JPH11240070A - Pipe interior working robot unit, branch pipe investigating method, and branch pipe lining method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a pipe interior working robot unit capable of being easily introduced even into a main pipe with a small diameter. SOLUTION: A robot unit 1 is constituted by connecting a separate apparatus A supporting the TV camera 2 (or branche pipe lining material) introduced into a branch pipe and a separate apparatus B having the function moving the separate apparatus A into a main pipe 50 to set the insertion end of the TV camera 2 (or branch pipe lining material) to a branch pipe opening end by a foldable universal joint (connection means).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot unit for working in a pipe, a branch pipe inspection method using the same, and a branch pipe lining method.

[0002]

2. Description of the Related Art An in-pipe work robot is introduced into a pipe,
While monitoring the inside of the pipeline on the ground with a TV camera, the in-pipe work robot is remotely operated to investigate the inside of the pipeline, and after the lining, a portion that closes the branch pipe opening of the lining material is perforated.

[0003] In recent years, it has been practiced to investigate the inside of a small-diameter branch pipe that joins a main pipe such as a sewer pipe or to line the branch pipe. For this reason, it has become necessary to set the TV camera or the branch pipe lining material to be introduced into the branch pipe and their insertion ends in the branch pipe opening.

[0004]

However, some main pipes such as sewer pipes have a diameter of 300 m / m or less.
In order to add a function for working in a branch pipe to the in-pipe work robot introduced into such a small-diameter main pipe, the only method is to make the in-pipe work robot horizontally and elongated with respect to the main pipe into a unit. Did not.

[0005] However, since the diameter of the manhole opening on the ground is relatively small at φ900 m / m, the length is 900 mm.
It was difficult to introduce a unit of m / m or more from the manhole into the main pipe. Further, it has not been easy to divide the unit into a plurality of units for each function and introduce them into the main pipe, and to connect them to each other in the manhole.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and has as its object to provide an in-pipe working robot unit which can be easily introduced into a small-diameter main pipe, and to use the same to investigate and line a branch pipe. It is an object of the present invention to provide a branch pipe inspection method and a branch pipe lining method that can surely perform the method.

[0007]

In order to achieve the above object, the invention according to claim 1 is directed to a separate apparatus A for supporting a TV camera or a branch pipe lining material introduced into a branch pipe.
And moving the separating device A in the main pipe to
The in-pipe operation robot unit is configured by connecting a separating device B having a function of setting an insertion end of a camera or a branch pipe lining material to a branch pipe opening by a bendable connecting means.

According to a second aspect of the present invention, in the first aspect of the invention, the separating device A includes a hard cable formed by attaching the TV camera to a distal end thereof, and the hard cable is moved forward and backward by a driving force of fluid pressure. It is characterized by having driving means for driving.

According to a third aspect of the present invention, in the first aspect of the present invention, the separator A is formed by folding one end of a tubular resin adsorbent impregnated with an uncured curable resin to form a flange at that portion. A first pressure bag that supports the flange portion of the branch pipe lining material and presses it against the peripheral edge of the branch pipe opening, and a second pressure bag that stores a portion other than the flange portion of the branch pipe lining material It is characterized by having.

A fourth aspect of the present invention is characterized in that, in the first aspect of the present invention, the connecting means is a universal joint made of metal, plastic, or a composite of metal and plastic.

According to a fifth aspect of the present invention, there is provided a separating apparatus A for supporting a TV camera introduced into a branch pipe, and moving the separating apparatus A within the main pipe to set an insertion end of the TV camera at an opening of the branch pipe. The branch device A or B is used as a branch pipe inspection method constructed using a pipe working robot unit configured by connecting a separate device B having a function of performing bending by a bendable connecting means.
One of which is substantially horizontal to the main pipe and the other is not horizontal to the main pipe in the manhole, and the robot unit for working in a pipe is introduced into the main pipe and moved to separate it. The TV camera supported by the device A is inserted into the branch pipe from the main pipe, and the inside of the branch pipe is inspected by the TV camera.

According to a sixth aspect of the present invention, in the fifth aspect of the present invention, the TV camera is attached to a tip of a hard cable, and the heart cable is moved forward and backward by a driving force of fluid pressure to move the TV camera in the branch pipe. It is characterized in that it is made to be.

