WO2020059475A1 - Appareil et procédé de forage - Google Patents

Appareil et procédé de forage Download PDF

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Publication number
WO2020059475A1
WO2020059475A1 PCT/JP2019/034521 JP2019034521W WO2020059475A1 WO 2020059475 A1 WO2020059475 A1 WO 2020059475A1 JP 2019034521 W JP2019034521 W JP 2019034521W WO 2020059475 A1 WO2020059475 A1 WO 2020059475A1
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WO
WIPO (PCT)
Prior art keywords
pipe
lining material
drilling
blade
perforation
Prior art date
Application number
PCT/JP2019/034521
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English (en)
Japanese (ja)
Inventor
神山　隆夫
和明 小倉
石田　誠
宏幸 幕内
達人 高嶋
加藤　卓
Original Assignee
株式会社湘南合成樹脂製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社湘南合成樹脂製作所 filed Critical 株式会社湘南合成樹脂製作所
Priority to JP2020548264A priority Critical patent/JPWO2020059475A1/ja
Publication of WO2020059475A1 publication Critical patent/WO2020059475A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/02—Means for moving the cutting member into its operative position for cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26F—PERFORATING; PUNCHING; CUTTING-OUT; STAMPING-OUT; SEVERING BY MEANS OTHER THAN CUTTING
    • B26F1/00—Perforating; Punching; Cutting-out; Stamping-out; Apparatus therefor
    • B26F1/16—Perforating by tool or tools of the drill type
    • E—FIXED CONSTRUCTIONS
    • E03—WATER SUPPLY; SEWERAGE
    • E03F—SEWERS; CESSPOOLS
    • E03F3/00—Sewer pipe-line systems
    • E03F3/06—Methods of, or installations for, laying sewer pipes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
    • F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
    • F16L1/028—Laying or reclaiming pipes on land, e.g. above the ground in the ground
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L41/00—Branching pipes; Joining pipes to walls
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/48—Indicating the position of the pig or mole in the pipe or conduit

Definitions

  • the present invention relates to a perforation apparatus and a perforation method for perforating a pipe lining material closing a branch pipe opening.
  • a lining method of lining the existing pipe with a pipe lining material is used to rehabilitate the existing pipe.
  • a pipe lining material a lining material in which an uncured liquid curable resin is impregnated into a resin absorbent made of a tubular flexible nonwoven fabric, or a pipe lining material made of a thermoplastic resin such as hard PVC is used.
  • a branch pipe merges with a main pipe such as a sewer pipe
  • the pipe lining material blocks the branch pipe opening at the branch pipe junction.
  • a pipe lining material that closes the end of the branch pipe by rotating the cutter (piercing blade) of the drilling machine by putting the in-pipe working robot equipped with the drilling machine and the TV camera into the main pipe and remotely controlling it from the ground.
  • the part is perforated from the main pipe side.
  • Drilling is performed by positioning at the position.
  • the tube lining material of the nonwoven fabric becomes thicker, or when the nonwoven fabric contains a reinforcing material such as glass fiber, even with a thin tube lining material, the laser light or the illuminating light has poor transparency, and a bright opening image is formed. Since it is difficult to obtain, it becomes difficult to position the punching device as described in Patent Documents 1 and 2. Also, if the pipe lining material is made of PVC or the like, laser light or illumination light will not be transmitted in the first place, so that it becomes impossible to position the drilling device.
  • the positioning of the drilling device is performed by observing a captured image of a camera mounted on the drilling device in real time using a monitor in a work truck on the ground, or performing image processing on the captured image, so that the drilling efficiency is reduced. Also, it depends on what method the captured image is transmitted or what image processing is performed.
  • the present invention has been made in order to solve such a problem, and even when the branch pipe opening is blocked by a pipe lining material that does not easily transmit visible light or does not transmit visible light, the branch pipe can be easily removed. It is an object of the present invention to provide a drilling device and a drilling method capable of efficiently detecting a pipe opening by a low-cost method and drilling a pipe lining material.
