JP2002018618A - Device for machining internal wall of pipe passage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform various types of machining correctly and easily even in a pipe passage having a small inlet port and miniaturize a machining device by simplifying the structure of the device. SOLUTION: This device is provided with a body section 20 connected to an operation cable 90 and moving to a pipe passage P, a machining section 30 moving radially in relation to the body section 20 for machining the internal wall of the pipe passage P, a camera housing section 50 formed integrally with the body section 20, a machining monitoring camera 52 which is provided in the camera housing section 50, can change photographing directions radially and photographs machining conditions, an expansion and fixed section 80 which can rotate in relation to the body section 20 and expands to the side of the internal wall of the pipe passage P, and a rotation guide section 60 which has a revolving ring 62, which freely revolves around the camera housing section 50 in the peripheral direction, and a plurality of revolution support rings 66, which are arranged in the external periphery of the revolving ring 62 and revolve freely in the direction orthogonal to the revolution of the revolving ring 62.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for processing an inner wall of a pipeline, and more particularly, to an apparatus for performing processing such as cutting and drilling on the inner wall of a pipeline for repairing or modifying an existing pipeline such as a sewer. Are targeted.

[0002]

2. Description of the Related Art Robots are used to perform various processes such as drilling holes, shaving the surface, and filling cracks with a repair material on the inner wall of a relatively small-diameter sewer pipe for repair or remodeling. A mold processing device is used. As a specific structure of a robot-type processing apparatus, there is one in which a cutting tool or the like is attached to a self-propelled vehicle having four or more drive wheels via a drive arm. By remotely controlling the traveling of the self-propelled vehicle and the operation of the cutting tool from outside the pipeline via a cable connected to the self-propelled vehicle, various machining operations can be performed even inside a narrow pipeline.

[0003] In order to monitor the state of the processing location and the progress of the work, a small TV camera may be sent into the pipeline. The operation of the TV camera and the acquisition of the captured image information can be performed outside the pipeline via a cable connected to the TV camera. Further, there has been proposed a robot-type processing apparatus equipped with a monitoring TV camera.

[0004]

Since the conventional robot-type machining apparatus uses a self-propelled vehicle that runs on wheels, the work is executed when the posture is tilted or overturned while traveling along the pipeline. There was a problem that could not be done. It is quite difficult for a four-wheeled or other self-propelled vehicle to travel straight along the cylindrical inner wall of a pipeline. If the traveling route deviates even slightly from the axial direction of the pipeline, the self-propelled vehicle will be greatly inclined, and if the inclination is too large, the vehicle will fall. Even if the vehicle does not fall over, if the self-propelled vehicle is tilted, it becomes difficult to accurately place the cutting tool at a predetermined position on the inner wall of the pipeline, and it becomes impossible to perform highly accurate machining.

[0005] An operation cable for supplying power or air pressure or controlling operation is connected to the self-propelled vehicle. The longer the pipe, the longer the operation cable. The weight, stiffness or torsion of the operating cable adds significant resistance to a relatively small and lightweight vehicle. This resistance greatly biases the traveling direction and posture of the self-propelled vehicle. In particular, since a small-diameter and long pipeline uses a small self-propelled vehicle, it is relatively susceptible to the operation cable, which tends to hinder the traveling of the self-propelled vehicle. Furthermore, a self-propelled vehicle equipped with the above-mentioned wheels requires a relatively large wheel and its driving mechanism in order to perform stable traveling, so that the outer diameter of the entire processing apparatus increases, Also, there is a problem that the installation space for the TV camera is reduced. Therefore, it becomes difficult to use a small-diameter pipe.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of the conventional robot type machining apparatus, and to perform various kinds of machining accurately and easily with a machining tool provided in the machining apparatus even in a small-diameter pipe. It is to be. Another object of the present invention is to reduce the size of the processing apparatus by simplifying its structure.

[0007]

An apparatus for processing an inner wall of a pipe according to the present invention is an apparatus for processing an inner wall by being inserted into an existing pipe. A body connected to an operation cable fed into the pipeline from outside the pipeline and moving in the pipeline, a processing unit disposed in the main body and movable in the radial direction to process the inner wall; A camera housing provided integrally with the camera housing, and a processing monitoring camera that is arranged in the camera housing, the shooting direction of which is freely changeable in a radial direction, and shoots a processing state of the processing unit, and is disposed on an outer periphery of the main body. An expansion fixing portion that is rotatable in the circumferential direction with respect to the main body portion, is expandable on the inner wall side of the conduit, and abuts on the inner wall of the conduit during expansion and is fixed to the conduit, and a camera housing portion. A rotating ring that is arranged and freely rotates in the circumferential direction, and a rotating support wheel that is arranged on the outer periphery of the circumferential ring at intervals in the circumferential direction and that freely rotates in a direction perpendicular to the rotating direction of the circumferential ring. A guide unit.

[Existing pipeline] The present invention can be applied to a pipeline in a general civil engineering building structure. For example, there are water and sewage pipes buried underground in urban areas, conduits for power transmission cables or communication cables, gas pipes, and the like. Even if it is not underground, it can also be applied to pipes provided on the walls, floors, ceilings, etc. of buildings. Examples of the material forming the conduit include concrete, fume pipes, ceramic pipes, ceramic pipes, synthetic resin pipes, and the like. The present invention can also be applied to a pipeline in which a lining layer made of a synthetic resin such as hard vinyl chloride or asbestos is laminated on the inner wall of the pipeline.