According to a seventh aspect of the present invention, there is provided a separation apparatus A for supporting a branch pipe lining material introduced into a branch pipe, and moving the separation apparatus A within the main pipe to set an insertion end of the branch pipe lining material in the branch pipe. As a branch pipe lining method constructed using a pipe working robot unit configured by connecting a separating device B having a function of setting to an opening by a bendable connecting means, any of the separating devices A or B The robot unit for working in a pipe is introduced into the main pipe so that one of the pipes is substantially horizontal to the main pipe and the other is not horizontal to the main pipe in the manhole, and the robot unit is moved. The branch pipe lining material supported by the main pipe is inserted into the branch pipe from the main pipe, and the branch pipe is lined with the branch pipe lining material.

According to an eighth aspect of the present invention, in the invention of the seventh aspect, the branch pipe lining material is formed by folding one end of a tubular resin adsorbent impregnated with an uncured curable resin to form a flange at that portion. The first pressure bag supporting the flange portion of the branch pipe lining material is inflated by a pressurized fluid to press the flange portion of the branch pipe lining material against the periphery of the branch pipe opening, and the branch pipe lining material is formed. A state in which a pressure fluid is supplied to a second pressure bag accommodating a portion other than the flange portion, and the branch pipe lining material is invertedly inserted from the main pipe into the branch pipe, and the branch pipe lining material is pressed against the inner wall of the branch pipe. Thus, the curable resin impregnated therein is cured.

Therefore, according to the present invention, when investigating or lining the inside of a branch pipe using the in-pipe working robot unit, one of the separating devices A and B of the in-pipe work robot unit is substantially horizontal with respect to the main pipe. And the other separator device B (or A) connected to the separator device A (or B) is introduced into the main tube such that it is not horizontal to the main tube. Therefore, it is possible to easily introduce the in-pipe working robot unit longer than the diameter of the manhole into the small-diameter main pipe, and to use the in-pipe working robot unit to reliably investigate the inside of the branch pipe or line the branch pipe. be able to.

[0016]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

<Branch Inspection Method> First, a branch pipe inspection method using the in-pipe work robot unit according to the present invention is shown in FIGS.
This will be described with reference to FIG.

1 to 3 are sectional views showing a branch pipe inspection method according to the present invention in the order of steps. In the drawings, reference numeral 50 denotes a main pipe such as a sewer pipe, and 51 denotes a small-diameter branch which joins the main pipe 50. The pipe 52 is a manhole that opens to the ground.

The in-pipe work robot unit 1 according to the present invention is also used in the branch pipe inspection method according to the present invention.
And a separating device B having a function of moving the separating device A in the main pipe 50 to set the insertion end of the TV camera 2 in the branch pipe opening. Are connected by a bendable universal joint 3. The universal joint 3 is made of metal, plastic, or a composite of metal and plastic.

The separating device A has an L-shaped elbow-shaped guide tube 4 and a flexible pressure hose 5, and the guide tube 4 and the pressure hose 5 have a predetermined rigidity. Is passed through the hard cable 6. The TV camera 2 is attached to one end of the hard cable 6 extending from the tip of the guide tube 4, and the other end of the hard cable 6 extending from the rear end of the pressure hose 5 is connected to the ground. It is connected to the installed monitor device 7.

A pig 8 as a piston member that slides in the pressure hose 5 is attached to the hard cable 6 introduced into the pressure hose 5. It is partitioned into S1 and room S2. Each of the chambers S1 and S2 has an air hose 9,1.
0 is connected to each of the air hoses 9, 10
Are connected to compressors 11 and 12 installed on the ground, respectively. Valves 13 and 14 are mounted in the middle of one air hose 9, and valves 15 and 16 are mounted on the other air hose 10.

On the other hand, the separating device B has a working robot 17, which is driven by hydraulic pressure, and whose head 17a moves back and forth in the direction of the arrow shown in FIG. , And a hydraulic cylinder 18 is installed on the head 17a. The universal joint 3 is connected to a rod of the hydraulic cylinder 18 that moves up and down in the direction indicated by the arrow.

The working robot 17 has a hydraulic hose 1
9 and a tow rope 20 are connected, and a T
A V camera 21 is provided. The hydraulic hose 19 is connected to a hydraulic pump (not shown) installed on the ground, and the tow rope 20 is extended to the ground and the TV camera 2
1 is connected via an electric cable 22 to a monitor device (not shown) installed on the ground.