  • the present invention A drilling device that travels in a main pipe whose inner wall surface is lined with a pipe lining material, and pierces a pipe lining material that closes an opening of a branch pipe that intersects the main pipe with a piercing blade, A moving body that moves in the length direction of the main pipe; An infrared camera mounted on the moving body and imaging the pipe lining material cooled or heated by the heat medium injected into the branch pipe from the main pipe side, Transmission means for transmitting the thermal image acquired by the infrared camera to the ground, Positioning means for positioning the drilling blade by a command generated based on the thermal image transmitted to the ground, It is characterized by having.
  • the present invention A drilling method for drilling from a main pipe side by rotating a drilling blade on a pipe lining material closing a branch pipe opening, A step of introducing a heat medium into the branch pipe closed by the pipe lining material, A step of photographing the pipe lining material cooled or heated by the supplied heat medium from the main pipe side using an infrared camera, A step of positioning a perforation blade at a branch pipe opening closed by a pipe lining material based on a thermal image acquired by an infrared camera, It is characterized by having.
  • the perforation device since the perforation device is positioned based on the thermal image of the pipe lining material cooled or heated by the heat medium injected into the branch pipe, the pipe lining material not only transmits visible light but also emits visible light. Even if it is made of a material that is difficult to permeate or does not penetrate, it is possible to acquire a thermal image of the pipe lining material that closes the branch pipe opening simply by adding a heat medium into the branch pipe, Since the position of the opening can be recognized, it is possible to efficiently pierce the pipe lining material closing the branch pipe opening.
  • FIG. 3 is a longitudinal sectional view of the punching device taken along line AA in FIG. 2. It is a top view of a perforation apparatus. It is explanatory drawing when it sees from the side surface which shows the process in which a wheel body rotates and an intermediate wheel goes up.
  • FIG. 3 is a block diagram showing a configuration for driving and controlling various devices of the punching device. It is explanatory drawing which shows the time-dependent change of the thermal image of the pipe lining material which closes the branch pipe opening.
  • FIG. 1 shows a state in which the inner wall surface of an aged sewer main pipe 10 is lined using a pipe lining material 12.
  • the pipe lining material 12 is obtained by impregnating an uncured liquid curable resin into a resin absorbent made of a tubular flexible nonwoven fabric, and may be reinforced by incorporating glass fiber into the nonwoven fabric. Further, the inner surface of the main pipe 10 is lined using a pipe lining material made of hard vinyl chloride.
  • a plurality of branch pipes 11 are branched from the main pipe 10, and sewage such as homes and buildings is discharged to the main pipe 10 via the branch pipes 11.
  • sewage such as homes and buildings is discharged to the main pipe 10 via the branch pipes 11.
  • FIG. 1 when the main pipe 10 is lined with the pipe lining material 12, the opening 11 a of the open branch pipe 11 is closed by the pipe lining material 12.
  • the drilling device 20 equipped with the drilling blade 21 is carried into the main pipe 10 from the manhole 16, and raises and rotates the drilling blade 21 to cut the pipe lining material 12 closing the branch pipe opening 11 a, thereby drilling. I do.
  • a power supply, a hydraulic unit, a controller, a console, and the like for driving and controlling the drilling device 20 are mounted on the work truck 14 on the ground, and drilling is performed through a power supply line, a control line, and a hydraulic pipe housed in the pipe 15. Voltage and pressure oil are supplied to various operating devices of the device 20, and control signals are sent.
  • the drilling device 20 is equipped with an infrared camera 120.
  • the infrared camera 120 is provided with water, cooling water, and dry water which are introduced into the branch pipe 11 from the ground and deposited on the pipe lining material 12, as indicated by arrows.
  • the pipe lining material 12 of the branch pipe opening 11a cooled or heated by the heat medium 140 such as ice or hot water is photographed by using infrared thermography.
  • the perforation apparatus 20 is further equipped with a visible light camera 130 for photographing the periphery of the perforation blade 21.
  • the imaging optical axes of the infrared camera 120 and the visible light camera 130 are directed to the vicinity of the upper part of the perforation blade 21, and the thermal image of the branch pipe opening 11 a acquired by the infrared camera and the perforation acquired by the visible light camera 130.
