotary shaft 4 are provided. The exhaust duct 17 is connected to the rear side.

Therefore, the water in the pipe is less likely to be turbid due to the adhered substances scraped off or sludge, so that this work can be monitored reliably and the defective scraping of the adhered substances on the inner wall surface does not occur. . In addition, since all the scraped deposits can be collected by an external collection device (not shown) and discarded, it is unlikely to be washed into the sea or river, which leads to environmental pollution of the sea or river. Is solved, and excellent effects such as improved work efficiency can be obtained.

[Brief description of drawings]

FIG. 1 is a sectional front view showing the present invention.

FIG. 2 is a bottom view of FIG.

FIG. 3 is a side view of a main part of FIG. 1;

FIG. 4 is an enlarged front view of a main part of the present invention.

FIG. 5 is an enlarged bottom view of the removal head of the present invention.

FIG. 6 is an overall external front view showing a conventional example.

FIG. 7 is a side view showing a working state of a conventional example.

[Explanation of symbols]

 1 Traveling Body 2 Main Body 3 Slider 4 Rotating Shaft 10 Supporting Member 11 Arm 12 Removing Head 13 Scraping Roller 14 Guide Wheel 15 Recovery Port 16 Recovery Gact 17 Exhaust Duct 18 Elastic Body 20 Leg 21 Link 22 Moving Block 23 Drive Wheel 24 Secondary Driving wheel 25 Driven wheel 26 Driven wheel 30 Pipe 31 Inner wall surface

Claims (2)

[Claims] 1. A support member 10 is fixed to a main body 2 of a traveling body 1 moving forward in a cylindrical pipe 30 via a rotary shaft 4, and the support member 10 is fixed to the support member 10 with respect to the axis of the rotary shaft 4. A removal head 12 is attached to the tip of an arm 11 which is expandable and contractible in a direction orthogonal to each other, and a cylindrical recovery duct 16 which is expandable and retractable in the arm 11 between the removal head 12 and the support member 10 is interlocked therewith. While the recovery duct 1
6. An adhering matter removing device in a pipe, characterized in that an exhaust duct 17 is connected to a rear side of a guide hole formed in the rotary shaft 4 and the support member 10 communicating with 6. 2. The deposit removing device in a pipe according to claim 1, wherein the arm constantly presses the removal head 12 attached to the inner wall surface 31 of the pipe 30 with a predetermined pressing force.