In order to inspect the inside of the branch pipe 50 shown in FIG. 3 using the in-pipe working robot unit 1 according to the present invention, as shown in FIG. The unit 1 is introduced from the manhole 52 into the main pipe 50. That is, the in-pipe working robot unit 1 is introduced into the main pipe 50 in such a manner that the separation apparatus B comes first so that it is substantially horizontal to the main pipe 50, and the separator apparatus A connected to the separator apparatus B is a manhole 52. And is introduced into the main pipe 50 so as to be substantially vertical. At this time, the universal joint 3 bends at a substantially right angle to allow a substantially vertical posture in the manhole 52 of the separator device A.

As described above, when the separator devices A and B of the in-pipe working robot unit 1 are both introduced into the main pipe 50, as shown in FIG. They are connected horizontally in a straight line, and these are pulled
It moves integrally within 0.

During the movement of the in-pipe working robot unit 1 in the main pipe 50, the inside of the main pipe 50 is monitored by the TV camera 21 installed in the working robot 17, and as shown in FIG. When the camera 2 reaches the branch pipe opening (the part where the branch pipe 51 opens to the main pipe 50),
The movement of the in-pipe work robot unit 1 is stopped.

Next, the compressor 1 installed on the ground
1 is driven to supply compressed air from the air hose 9 to one chamber S1 of the pressure hose 5, and the air in the other chamber S2 is released from the air hose 10 to the atmosphere. To move the hard cable 9 in the same direction, the TV camera 2 attached to the tip of the hard cable 9 is inserted from the main pipe 50 into the branch pipe 51 and moves upward, and conversely drives the compressor 12 When the compressed air is supplied from the air hose 10 to the chamber S2 of the pressure hose 5 and the air in the other chamber S1 is released into the atmosphere from the air hose 9, the pig 8 retreats in the pressure hose 5 and hardens. In order to move the cable 6 in the same direction, the TV camera 2 attached to the tip of the hard cable 6
Move down inside. By moving the TV camera 2 up and down in the branch pipe 51 in this way, the inside of the branch pipe 51 can be investigated by the TV camera 2, and the image in the branch pipe 51 taken by the TV camera 2 is set on the ground. Monitor 7 (see FIG. 1).

As described above, when inspecting the inside of the branch pipe 50 using the in-pipe working robot unit 1 according to the present invention, the in-pipe working robot unit 1 The separator device A is introduced into the main pipe 50 so as to be substantially horizontal, and the separator device A connected to the separator device B is introduced into the main pipe 50 so as to be substantially vertical in the manhole 52.
/ M or less, it is possible to easily introduce the in-pipe working robot unit 1 longer than the diameter of the manhole 52 (φ900 m / m) into the main pipe 50 having a small diameter. The investigation inside the pipe 51 can be performed reliably.

<Branch Pipe Lining Method> Next, a branch pipe lining method using the in-pipe work robot unit according to the present invention will be described with reference to FIGS.

4 to 8 are sectional views showing the branch pipe lining method according to the present invention in the order of steps. In these figures, the same elements as those shown in FIGS. Therefore, the description thereof will be omitted below.

The in-pipe work robot unit 1 used in the branch pipe lining method according to the present invention is also used in the branch pipe lining method. A separating device A for supporting the pipe lining material 23 and the separating device A
And a separating device B having a function of setting the insertion end of the branch pipe lining member 23 in the branch pipe opening by moving the branch pipe lining member 23 in the branch pipe lining material 23 by a bendable universal joint 3. Here, since the separator device B is the same as that of the in-pipe working robot unit 1 (see FIGS. 1 to 3) used in the branch pipe inspection method, only the configuration of the separator device A will be described below.

The separating device A supports the flange portion 23a of the lateral pipe lining material 23 formed by folding back one end of a tubular resin adsorbent impregnated with an uncured curable resin and forming a flange portion 23a at that portion. And a second pressure bag 25 for accommodating a portion of the branch pipe lining material 23 other than the flange portion 23a. , 25 are provided with compressors 26, 27 installed on the ground, and air hoses 28, 2
9 and connected to each other via a tow rope 3
0 and 31 are respectively connected.