  • the image of the blade 21 is live-distributed in real time via the controller 132, a LAN cable, and the like, as described later, and is displayed on the display in the work truck 14 as a moving image.
  • FIGS. 2 to 4 show the punching device 20 as a perspective view, a sectional view, and a top view.
  • the punching device 20 includes a chassis 40 having a front frame 41 and side frames 42 and 43 parallel to each other, one end of which is fixed to the front frame 41. Slots 42a, 43a extending in the horizontal direction are formed in the side frames 42, 43, and the centers of the slots 42a, 43a in the width direction (vertical direction) coincide with the centers of the side frames 42, 43 in the width direction.
  • the drilling device 20 includes a drilling motor 23 supported by the holder 22 and configured as a hydraulic motor for rotating the drilling blade 21, and a lifting cylinder 25 supported by the holder 24 and configured as a hydraulic cylinder for vertically moving the drilling blade 21.
  • the upper part of the holder 22 is connected to the tip of a piston 25a of the elevating cylinder 25, and the lower part of the holder 22 is provided with a horizontal plate 26 guided to move along a guide 27 fixed to the holder 24.
  • the lifting cylinder 25 is driven to move the piston 25a up and down, the holder 22 connected to the piston 25a moves up and down along the guide 27, and the perforation blade 21 moves up and down.
  • the holder 24 has a hollow cylindrical portion 24a on the side opposite to the perforation blade 21.
  • the rotary shaft 30a of the rotary actuator 30 configured as a hydraulic motor is pressed into the cylindrical portion 24a.
  • the cylindrical portion 24a of the holder 24 is supported by a slide bearing 32 having a flange 33, and when the rotary actuator 30 is driven, the lifting cylinder 25 and the drilling motor 23 rotate about the rotation axis v1 of the rotary actuator 30.
  • the rotation axis of the drilling blade 21 (the rotation axis 23a of the drilling motor 23) rotates around the rotation axis v1 of the rotary actuator 30 in the circumferential direction of the main pipe. Thereby, the perforation blade 21 rotates in the circumferential direction of the main pipe around the rotation axis v1.
  • a flange 31 is attached to the rotary actuator 30, and the front frame 41 of the chassis 40 is sandwiched between the flange 31 and the flange 33 of the slide bearing 32, and the flanges 31 and 33 are bolted at multiple locations to thereby provide a rotary actuator. 30, the lifting cylinder 25, and the drilling motor 23 can be attached to the chassis 40.
  • a wheel body 50 arranged in front of the chassis 40 and a wheel body 70 arranged in the rear are supported between the side frames 42 and 43 of the chassis 40.
  • the wheel body 50 has running wheels 51 and 52 serving as front wheels attached to both ends thereof, and pins that slide into the slots 42a and 43a formed in the side frames 42 and 43 on both sides of the central portion. 53 and 54 are fixed respectively.
  • the wheel body 50 is supported so that it can rotate about the pins 53 and 54 between the frames on both sides.
  • the wheel body 50 is composed of two halves 50a and 50b having the same shape that can be connected by bolting, and has a hollow inside, in which a traveling motor 55 composed of an electric motor (DC motor) is mounted.
  • the traveling motor 55 rotates the axle 57 to which the traveling wheels 51 and 52 are attached via the gear box 56, and rotates the traveling wheels 51 and 52.
  • the wheel body 70 has a configuration similar to that of the wheel body 50.
  • Running wheels 71 and 72 serving as rear wheels are attached to both ends of the wheel body 70, and centered on pins 73 and 74 fixed to both sides of the central portion. Are supported so as to be rotatable between both side frames.
  • the pins 53, 54, 73, 74 of the wheel bodies 50, 70 are respectively positioned such that the pin centers are at the same height as the rotation axis v 1 of the rotary actuator 30 and are located on a horizontal plane passing through the rotation axis v 1. Attached to.
  • the wheel body 70 is composed of two halves 70a and 70b, and has a hollow interior in which a traveling motor 75 composed of an electric motor (DC motor) is mounted.