Although the diameter of the pipe is not particularly limited, it is preferable to apply the pipe to a pipe having a relatively small diameter. Specifically, it is suitable for a small-diameter pipe having a diameter of 100 to 200 mmφ. The pipe is generally applied to a straight pipe, but can also be applied to a pipe having a curved portion or a branch. [Processing of Inner Wall] For the processing of the inner wall of the pipeline, various processes performed by ordinary repair or modification are applied. For example, drilling through the inner wall, inner diameter enlargement to thin the inner wall, destruction removal of cracks, shaving of steps, lining removal, hole filling, coating and pasting of lining material, branch pipe Drilling and connecting roads. For cutting, a drill tool, a reamer tool, a grinding tool, or the like is used.

[Inner Wall Processing Apparatus] The inner wall processing apparatus has an outer diameter and a length that can be inserted into a pipe to be processed. The inner wall processing device includes a main body, a processing section, a camera housing section,
It is equipped with a processing monitoring camera, an extension fixing unit, and a rotation guide unit, and is connected to an operation cable, and moves in a pipeline by being pulled or pushed by the operation cable. Therefore, there is no need to provide wheels or a drive mechanism therefor as in a self-propelled vehicle. [Operation cable] The operation cable obtains information from the supply line or supply hose for power or air pressure supplied to the inner wall processing device, control lines for controlling the operation of the inner wall processing device, and various sensors provided in the inner wall processing device. A communication line or the like for transmitting an image captured by a camera can be provided. These wires and hoses may be arranged separately from each other, or may be a single composite cable in which all the wires are put together.

The operating cable is preferably flexible enough to be easily inserted and pulled out along the pipe. When the inner wall processing device is pushed and moved by the operation cable, a device having a certain degree of rigidity is preferable. One end of the operation cable is connected to the main body of the inner wall processing device, and the other end is connected to a power supply, a pressure supply source, a control device, a communication device, and the like outside the pipeline. [Main Body] One end of an operation cable is connected to the main body. A power line, a communication control line, and the like provided in the operation cable are connected to the main body, and other members constituting the inner wall processing device are attached to the main body. The connecting point of the operation cable is preferably a place such as an axial end of the main body, which does not hinder the operation of other parts of the inner wall processing device. The main body may be provided with a connector for detachably connecting the operation cable. It is preferable that the connector can connect a plurality of types of wires and pipes individually.

[Working part] The working part is attached to the main body movably in the radial direction. As the moving means in the radial direction, various operating mechanisms such as a cam, a link, and a lever can be used. These operating mechanisms or working parts can be directly operated by an electromagnetic cylinder, a pneumatic cylinder or other actuator members. The movement in the radial direction may be any of a movement that draws a linear trajectory orthogonal to the center axis of the main body, a straight-line movement in an oblique direction, and a movement that draws an arc trajectory that is close to a straight line. The processing section is provided with processing means suitable for the intended processing. In the case of a cutting tool, a cutting blade and a drive motor for rotating the cutting blade are provided. It is also possible to provide a mechanism for spraying compressed air or various processing liquids, a mechanism for applying a coating agent, and the like. Only one type of these processing means may be provided, or a plurality of types of processing means may be provided. A plurality of types of processing means may be replaceable for the processing unit.

[0013] Only one processing section may be provided in one inner wall processing apparatus, or a plurality of processing sections may be provided in parallel. [Camera Housing / Processing Monitoring Camera] The camera housing is provided integrally with the main body. A processing monitoring camera is arranged in the camera housing. It is preferable that the camera accommodating portion has a material or a structure that does not hinder the photographing operation of the processing monitoring camera and that can protect the processing monitoring camera from being hit or damaged by other objects. As the processing monitoring camera, an industrial TV camera or a CCD camera is used.
The processing part on the inner wall by the processing part and its surroundings are attached so as to be in the photographing range, and the processing state by the processing part is monitored. Since the camera housing part and the processing monitoring camera are integrated with the main body part and the processing part, when the main body part is turned in the circumferential direction, the processing part, the camera housing part and the processing monitoring camera also turn integrally, and each other. The relative positional relationship does not change.

As a method of changing the photographing direction of the processing monitoring camera to the radial direction, the entire processing monitoring camera may be moved in the radial direction, or the processing monitoring camera may be swung in the radial direction to move only the photographing direction. May be changed. For the operation of such a processing monitoring camera, a moving mechanism or a swing mechanism in a normal camera or a mechanical device can be adopted. The main body of the processing monitoring camera can be fixed, and the tip of the optical fiber connected to the photographing lens of the processing monitoring camera can be moved. By changing the imaging direction of the processing monitoring camera to the radial direction, it is possible to always capture the processing position of the workpiece moving in the radial direction.

If the processing monitoring camera and the camera accommodating section are provided at a position spaced apart from the processing section by a certain distance, a wide range centering on the processing section can be photographed, and the processing status can be easily monitored. In addition, the amount of cutting powder generated during processing adheres to the processing monitoring camera. Therefore, the processing portion can be disposed at the axial end of the main body, and the camera housing portion can be disposed at the distal end of the extension shaft that extends in the axial direction beyond the position of the processing portion from the axial end of the main body. . The camera accommodating part can be separated from the processing part by the length of the extension shaft, and the processing monitoring camera can easily capture the processing status. If the processing monitoring camera is arranged facing the processing part on the processing part side end surface of the camera housing part, it is easy to photograph the processing part on the other side of the extension axis.