To line the branch pipe 51 shown in FIG. 6 using the in-pipe work robot unit 1 according to the present invention, as shown in FIG. 4, the in-pipe work robot unit assembled on the ground is used. 1 from the manhole 52 to the main pipe 5
Introduce into 0. That is, the in-pipe work robot unit 1
Is introduced into the main pipe 50 in such a manner that the separating apparatus B comes first so as to be substantially horizontal to the main pipe 50, and the separator apparatus A connected to the separator apparatus B is a manhole 5.
It is introduced into the main pipe 50 so as to be substantially vertical inside the main pipe 50. At this time, the universal joint 3 bends at a substantially right angle to allow a substantially vertical posture in the manhole 52 of the separator device A.

When the separator devices A and B of the in-pipe working robot unit 1 are both introduced into the main pipe 50 as described above, as shown in FIG. They are connected horizontally in a straight line, and these are pulled
It moves integrally within 0.

During the movement of the in-pipe working robot unit 1 in the main pipe 50, the inside of the main pipe is monitored by the TV camera 21 installed in the working robot 1, and as shown in FIG. Flange 23 of material 23
a is the branch pipe opening (the part where the branch pipe 51 opens to the main pipe 50)
Is reached, the movement of the in-pipe work robot unit 1 is stopped.

Next, the compressor 2 installed on the ground
6 (see FIG. 4) to drive the compressed air to the air hose 2
8 to the first pressure bag 24. Then, the first pressure bag 24 expands, and the flange 23a of the branch pipe lining material 23 is pressed against the branch pipe opening periphery as shown in the figure,
In this state, the compressor 27 (see FIG. 4) installed on the ground is driven to supply compressed air from the air hose 29 into the second pressure bag 25. Branch pressure 51
Is inserted upside down from the main pipe 50 side toward the ground.
At this time, the inside of the branch pipe 51 is filled with T
It is monitored on the ground by the V camera 32.

When the branch pipe lining material 23 is reversely inserted into the branch pipe 51 over its entire length as shown in FIG. 7 as described above, the branch pipe lining material 23 is pressed against the inner wall of the branch pipe 51. If the curable resin impregnated in the branch pipe lining material 23 is hardened by any means in this state, the branch pipe 51 is lined and repaired by the hardened branch pipe lining material 23.

Thereafter, the compressed air is released from the pressure bags 24, 25 to contract the pressure bags 24, 25. For example, the pulling rope 20 is pulled leftward in FIG. If it is removed from the inside, a series of lining work for the branch pipe 51 is completed.

As described above, at the time of lining the branch pipe 51 constructed by using the in-pipe working robot unit 1 according to the present invention, the in-pipe work robot unit 1 The separator device A connected to the separator device B is introduced into the main tube 50 in a substantially vertical state in the manhole 52.
The in-pipe working robot unit 1 longer than the manhole 52 diameter (マ ン 900 m / m) can be easily introduced into the small-diameter main pipe 50 of φ300 m / m or less. The lining of the branch pipe 51 can be performed reliably.

[0040]

As is apparent from the above description, according to the present invention, when investigating or lining the inside of a branch pipe using the in-pipe working robot unit, either the separating device A or B of the in-pipe working robot unit is used. One is introduced into the main pipe so as to be substantially horizontal to the main pipe, and the other separator apparatus B (or A) connected to the separator apparatus A (or B) is not horizontal to the main pipe. In this way, a robot unit for working inside a pipe longer than the diameter of the manhole can be easily introduced into the main pipe with a small diameter, and the inside of the branch pipe can be inspected using this robot unit for working inside a pipe. Alternatively, the effect that the branch pipe can be reliably lined can be obtained.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an in-pipe work robot unit according to the present invention and a branch pipe inspection method using the same.

FIG. 2 is a sectional view showing a robot unit for working in a pipe according to the present invention and a branch pipe inspection method using the same.

FIG. 3 is a cross-sectional view showing a robot unit for working in a pipe according to the present invention and a branch pipe inspection method using the same.

FIG. 4 is a cross-sectional view showing a robot unit for working in a pipe according to the present invention and a branch pipe lining method using the same.

FIG. 5 is a sectional view showing a robot unit for working in a pipe according to the present invention and a branch pipe lining method using the same.

FIG. 6 is a sectional view showing a robot unit for working in a pipe according to the present invention and a branch pipe lining method using the same.

FIG. 7 is a cross-sectional view showing a robot unit for working in a pipe according to the present invention and a branch pipe lining method using the same.