  • the traveling motor 75 rotates an axle 77 to which traveling wheels 71 and 72 are attached via a gear box 76, and rotates the traveling wheels 71 and 72.
  • an arm 61 to which the axle 60 is fixed is integrally attached to the other end of the wheel body 50 on the side frame 42 side.
  • An intermediate wheel 62 is rotatably mounted on an end of the axle 60 facing the side frame 42, and an arm 79 integrally connected to an arm 78 fixed to the wheel body 70 is provided on the other end of the axle 60.
  • an arm 64 to which an axle 63 having the same shape as the axle 60 is fixed is integrally attached to the other end of the wheel body 50 and the side frame 43 side.
  • An intermediate wheel 65 is rotatably attached to an end of the axle 63 facing the side frame 43, and an arm 81 integrally connected to an arm 80 fixed to the wheel body 70 is provided to the other end of the axle 63.
  • the center of the pin 54 on the side frame 43 side is the center of the running wheel 52 (the center of the axle 57) and the center of the intermediate wheel 65 (the center of the axle 63). It is attached to the wheel body 50 so as to be located at the midpoint of the connecting line.
  • the center of the pin 74 on the side frame 43 is located at the midpoint of a line connecting the center of the traveling wheel 72 (the center of the axle 77) and the center of the intermediate wheel 65 (the center of the axle 63). Thus, it is attached to the wheel body 70.
  • the position of the pin 53 on the side of the side frame 42 is the same as that of the pin 54.
  • the center of the pin 53 is the center of the traveling wheel 51 (the center of the axle 57) and the center of the intermediate wheel 62 (the center of the
  • the pin 73 is located at the midpoint of the line connecting the center of the axle and the center of the pin 73 connecting the center of the running wheel 71 (the center of the axle 77) and the center of the intermediate wheel 62 (the center of the axle 60). Located at a point.
  • the intermediate wheels 62, 65 on both sides and the running wheels 51, 52, 71, 72 of the first and second wheel bodies 50, 70 are all of the same diameter and the same shape as shown in FIG.
  • the wheel surfaces (central wheel surfaces) of the intermediate wheels 62 on the side and the traveling wheels 51 and 71 are respectively on the same vertical plane p1, and the wheel surfaces (central wheel wheels) of the intermediate wheels 65 and the traveling wheels 52 and 72 on the side frame 43 side. Planes) are respectively mounted on the same vertical plane p2.
  • the rotary actuator 30 is mounted such that its rotation axis v1 is located on a vertical plane p0 passing through the center between the vertical planes p1 and p2.
  • a clamp cylinder 82 is disposed between the wheel bodies 50 and 70, a piston 82a of the clamp cylinder 82 is connected to the wheel body 50, and a cylinder portion is connected to the wheel body 70.
  • the undercarriage 40 and the traveling wheels 51, 52, 71, and 72 constitute a moving body that travels in the main pipe 10 in the pipe length direction, and the infrared camera 120, the visible light camera 130, and the controller 132 are mounted on the moving body.
  • the infrared camera 120 is housed in a holder 121, and the holder 121 is supported between both arms of a support base 122 mounted on the upper side frames 42 and 43 of the chassis 40.
  • the tilt angle of the infrared camera 120 is adjusted by an adjusting member 123 attached to the upper part of both arms of the support base 122 so that the imaging optical axis is directed to the upper part of the perforation blade 21.
  • the infrared camera 120 is an uncooled infrared camera, which has an infrared lens 124 and a digital camera lens 125 attached, and has a display on the back thereof. On the display, a thermal image captured by the infrared lens 124 and a visible image captured by the digital camera lens 125 can be displayed in a superimposed manner.
  • Such an infrared camera can be obtained, for example, with a model number of “Infrared thermography FLIR @ C2”.
  • the infrared camera 120 can be a small thermographic camera module sold under the name “Fril @ Lepton®”.
  • the visible light camera 130 is rotatably supported at the center of the support 131 straddling the side frames 42 and 43 so that the photographing optical axis faces the upper part of the perforation blade 21.
  • a controller 132 is mounted on the support 131. It is attached.