If cutting powder, dust, waste liquid, or the like generated during processing adheres to the front surface of the lens of the processing monitoring camera, photographing is hindered. Therefore, if the camera accommodating section is provided with a cleaning means for cleaning the front surface of the processing monitoring camera, it is possible to always take a good image. As the cleaning means, in addition to a mechanically operated means such as a wiper or a brush, a means for jetting clean air or liquid can be adopted. [Expansion fixing part] When performing processing work at a predetermined position on the inner wall,
It has a function of fixing the entire inner wall processing device at a fixed position.

It is arranged on the outer periphery of the main body and is rotatable in the circumferential direction with respect to the main body. If a bearing mechanism such as a ball bearing or a sliding mechanism is provided between the extension fixing portion and the main body, smooth turning is possible. In order to rotate the main body and the expansion and fixing part, the rotational force may be transmitted to the other side by a rotation driving means such as a motor mounted on one of them.
The expansion fixing portion at least partially abuts on the inner wall of the pipeline by expanding to the inner wall side of the pipeline, and fixes the main body, that is, the inner wall processing device to the pipeline by a frictional force generated between the expanded wall and the inner wall. can do. However, even when the extension fixing portion is fixed to the pipeline, the main body can be turned in the circumferential direction with respect to the extension fixing portion.

In the expansion fixing portion, the member abutting on the inner wall of the pipe may be continuous over the entire circumference or may be divided into a plurality of portions in the circumferential direction. A mechanical mechanism such as a cam, a link, or a pantograph can be employed as a mechanism for expanding the expansion fixing unit. A portion of the expanded fixing portion that comes into contact with the inner wall may be provided with a structure for increasing the fixing force, such as disposing a material having a large friction coefficient or providing a claw or unevenness. [Swirl structure between extension fixing portion and main body portion] To make the extension fixing portion pivotable in the circumferential direction with respect to the main body portion, the extension fixing portion and the main body portion are interposed via a sliding member or a bearing member. And attached to each other so as to be pivotable. As a specific mounting structure, a rotatable connection structure in a normal mechanical device may be adopted. A drive mechanism such as a motor for turning a member on the other side is provided in either the extended fixed portion or the main body.
Electric power or hydraulic pressure can be used as the power of the turning drive.

[Inflatable bag] As the expansion fixing portion, an inflatable bag that expands and expands by the supply of pressurized air can be used. The inflatable bag is made of rubber, elastic resin, elastic cloth, or the like. The inflatable bag is less likely to damage the inner wall,
A large frictional fixing force can be generated on the inner wall corresponding to the variation in the inner diameter and inner surface state of the conduit. An annular inflatable bag can be arranged over the entire circumference of the main body, or an inflatable bag in which the entire circumference is divided into a plurality of portions can be used. If an annular inflatable bag is arranged around the entire periphery of the main body, the space in the pipeline is blocked before and after the expansion and fixing portion. For this reason, there is a case where the discharge of the cutting powder, the waste liquid, and the waste gas generated in the processing part is hindered. In order to solve this problem, a ventilation path is formed which abuts on a part of the inflatable bag, partially suppresses expansion of the inflatable bag, and penetrates axially between the inflatable bag and the pipe. An expansion restraint may be provided. By using this expansion suppressing device, it is possible to ensure the air permeability before and after the expansion fixing portion without making a special structural change to the inflatable bag.

[Rotation guide section] The movement of the inner wall processing device by pulling or pushing the operation cable is smoothed, and the circumferential position of the processed portion is kept constant even if the other part of the inner wall processing device moves in the circumferential direction. Has the function of maintaining. The rotation guide can be arranged in the camera housing. The rotation guide section may include a rotating ring that freely rotates in the circumferential direction. If a circular ring is attached to the structural member of the camera housing via a bearing member such as a ball bearing, smooth free rotation in the circumferential direction can be tolerated even when the weight or large load of the inner wall processing device is applied. it can.

A plurality of rotation support wheels are arranged on the outer circumference of the orbital ring at intervals in the circumferential direction. The rotation support wheel freely rotates in a direction orthogonal to the rotation direction of the orbital ring. As a material of the rotation support wheel, a metal, a synthetic resin, a ceramic, or the like can be used, and a material that is lightweight and easily rotates is preferable. The rotation guide portion having such a structure is attached to the inner wall processing device in a state where the outer periphery of the rotation support wheel is in contact with the inner wall of the pipeline. By rotating the rotation support wheel with respect to the inner wall, the inner wall processing device operated by the operation cable can be smoothly moved in the axial direction of the pipeline.

When the inner wall machining device turns in the circumferential direction, the rotation supporting wheel must slide on the inner wall in a direction perpendicular to the rotation direction, and thus generates a resistance force. However, since the orbiting wheel that supports the rotating support wheel freely rotates in the circumferential direction, the rotating support wheel and the rotating guide portion do not need to rotate in the circumferential direction with respect to the inner wall, and the camera housing portion to which the rotating guide portion is attached. The inner wall processing apparatus including the above can smoothly turn in the circumferential direction. Operation cable may be twisted,
Even when the inner wall processing device attempts to turn in the circumferential direction after passing through the curved portion of the pipeline, the inner wall processing device can move smoothly by the rotation guide portion including the rotating wheel and the rotation support wheel.