FIG. 8 is a sectional view showing a robot unit for working in a pipe according to the present invention and a branch pipe lining method using the same.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 In-pipe work robot unit 2 TV camera 3 Universal joint (connection means) 6 Hard cable 8 Pig (drive means) 23 Branch pipe lining material 23a Flange part 24 First pressure bag 25 Second pressure bag 50 Main pipe 51 Branch Pipe 52 Manhole A, B Separator device

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takao Kamiyama 31-27 Daikancho, Hiratsuka-shi, Kanagawa Prefecture Shonan Plastics Manufacturing Co., Ltd. Inside Yokoshima (72) Inventor Shigeru Endo 2-12-4 Hanahata, Tsukuba, Ibaraki Prefecture Inside the Get Co., Ltd. (72) Inventor Hiroyuki Aoki All within 1-194, Hayashi, Tokorozawa-shi, Saitama

Claims (8)

[Claims] 1. A separating apparatus A for supporting a TV camera or a branch pipe lining material introduced into a branch pipe, and moving the separating apparatus A within the main pipe to branch an insertion end of the TV camera or the branch pipe lining material. An in-pipe work robot unit, comprising: a separating device B having a function of setting a pipe opening; 2. The separating device A according to claim 1, further comprising a hard cable formed by attaching the TV camera to a distal end thereof, and a driving unit for moving the hard cable forward and backward by a driving force of a fluid pressure. In-pipe work robot unit. 3. The separator device A supports the flange portion of a lateral pipe lining material formed by folding one end of a tubular resin adsorbent impregnated with an uncured curable resin and forming a flange portion at the folded end. 2. An in-pipe work according to claim 1, further comprising a first pressure bag for pressing the lever against the periphery of the branch pipe opening, and a second pressure bag for storing a portion other than the flange of the branch pipe lining material. Robot unit. 4. The universal joint according to claim 1, wherein said connecting means is a universal joint made of metal, plastic, or a composite of metal and plastic.
A robot unit for in-pipe work as described. 5. A separating apparatus A for supporting a TV camera to be introduced into a branch pipe, and a separating apparatus having a function of moving the separating apparatus A within the main pipe to set an insertion end of the TV camera in a branch pipe opening. A branch pipe inspection method carried out using a pipe working robot unit configured by connecting B with a bendable connecting means, wherein one of the separating devices A or B is attached to a main pipe. The in-pipe working robot unit is introduced into the main pipe and moved so as to be substantially horizontal and the other side is not horizontal to the main pipe in the manhole, and the TV camera supported by the separating device A is used as a main body. A method for investigating a branch pipe, wherein the pipe camera is inserted into the branch pipe from a pipe and the inside of the branch pipe is inspected by the TV camera. 6. The TV camera according to claim 5, wherein the TV camera is attached to a tip of a hard cable, and the heart cable is moved forward and backward by a driving force of fluid pressure to move the TV camera in the branch pipe. Branch pipe investigation method. 7. A separating device A for supporting a branch pipe lining material introduced into a branch pipe, and a function of moving the separating apparatus A within the main pipe to set an insertion end of the branch pipe lining material in a branch pipe opening. Device B having
And a branch pipe lining method constructed by using an in-pipe working robot unit configured by connecting the main pipe by means of a bendable connecting means, wherein one of the separating devices A or B is substantially disposed with respect to the main pipe. Horizontal, the other side is not horizontal to the main pipe in the manhole, the in-pipe working robot unit is introduced into the main pipe and moved, and the branch pipe lining material supported by the separating device A is moved. A lateral pipe lining method, wherein the lateral pipe is inserted from the main pipe into the lateral pipe, and the lateral pipe is lined with the lateral pipe lining material. 8. The branch pipe lining material is formed by folding one end of a tubular resin adsorbent impregnated with an uncured curable resin to form a flange at that end, and the flange portion of the branch pipe lining material is provided. The second pressure bag which inflates the first pipe of the branch pipe lining material against the peripheral edge of the branch pipe opening by inflating the first pressure bag supporting the second pipe with the pressurized fluid and accommodates a portion other than the collar section of the branch pipe lining material. The branch pipe lining material is supplied from the main pipe to the branch pipe by inverting the branch pipe lining material, and while the branch pipe lining material is pressed against the inner wall of the branch pipe, the curable resin impregnated therein is cured. The branch pipe lining method according to claim 7, wherein the branch pipe lining method is performed.