  • the visible light camera 130 is a USB camera or a camera dedicated to the controller 132.
  • An illumination lamp 133 that emits visible light toward the perforation blade 21 is attached to the support 131 so that the periphery of the perforation blade 21 can be photographed.
  • the controller 132 is, for example, a Raspberry P3 model B or a controller having equivalent performance, and a live distribution of a thermal image acquired by the infrared camera 120 and an image around the drilling blade 21 acquired by the visible light camera 130 as a moving image in real time. can do. Since the infrared camera 120, the visible light camera 130, and the controller 132 are difficult to show in cross section, they are not shown in the cross section of FIG. 3, and in the top view of FIG. Are not shown.
  • FIG. 5 schematically shows the operation at this time as a line drawing.
  • FIG. 5 shows the operation of the traveling wheels 52 and 72 and the intermediate wheel 65 having the radius r1 on the side frame 43 side, but the same applies to the operation of the traveling wheels 51 and 71 and the intermediate wheel 62 on the side frame 42 side. .
  • the clamp cylinder 82 is not driven, and the pin 54 is at the rightmost position of the slot 43a as shown in the upper part of FIG.
  • the rotation axis v1 of the rotary actuator 30 and the pin centers of the pins 54 and 74 are at the same height and at the same height as the rotation axis v1.
  • a line s2 connecting the center of the axle 63 and a line s3 connecting the centers of the pins 54 and 74 are also at the same height as the rotation axis v1.
  • the pin 54 moves to the leftmost end of the slot 43a, and the inclination angle of the lines s1 and s2 with respect to the line s3 further increases.
  • the center of the pin 54 is located at the midpoint of the line s1 and the center of the pin 74 is located at the midpoint of the line s2.
  • the value r3 is the same as the vertical upward movement amount from the 65 lines s3.
  • the above-described relationship is the same even when the wheel bodies 50 and 70 are rotated in the opposite direction by applying a repulsive force between the wheel bodies 50 and 70, regardless of the position of the pin 54 in the slot 43a.
  • the intermediate wheels 62, 65 and the traveling wheels 51, 52, 71, 72 are separated by the same distance in the vertical direction from the rotation axis v1.
  • FIG. 6 shows a circuit for driving and controlling the drilling motor 23, the lifting cylinder 25, the clamp cylinder 82, the hydraulic equipment of the rotary actuator 30, the traveling motors 55 and 75, and the drilling device 20 mounted on the drilling device 20.
  • the network configuration is illustrated.
  • FIG. 6 a hydraulic circuit is illustrated, and pressure oil flowing from the hydraulic unit 100 via the relief valve 101 is supplied to the drilling motor 23 via the direction switching valve 104 to move the drilling blade 21 in both directions. Rotate to.
  • the flow rate of the pressurized oil is further adjusted by the throttle valve 103, and supplied to the lifting cylinder 25, the clamp cylinder 82, and the rotary actuator 30 via the direction switching valve 104, and the drilling blade 21 is raised and lowered, respectively, and the wheel bodies 50 and 70 are moved.
  • the rotary actuator 30 is supplied with pressure oil that has been depressurized by the regulator 102 based on a signal from the controller 110.
  • the direction switching valves 104 are individually controlled by the controller 110. In FIG. 6, the control is simply illustrated by one control line.
  • a console 111 is connected to the controller 110 so that signals for driving and controlling hydraulic equipment such as adjustment of hydraulic pressure and switching of a direction switching valve can be input to the controller 110, and data for controlling the hydraulic equipment can be monitored. It is displayed at 115.
  • a wireless router 145 is installed in the work truck 14, a network is established between the work truck 14 and the controller 132 of the drilling device 20, and the controller 132 can function as a server.
  • the images acquired by the infrared camera 120 and the visible light camera 130 are transmitted via a LAN cable 134 and are distributed in real time to a computer 141, a tablet 143, and a smartphone 144 that can communicate with a wireless router 145.
  • the distributed moving image is displayed on the display 142 of the computer 141, the tablet 143, or the display of the smartphone 144.
  • the main pipe 10 is lined with the pipe lining material 12 made of nonwoven fabric or vinyl chloride.