Further, when the main body and the camera accommodating portion are pivoted in the circumferential direction with respect to the extension fixing portion fixed to the pipeline during the machining operation, the rotation support wheel of the rotation guide portion comes into contact with the inner wall of the pipeline. In this state, the camera accommodating portion smoothly turns in the circumferential direction with respect to the orbital wheel. The above-described rotation guide portion can exert the above function only by being provided in the camera housing portion. However, it can be provided at a plurality of locations of the inner wall processing device in addition to the camera housing portion, or at two or more locations before and after the camera housing portion. For example, a necessary number can be arranged at a place where the inner wall processing device needs to be slid with respect to the inner wall.

If the rotation guides are provided at two positions before and after the inner wall processing device, the inner wall processing device can be smoothly moved in the axial direction while being stably supported on the inner wall of the pipeline. Further, even if the inner wall processing device is tilted in the axial direction, the rotation of the rotation support wheel in contact with the inner wall at one of the rotation guide portions allows the inner wall processing device to move smoothly. If the rotation guide is detachably attached to the outer periphery of the inner wall processing device, the rotation guide can be attached and detached as needed. It is also possible to provide both a rotation guide fixedly attached to the inner wall processing device and a detachable rotation guide. By attaching a detachable rotation guide that is larger in outer diameter than the fixedly attached rotation guide to the outer periphery of the fixedly attached rotation guide, by attaching and detaching the detachable rotation guide, The outer diameter of the rotation guide portion that rotationally guides the inner wall processing device can be easily changed according to the inner diameter of the pipeline.

[Rotation guide part of expansion fixed part] A rotation guide part can be provided in the expansion fixed part. Since the expansion fixing portion is attached to the main body so as to be pivotable in the circumferential direction, the structure of the rotation ring is not necessarily required among the structures of the rotation guide portion described above. Specifically, it is only necessary to provide a plurality of rotation support wheels on the outer periphery of the expansion fixing portion at intervals in the circumferential direction. [Front surveillance camera] If a front surveillance camera is provided at the end of the camera housing that becomes the axial end of the inner wall processing device, not only the processing status monitoring by the processing surveillance camera, but also the inner wall processing device moves. It is possible to observe the situation in front of the moving pipeline.

The front surveillance camera may be fixed to the camera accommodating portion, or may be mounted so as to be swingable in the radial direction. Cleaning means may be attached to the front monitoring camera.

[0027]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The inner wall processing apparatus shown in FIG. 1 is used for processing the inner wall of a sewer pipe having a relatively small diameter. The substantially cylindrical inner wall processing device 10 having an outer diameter smaller than the inner diameter of the pipe P includes a main body portion 20, an extension shaft 26, a processing portion 30, a camera housing portion 50, an expansion fixing portion 80, and the like. [Main Body] The main body 20 has a substantially cylindrical shape, and has a connector 21 at the rear end to which an operation cable 90 is connected. Connect the connector 92 of the operation cable 90 to the main body 20
To the connector 21.

[Operation Cable] The operation cable 90 supplies electric power and compressed air to the main body section 20, transmits a command for controlling the operation of each operation member of the inner wall processing apparatus 10, and transmits an image photographed by the camera to the outside. To be transmitted. Operation cable 9
Numeral 0 is connected to a control device, a power supply, a pressure air source, a TV monitor, and the like installed outside the pipeline P. The operation cable 90 is flexible enough to bend or bend within a certain range, and has sufficient rigidity to push and move the inner wall processing device 10. [Working part] At the front end of the main body part 20, a working part 30 is provided. The processing section 30 has a cutting blade 34 driven by a motor to cut the inner wall of the pipe P. Processing part 3
0 is supported by the main body 20 via the support arm 32. Starting from the end of the support arm 32 which is rotatably supported by the main body 32, the cutting blade 34 provided on the tip side of the support arm 32 radiates from the central axis direction of the main body 20 to the outer periphery. Make a swivel motion in the direction. The cutting blade 34 can move closer to or away from the inner wall. An operating shaft 36 of an actuator mounted on the main body 20 is attached in the middle of the support arm 32, and the operating shaft 36 advances and retreats,
The support arm 32 performs a turning operation to move the cutting blade 34 toward and away from the inner wall.

[Camera Housing Section] An extension shaft 26 extending forward is provided below the processing section 30 at the front end of the main body section 20. The extension shaft 26 extends to the front of the position of the processing unit 30. A camera housing 50 is attached to the tip of the extension shaft 26. A processing monitoring camera 52 is mounted on the cylindrical camera housing 50 on the rear end face facing the processing section 30, and a front monitoring camera 54 is mounted on the front end face opposite to the processing section 30. As shown in detail in FIG. 2, the camera housing portion 50 has a camera holding box 53 housed in a concave portion 51 provided on the rear end surface, and extends in a radial direction from the axial center of the inner wall processing device 10 to the outer periphery. And pivotably supported. Although not shown, the camera holding box 53 is turned by a motor or the like built in the camera housing unit 50.

The camera holding box 53 has a processing monitoring camera 5
2 are accommodated. An illuminating lamp 56 is arranged beside the processing monitoring camera 52. The direction of the photographing lens of the processing monitoring camera 52, that is, the photographing direction, faces the outside of the camera holding box 53 and faces rearward from the rear end face of the camera housing unit 50. When the camera holding box 53 turns in the radial direction, the shooting direction of the processing monitoring camera 52 also turns. The photographing range accompanying the turning of the processing monitoring camera 52 is set in accordance with the moving range of the cutting blade 34 in the processing unit 30. [Air injection port] On the rear end surface of the camera housing portion 50, on the outer peripheral side of the camera holding box 53, an air injection port 58 serving as a cleaning means is provided.
Is arranged. The air injected from the air injection port 58 is blown to the glass portion on the front surface of the processing monitoring camera 52. As a result, dirt such as cutting powder adhered to the front surface of the processing monitoring camera 52 is blown away, and the processing monitoring camera 5
2 can always be kept in a clean state.

On the front side of the camera accommodating section 50, a front monitoring camera 54 is incorporated in a fixed state. An illumination lamp 56 is also arranged on the side of the front monitoring camera 54. The shooting direction of the front monitoring camera 54 is the front where the central axis of the carcass accommodation unit 50 is extended. [Rotation Guide] On the outer periphery of the camera accommodating unit 50, the rotation guide 60
Is provided. The rotation guide section 60 includes a rotating ring 62 and a rotation support wheel 66. The orbital ring 62 is supported via the ball bearing 64 so as to be pivotable in the circumferential direction with respect to the camera housing unit 50.

As shown in detail in FIG.
Reference numeral 6 denotes a disk shape, and a plurality of the reference numerals 6 are arranged on the outer circumference of the orbital ring 62 at intervals so as to be freely rotatable. Rotation support wheel 6
6, a part of the outer circumference of the orbiting wheel 62 and the camera housing 50
It protrudes outside the outside diameter. In a state where the camera housing unit 50 is disposed in the pipeline P, the rotation support wheel 66 comes into contact with the inner wall of the pipeline P. The rotation axis of the rotation support wheel 66 is arranged along the circumferential direction of the orbiting wheel 62.
Therefore, the free rotation of the rotation support wheel 66 is controlled by
, That is, in parallel with the axial direction of the inner wall processing device 10. When the inner wall processing device 10 is moved in the axial direction in a state where the rotation support wheel 66 is in contact with the inner wall of the pipeline P, the rotation support wheel 66 is freely rotated, so that the inner wall processing device 10 and the pipeline P The frictional resistance between the inner wall becomes smaller,
The inner wall processing device 10 can be smoothly moved in the axial direction.

When the camera accommodating section 50 integrated with the main body section 20 is turned in the circumferential direction, the rotation supporting wheels 6
6, a force is applied in a direction perpendicular to the rotation direction, so that a resistance force is generated. However, since the orbiting ring 62 and the camera housing 50 can be smoothly swiveled in the circumferential direction via the ball bearing 64, the rotation supporting wheel 66 and the orbiting wheel 62 remain fixed and the central camera housing 50 is fixed. Only 50 rotates with the main body 20 in the circumferential direction. [Extension fixing part] As shown in detail in FIG.
Reference numeral 0 denotes a cylindrical shape surrounding the outer periphery of the main body 20.
A ball bearing 86 is disposed between the extension fixing portion 80 and the main body portion 20 so that the ball bearing 86 can smoothly turn in the circumferential direction. The extension fixing portion 80 of the main body 20
In the portion passing through the center, there is provided a through-hole such as a hydraulic / pneumatic passage or an electric wire insertion hole connected to the connector 92 of the operation cable connected to the rear end.

A motor 81 incorporated in the main body 20 on the distal end side of the extension fixing section 80 transmits a turning force to the extension fixing section 80 via a gear mechanism 83. If the motor 81 is operated in a state where the extension fixing section 80 is fixed, the main body section 20 is turned. A tubular inflatable bag 82 made of elastically deformable rubber or the like is attached to the expansion fixing portion 80. Supply path 8 of compressed air passing through the inside of main body 20
5 is opened inside the inflatable bladder 82 on the outer surface of the expansion fixing portion 80, so that pressurized air can be sent into the inner space of the inflatable bladder 82. The supply of the compressed air causes the expansion bag body 82 to expand toward the outer periphery. As shown in FIG. 1, the outer surface of the inflatable bag body 82 abuts against the inner wall of the conduit P and is elastically pressed. Thereby, the inflatable bag body 82 and the expansion fixing portion 8
0 is fixed to the inner wall of the pipeline P.

In a state where the extension fixing portion 80 is fixed to the pipe P, the main body portion 20 is fixed to the extension fixing portion 80 in the axial direction, but is pivotable in the circumferential direction. Main unit 20
The processing unit 30 and the camera housing unit 50 integrated with the main unit 20 can also be turned. [Rotation Guide of Extension Fixed Section] A rotation guide section 70 is provided at a rear end of the extension fixed section 80 near the operation cable 90. The rotation guide section 70 is provided with a rotation support wheel 72 having the same arrangement structure as the rotation support wheel 66 of the camera housing section 50 described above. Specifically, the rotation support wheels 72 are arranged at a plurality of locations along the circumferential direction of the rotation guide 70. The rotation direction of the rotation support wheel 72 is determined by the inner wall processing device 10.
Is parallel to the axial direction. The outer diameter of the plurality of rotation support wheels 72 is larger than the outer diameter of the inflatable bag body 82 when not inflated. When the inflatable bladder 82 is inflated, the outer diameter of the inflatable bladder 82 projects outward beyond the outer diameter of the rotation support wheel 72.