  • a heat medium 140 such as water, cooling water, dry ice, or hot water is put into the branch pipe 11 from the ground.
  • the heat medium 140 is a liquid such as water, cooling water, or hot water, water may leak from a gap between the branch pipe opening 11 a and the pipe lining material 12. And put it in.
  • FIG. 7 shows a temporal change of a thermal image 150 of the pipe lining material 12 closing the branch pipe opening 11a by the infrared camera 120.
  • This thermal image can be displayed as a still image or a moving image on the display 142 of the computer 141 by a streaming protocol.
  • the thermal image 150 appears as a curved image with an outline, and After a lapse of time, a colored thermal image showing the contour of the branch pipe opening 11a according to the heat of the heat medium 140 is obtained as shown in the lower part.
  • an image showing a different heat distribution may appear in the contour.
  • the outline may be doubled, but at least a few minutes later, the thermal image 150 showing the outline outline of the branch pipe opening 11a can be obtained.
  • the drilling device 20 is carried into the main pipe 10 from the manhole 16 with the wheel bodies 50 and 70 being horizontal.
  • the rotary actuator 30 has a rotation axis v1 on the vertical plane p0 passing through the center between the vertical planes p1 and p2, and the rotary axis 30 of the pipe lining material 12 of the traveling wheels 51 and 52 on both sides.
  • the horizontal distance from each contact point v2 to the vertical plane p0 is the same value d1.
  • the clamp cylinder 82 is driven to generate an attractive force between the wheel bodies 50 and 70 to rotate the wheel bodies 50 and 70, and as shown in FIG. 8B, the intermediate wheels 62 and 65 are connected to the pipe lining material. 12 and is kept in contact therewith.
  • the rotation axis v1 of the rotary actuator 30 matches the pipe center axis 10a of the main pipe 10 (FIG. 1). .
  • the rotation axis v1 of the rotary actuator 30 is automatically connected to the main body. It can be aligned with the tube center axis 10a of the tube 10, and automatic centering is performed.
  • the traveling motors 55 and 75 are driven to advance the drilling device 20
  • the thermal image 150 by the infrared camera 120 and the image of the drilling blade 21 by the visible light camera 130 are displayed on the display 142 of the computer 141.
  • 21 ' is illustrated in FIG.
  • the position of the visible light camera 130 is adjusted in advance so that the image 21 ′ of the perforation blade 21 is displayed substantially at the center of the display 142.
  • the diameter of the piercing blade 21 is smaller than the diameter of the branch pipe opening 11a. If the pipe lining material cannot be completely cut by this single operation, the piercing blade 21 is lowered once, and as shown in FIG. The pipe 21 is turned around the rotation axis v1 of the rotary actuator 30 to cut the pipe lining material 12. At this time, since the rotation axis v1 of the rotary actuator 30 coincides with the pipe center axis 10a of the main pipe 10, there is no eccentricity in the rotation of the perforation blade 21 in the main pipe circumferential direction, and the cutting in the main pipe circumferential direction is performed smoothly. It can be carried out. During drilling, the intermediate wheels 62 and 65 are strongly pressed against the pipe lining material 12 to stabilize the drilling device 20.
  • buttons 142d and 142e for finely adjusting the forward and backward movements are provided as shown in FIG.
  • the traveling motor 55 is rotated for a minute time to advance the drilling blade 21 by a small distance
  • the traveling motor 75 is rotated for a minute time to rotate the drilling blade 21 for a minute time. 21 is moved backward a minute distance. Thus, the drilling blade 21 moves back and forth by a small distance, so that the matching accuracy can be improved.
  • the rotary actuator 30 is rotated clockwise or counterclockwise to match the two images.
  • the rotary actuator 30 is also provided with clockwise, counterclockwise, and rotation stop buttons, and a minute amount rotation button in each direction, and can be rotated in the same manner as the rotation of the traveling motors 55 and 75 to improve matching accuracy.
  • the hydraulic cylinder is used to rotate the wheel body, but one end of the tension spring is attached to one wheel body, and the other end is attached to the other wheel body, so that both wheel bodies are connected. You may make it rotate.