Therefore, in a state where the inflatable bag 82 is not inflated, the inner wall processing device 10 is supported by the pipe P by the pair of front and rear rotation guide portions 60 and 70.
A plurality of rotation support wheels 66 and 72 arranged in front and rear contact with the inner wall of the pipeline P. In this state, if the inner wall processing device 10 is moved in the axial direction,
By the rotation of 6, 72, it can be moved extremely smoothly. When the inner wall processing device 10 is moved in the axial direction and a force that causes the inner wall processing device 10 to turn in the circumferential direction due to a twist of the operation cable 90 or the like is applied, the front and rear rotation guide portions 60 and 70 do not turn without operating. Cable 90
Only the main body 20 and the like connected to the main body can be turned. As a result, there is no hindrance to the movement of the inner wall processing device 10 in the axial direction by the rotation guides 60 and 70.

[Expansion Suppression Shaft] As shown in FIGS. 1A and 5, the expansion fixing portion 80 is provided with a pair of expansion suppression shafts 84 extending back and forth over the outside of the inflatable bag 82. Are arranged at two locations in the diametrical direction of the inflatable bag body 82 in a state of being arranged at relatively narrow intervals. Therefore, as shown in detail in FIG. 5, when the inflation bag 82 is inflated, the inflation bag 8
A part of 2 comes into contact with the expansion suppressing shaft 84. Extension control shaft 84
Is in contact with the inflatable bag 82, the inflatable bag 82 cannot be further inflated. Therefore, the inflatable bladder 82 can contact almost the entire inner wall of the pipeline P. However, in the gap between the pair of expansion suppressing shafts 84, the inflatable bladder 82 and the inner wall of the pipeline P can be in contact with each other. A gap, that is, a ventilation path a is formed therebetween. The ventilation path a penetrates to the front and rear ends of the inflatable bladder 82 to allow ventilation in the space before and after the inflatable bladder 82.

[Inner Wall Processing Operation] An inner wall processing operation by the inner wall processing apparatus 10 having the above-described structure will be described. <Movement of Inner Wall Processing Apparatus> The inner wall processing apparatus 10 is fed from the outside of the pipe P to the inside of the pipe P with the operation cable 90 attached to the rear end without expanding the inflatable bag body 82. When the operation cable 90 is pushed into the pipeline P, the inner wall processing device 10 causes the inner wall of the pipeline P and the rotation support wheels 66 and 72 to be rotated by the rotation guide unit 60 of the camera housing unit 50 and the rotation guide unit 70 of the expansion fixing unit 80. Are smoothly rotated without generating a large resistance force.

When the inner wall processing device 10 is moving,
The front surveillance camera 54 of the camera housing unit 50 photographs the front side of the pipeline P, and the worker monitors the TV device arranged outside the pipeline P, so that the internal state of the pipeline P can be monitored. And the moving position of the inner wall processing device 10 can be confirmed.
In the inner wall of pipeline P, cracks, holes, steps, seams, etc.
It is possible to inspect whether or not there is a portion that needs to be repaired, and to confirm a branching portion or a bending portion of the pipeline P. <Fixation of Inner Wall Processing Apparatus> As shown in FIG. 1 (a), when the inner wall processing apparatus 10 reaches a position where a processing operation is performed, pressurized air is supplied to the inflatable bag body 82 to expand it. Expansion bag 8
2 comes into contact with the inner wall of the pipe P almost all around, and the entire inner wall processing apparatus 10 is fixed to the pipe P. However, in the space between the pair of expansion suppressing shafts 84 in the inflatable bag 82, the inflatable bag 82 does not contact the inner wall of the pipe P.
In this state, the inner wall processing device 10 is supported on the inner wall of the pipe P at two locations, the outer peripheral surface of the inflatable bag body 82 and the rotation support wheel 66 of the camera housing unit 50.

The processing portion 30 is rotated in the circumferential direction so that the cutting blade 34 is arranged at a position where the inner wall is cut. The turning of the processing section 30 is performed by the main body section 20 and the expansion fixing section 8.
By rotating the motor 81 installed between the main body 20 and the main body 20 and the processing part 30 integrated with the main body 20 with respect to the expansion fixing part 80 fixed to the inner wall of the pipeline P. Turn. The camera housing 50 integrated with the main body 20 via the extension shaft 24 also turns. In the camera accommodating section 50, the entire camera accommodating section 50 except the rotational guide section 60 turns while the rotation guide section 60 is fixed to the inner wall of the pipeline P. Therefore, the camera housing 5
The positional relationship between the processing monitoring camera 52 of 0 and the processing unit 30 always remains constant.

<Cutting> Next, when the processing portion 30 is moved radially outward, the cutting blade 34 comes into contact with the inner wall of the pipe P. When the cutting blade 34 is driven to rotate, the inner wall is cut. At this time, in the camera housing unit 50, the cutting process is performed while the worker monitors the situation around the cutting blade 34 photographed by the processing monitoring camera 52 outside the pipeline P. If the camera holding box 53 is turned in accordance with the movement of the processing section 30 to the outer peripheral side, the cutting blade 34 can be reliably photographed with the processing monitoring camera 52 facing the outer peripheral side.

When the inner wall is machined by the cutting blade 34, cutting powder or the like may fall on the front surface of the processing monitoring camera 52, so that air is blown out from the air injection port 58 to impair the visibility of the processing monitoring camera 52. Not to be. Further, by supplying compressed air or sucking vacuum from the end of the pipe P, the air at the processing position can be discharged to the outside while containing cutting powder and the like. At this time, if the inflatable bladder 82 is in contact with the inner wall of the conduit P on the entire surface in the circumferential direction, it is not possible to supply the pressurized air or suck the vacuum through the position of the inflatable bladder 82. Since the expansion suppressing shaft 84 is present and the ventilation path a is formed, air and pressure can be transmitted through the space before and after the inflatable bag body 82.

When the inner wall is continuously cut along the circumferential direction of the pipe P, the motor 81 is operated while the inner wall is being cut by the cutting blade 34, so that the main body portion 20 and the processed portion 30 are cut. What is necessary is just to turn with respect to the expansion fixing part 80. Also in this case, since the camera housing section 50 rotates integrally with the main body section 20, the processing monitoring camera 52 can reliably monitor the processing state. <End of Processing> When the cutting of the predetermined inner wall is completed, the rotation of the cutting blade 34 is stopped, and the processing unit 30 is returned to the central axis of the inner wall processing apparatus 10. In the expansion fixing section 80, compressed air is extracted from the inflatable bag body 82 to reduce the size.

The inner wall processing device 10 includes front and rear rotation support wheels 6.
At 6 and 72, the pipe P is supported by the inner wall. In this state, if you pull or push the operation cable 90,
The inner wall processing device 10 can be moved to the next processing position or can be removed outside the pipeline P. When performing another processing in addition to the cutting processing by the cutting blade 34 as the processing of the inner wall, another processing tool is attached as the processing unit 30 outside the pipeline P, and then the same processing operation as described above is performed. Can be. [Removable Rotation Guide] In the embodiment shown in FIGS. 6 and 7, the inner wall processing apparatus 10 is provided with a detachable rotation guide.

As shown in FIG. 6, the basic structure of the inner wall processing device 10 is the same as that of the above embodiment. The detachable rotation guide section 16 is provided at two places, the outer periphery of the camera housing section 50 and the outer periphery on the side closer to the main body section 20 of the extension fixing section 80.
0, 170. As shown in detail in FIG. 7, the detachable rotation guide 160 has an annular shape that covers the outer periphery of the rotation guide 60 fixedly attached to the camera housing 50. The rotation guide part 160 is fixed to the outer periphery of the rotation guide part 60 by covering a pair of semi-circular half bodies 160a and 160b so as to be sandwiched from both sides of the rotation guide part 60 and tightening and fixing with bolts or the like. Is done.

In the rotation guide 160, rotation support wheels 166 having the same structure as the rotation guide 60 are arranged at regular intervals along the outer periphery. When the rotation support wheel 166 comes into contact with the inner wall of the pipeline P, the rotation guide 160, that is, the inner wall processing device 10 slides smoothly along the axial direction of the pipeline P. Since the camera housing unit 50 pivots in the circumferential direction with respect to the rotation guide unit 60, the camera housing unit 50 also pivots in the circumferential direction with respect to the rotation guide unit 160 fixed to the rotation guide unit 60. The rotation guide section 170 detachably attached to the extension fixing section 80 also has a structure basically similar to that of the rotation guide section 160. A plurality of rotation support wheels 172 are arranged on the outer circumference at equal intervals along the circumferential direction. The outer diameter of the rotation guide 170 formed by the envelope of the plurality of rotation support wheels 172 is set to be the same as the outer diameter of the rotation guide 160 of the camera housing unit 50. The rotation guide 170 is provided with the inflatable bag 8.
2, on the opposite side of the rotation guide 70,
It is arranged on the outer periphery of. The rotation guide unit 17 is attached to the extension
Even when 0 is attached, the rotation guide 70 is in an exposed state. However, the rotation guide 160 and the rotation guide 1
The rotation guide section 70 having a smaller diameter than the rotation guide section 70 does not slide in contact with the inner wall of the pipeline P.

In the above embodiment, the rotation guides 160, 1
Since the outer diameter of 70 is larger than the outer diameters of the rotation guides 60 and 70, the structure is easy to use for the pipe P having a relatively large inner diameter. Rotation guide part 160 with a large outer diameter, 1
The inner wall processing device 10 supported by 70 is disposed near the center of the pipeline P even for the pipeline P having a large inner diameter. The moving arrangement and the processing operation of the processing unit 30 and the cutting blade 34 can be performed in an appropriate posture or state. Since the distance from the cutting blade 34 to the inner wall of the conduit P can be appropriately set, the cutting blade 3
No extra effort to move 4 is required. By attaching and detaching the detachable rotation guides 160 and 170 with one inner wall processing apparatus 10, even the pipe P having an inner diameter suitable for the outer diameter of the rotation guides 60 and 70 can be used. Even with the pipe P having an inner diameter suitable for the outer diameter of 170, an appropriate inner wall machining operation can always be performed.

If a plurality of types of detachable rotary guides 160 and 170 having different outer diameters are prepared, the applicable inner diameter range of the pipe P can be further expanded.