  • the rotary actuator 30 is a hydraulic motor, but may be a stepping motor or a servo motor. Further, an electric motor or an air motor may be used as the drilling motor 21. Further, the drilling blade mounted on the drilling device is a large-diameter cylindrical drilling blade 21 having a bit on the upper surface, but may be a rod-shaped milling bit with a small diameter.
  • the thermal image from the infrared camera 120 and the image from the visible light camera 130 are individually transmitted.
  • the infrared camera 120 is a camera with a display on the back
  • the thermal image displayed on the display is displayed. May be photographed by the visible light camera 130, and the thermal image 150 of the branch pipe opening 11a and the peripheral image of the perforation blade 21 may be transmitted as one moving image.
  • the traveling motors 55 and 75 are controlled by the controller 132 mounted on the drilling device 20, but may be controlled by the controller 110 mounted on the work truck 14.
  • the operation buttons shown in FIG. 12 are arranged on the console 111 connected to the controller 110.
  • the drilling device is not limited to the above-described embodiment, but includes a drilling device described in Patent Documents 1 and 2 for moving a drilling blade in a pipe length direction, a circumferential direction, and a vertical direction.
  • the moving body moving in the main pipe direction in the pipe length direction is not limited to the one provided with the traveling wheels as described in the embodiment, but also connects wires before and after the moving body and winches the front and rear wires from the ground. It also includes those that are wound up and move the moving body back and forth in the main pipe.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Forests & Forestry (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Public Health (AREA)
  • Water Supply & Treatment (AREA)
  • Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
  • Control Of Cutting Processes (AREA)
  • Drilling And Boring (AREA)

Abstract

Selon la présente invention, une caméra (120) à infrarouges est montée sur un corps mobile qui se déplace dans une conduite principale (10) dans une direction où s'étend la conduite principale. La caméra à infrarouges capture, à partir du côté conduite principale, une image d'un matériau (12) de revêtement de conduite qui est refroidi ou chauffé par un matériau caloporteur (140) placé dans une conduite (11) de ramification. Une image thermique obtenue par la caméra à infrarouges est affichée, sous forme d'image animée, en temps réel, sur un affichage dans un camion (14) de travaux sur le sol sus-jacent. Une lame (21) de perçage est positionnée au niveau d'une ouverture (11a) de conduite de ramification selon une consigne générée sur la base de l'image thermique transmise au sol sus-jacent.
PCT/JP2019/034521 2018-09-18 2019-09-03 Appareil et procédé de forage WO2020059475A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2020548264A JPWO2020059475A1 (ja) 2018-09-18 2019-09-03 穿孔装置及び穿孔方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018174222 2018-09-18
JP2018-174222 2018-09-18

Publications (1)

Publication Number Publication Date
WO2020059475A1 true WO2020059475A1 (fr) 2020-03-26

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0253588A1 (fr) * 1986-07-11 1988-01-20 TRACEY, Stephen Méthode de revêtement d'une conduite, appareil pour réaliser cette méthode et réservoir de transport pour l'utiliser dans une conduite
JPS63176007U (fr) * 1987-02-17 1988-11-15
US20050115338A1 (en) * 2003-11-26 2005-06-02 Mcgrew R. M. Method and apparatus for performing sewer maintenance with a thermal sensor
WO2017203823A1 (fr) * 2016-05-23 2017-11-30 株式会社湘南合成樹脂製作所 Perforateur et procédé de perforation

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0253588A1 (fr) * 1986-07-11 1988-01-20 TRACEY, Stephen Méthode de revêtement d'une conduite, appareil pour réaliser cette méthode et réservoir de transport pour l'utiliser dans une conduite
JPS63176007U (fr) * 1987-02-17 1988-11-15
US20050115338A1 (en) * 2003-11-26 2005-06-02 Mcgrew R. M. Method and apparatus for performing sewer maintenance with a thermal sensor
WO2017203823A1 (fr) * 2016-05-23 2017-11-30 株式会社湘南合成樹脂製作所 Perforateur et procédé de perforation

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