[0049]

The pipe wall inner wall processing apparatus according to the present invention is
Since the inner wall processing device is moved in the pipeline by pulling or pushing the operation cable, complicated bulky devices and structures such as running wheels are not required. The rotation guide portion having the rotation support wheel greatly reduces frictional resistance with the inner wall of the pipeline, and enables smooth movement. If the inner wall processing device is fixed to the inner wall of the pipeline by the expansion fixing portion, the processing portion to be processed can be accurately arranged at a target position. By rotating the main body and the processing portion in a state where the main body and the processing portion are fixed to the inner wall of the pipeline by the expansion fixing portion, any position in the circumferential direction of the inner wall can be processed. In addition, when the processing section is turned, the processing monitoring camera housed in the camera housing section also turns integrally, so that the processing monitoring camera can reliably photograph and monitor the processing status.

As a result, the inner wall can be efficiently and accurately processed even in a small-diameter pipe.

[Brief description of the drawings]

FIG. 1 is a side view (a) and a plan view (b) of an inner wall processing device in a construction state representing an embodiment of the present invention.

FIG. 2 is an enlarged sectional view of a camera housing unit.

FIG. 3 is an end view of a camera housing section.

FIG. 4 is an axial cross-sectional view of the extension fixing part.

FIG. 5 is a cross-sectional view of the extension fixing part.

FIG. 6 is a side view of an inner wall processing device in a construction state showing another embodiment.

FIG. 7 is an end view of the camera housing as viewed from the front end side.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Inner wall processing apparatus 20 Main body part 30 Processing part 34 Cutting blade 50 Camera accommodation part 52 Processing monitoring camera 54 Front monitoring camera 60, 70 Rotation guide part 62 Circular ring 66, 72 Rotation support wheel 80 Expansion fixed part 81 Drive motor 82 Expansion bag Body 84 Extension control axis 90 Operation cable P Pipe

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Shigefumi Matsumoto 2-34-1 Honjohigashi, Kita-ku, Osaka-shi Kinden Co., Ltd. (72) Inventor Reiji Itagaki 2-3-41 Honjohigashi, Kita-ku, Osaka-shi Kinden Co., Ltd. (72) Inventor Eiji Morinaga 4-6-131 Fukushima-ku, Fukushima-ku, Osaka-shi Inside Mobile Construction Industry Co., Ltd. (72) Inventor Fumito Hinuma 25th Saneicho, Shinjuku-ku, Tokyo SSC Sewer Center Co., Ltd. F term (reference) 2D063 EA05 3C036 AA02

Claims (8)

[Claims] 1. An apparatus for processing an inner wall by being inserted into an existing pipeline, comprising: a main body portion connected to an operation cable fed from outside the pipeline into the pipeline and moving in the pipeline; A processing unit that is disposed on the main body and is configured to process the inner wall movably in a radial direction; a camera housing unit provided integrally with the main body unit; A processing monitoring camera that is changeable and captures a processing state of the processing unit; a processing monitoring camera that is disposed on an outer periphery of the main body, is rotatable in a circumferential direction with respect to the main body, and is expandable on an inner wall side of the pipeline. Yes,
An extended fixing portion that abuts against the inner wall of the conduit during expansion and is fixed to the conduit, a circulating ring that is disposed in the camera housing portion and that freely rotates in the circumferential direction, and that is circumferentially spaced around the outer periphery of the circulating ring. A rotation guide portion having a plurality of rotation support wheels that are arranged in plural and freely rotate in a direction perpendicular to the rotation direction of the orbital ring. 2. A front end of an extension shaft in which the processing portion is disposed at an axial end of the main body portion, and wherein the camera housing portion extends from the axial end of the main body portion beyond the position of the processing portion in the axial direction. 2. The apparatus for processing an inner wall of a pipeline according to claim 1, wherein the processing monitoring camera is disposed in the camera housing unit facing the processing unit side. 3. 3. The apparatus according to claim 1, further comprising a cleaning means for cleaning a front surface of the processing monitoring camera in the camera housing portion.
An inner wall processing apparatus for a pipeline according to any one of the above. 4. The apparatus for processing an inner wall of a pipeline according to claim 1, further comprising a front monitoring camera at an end of the camera housing portion which is an axial end of the apparatus for processing the inner wall. 5. The apparatus for processing an inner wall of a pipeline according to claim 1, wherein the expansion fixing section has an expansion bag body that expands and expands by supply of pressurized air. 6. The ventilation which abuts on a part of the inflatable bladder, partially restricts expansion of the inflatable bladder, and penetrates in an axial direction between the inflatable bladder and the conduit. The apparatus for processing an inner wall of a pipe according to claim 5, further comprising an expansion suppressing tool that forms the path. 7. A rotating guide portion comprising a plurality of rotating support wheels, which are arranged at intervals in the circumferential direction and are freely rotatable in the axial direction of the inner wall processing device, on the outer periphery of the expansion fixing portion. 7. The apparatus for processing an inner wall of a pipeline according to any one of 6. 8. A rotating guide portion which is detachably disposed on the outer periphery of the inner wall processing device, has a plurality of rotation supporting wheels which are arranged at intervals in the circumferential direction, and which freely rotates in the axial direction of the inner wall processing device. An apparatus for processing an inner wall of a pipeline according to claim 1.